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Code Issues Releases Activity

some changes to altitudehold, hope i get that done today...

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This commit is contained in:
Corvus Corax 2013-12-07 17:28:01 +01:00
parent 3e1b0fd114
commit ff5927bc43
1 changed files with 6 additions and 7 deletions
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13
flight/modules/ManualControl/manualcontrol.c
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@ -38,7 +38,6 @@
#include "accessorydesired.h"
#include "actuatordesired.h"
#include "altitudeholddesired.h"
#include "altholdsmoothed.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "sanitycheck.h"
@ -872,8 +871,8 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
AltHoldSmoothedData altHold;
AltHoldSmoothedGet(&altHold);
PositionStateData posState;
PositionStateGet(&posState);
altitudeHoldDesiredData.Roll = cmd->Roll * stabSettings.RollMax;
@ -883,23 +882,23 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
if (changed) {
// After not being in this mode for a while init at current height
altitudeHoldDesiredData.Velocity = 0;
altitudeHoldDesiredData.Altitude = altHold.Altitude;
altitudeHoldDesiredData.Altitude = posState.Down;
zeroed = false;
} else if (cmd->Throttle > DEADBAND_HIGH && zeroed) {
// being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
// then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255
altitudeHoldDesiredData.Velocity = (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - throttleExp) * (cmd->Throttle - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * throttleRate;
altitudeHoldDesiredData.Altitude = altHold.Altitude;
altitudeHoldDesiredData.Altitude = posState.Down;
} else if (cmd->Throttle < DEADBAND_LOW && zeroed) {
altitudeHoldDesiredData.Velocity = -(throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (255 - throttleExp) * (DEADBAND_LOW - cmd->Throttle) / DEADBAND_LOW) / 255 * throttleRate;
altitudeHoldDesiredData.Altitude = altHold.Altitude;
altitudeHoldDesiredData.Altitude = posState.Down;
} else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH && (throttleRate != 0)) {
// Require the stick to enter the dead band before they can move height
// Vario is not "engaged" when throttleRate == 0
if (fabsf(altitudeHoldDesiredData.Velocity) > 1e-3f) {
;
altitudeHoldDesiredData.Velocity = 0;
altitudeHoldDesiredData.Altitude = altHold.Altitude;
altitudeHoldDesiredData.Altitude = posState.Down;
}
zeroed = true;
}