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Code Issues Releases Activity

TxPID: add GyroTau to the list of parameters (OP-637)

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This commit is contained in:
Oleg Semyonov 2012-05-28 12:48:55 +03:00
parent 8c94e931d2
commit f95d29a3b8
2 changed files with 5 additions and 1 deletions
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3
flight/Modules/TxPID/txpid.c
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@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdate |= update(&stab.GyroTau, value);
break;
default:
PIOS_Assert(0);
}

3
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -16,7 +16,8 @@
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
GyroTau"
defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>