Mirrors_Framework/PX4-Autopilot
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Merged beta into master

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This commit is contained in:
Lorenz Meier
2015-07-04 23:02:47 +02:00
parent f0f28d5420 a74cc5bf49
commit d1f8edb346
6 changed files with 44 additions and 25 deletions
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ROMFS/px4fmu_common/init.d/3033_wingwing
-5
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@@ -23,12 +23,7 @@ then
param set FW_LND_TLALT 5
param set FW_THR_LND_MAX 0
param set FW_PR_FF 0.35
param set FW_PR_I 0.005
param set FW_PR_IMAX 0.4
param set FW_PR_P 0.08
param set FW_RR_FF 0.6
param set FW_RR_I 0.005
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
fi
src/modules/commander/commander_helper.cpp
+9 -1
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@@ -110,6 +110,7 @@ static float bat_v_load_drop = 0.06f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static unsigned int counter = 0;
static float throttle_lowpassed = 0.0f;
int battery_init()
{
@@ -383,8 +384,15 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float
counter++;
// XXX this time constant needs to become tunable
// but really, the right fix are smart batteries.
float val = throttle_lowpassed * 0.97f + throttle_normalized * 0.03f;
if (isfinite(val)) {
throttle_lowpassed = val;
}
/* remaining charge estimate based on voltage and internal resistance (drop under load) */
float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_normalized);
float bat_v_empty_dynamic = bat_v_empty - (bat_v_load_drop * throttle_lowpassed);
/* the range from full to empty is the same for batteries under load and without load,
* since the voltage drop applies to both the full and empty state
*/
src/modules/fw_att_control/fw_att_control_main.cpp
+14 -7
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -808,6 +808,14 @@ FixedwingAttitudeControl::task_main()
continue;
}
/* default flaps to center */
float flaps_control = 0.0f;
/* map flaps by default to manual if valid */
if (isfinite(_manual.flaps)) {
flaps_control = _manual.flaps;
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_attitude_enabled) {
@@ -927,7 +935,6 @@ FixedwingAttitudeControl::task_main()
/* allow manual control of rudder deflection */
yaw_manual = _manual.r;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
* in manual mode no external source should / does emit attitude setpoints.
@@ -1090,13 +1097,13 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
_actuators.control[0] = _manual.y + _parameters.trim_roll;
_actuators.control[1] = -_manual.x + _parameters.trim_pitch;
_actuators.control[2] = _manual.r + _parameters.trim_yaw;
_actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control;
_actuators.control[5] = _manual.aux1;
_actuators.control[6] = _manual.aux2;
_actuators.control[7] = _manual.aux3;
src/modules/fw_att_control/fw_att_control_params.c
+6 -6
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@@ -64,7 +64,7 @@
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.4f);
/**
* Pitch rate proportional gain.
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
/**
* Pitch rate integrator gain.
@@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
* @max 50.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f);
/**
* Maximum positive / up pitch rate.
@@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
/**
* Roll to Pitch feedforward gain.
@@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* @max 100.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f);
/**
* Roll Integrator Anti-Windup
@@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
* @max 10.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
/**
* Pitch rate feed forward
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+13 -4
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@@ -58,7 +58,7 @@
* @max 100.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
/**
* L1 damping
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
/**
* Throttle max slew rate
@@ -123,10 +123,11 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
* The maximum roll the controller will output.
*
* @unit degrees
* @min 0.0
* @min 35.0
* @max 65.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
/**
* Throttle limit max
@@ -151,6 +152,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
* For aircraft with internal combustion engine this parameter should be set
* for desired idle rpm.
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
@@ -161,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
* This throttle value will be set as throttle limit at FW_LND_TLALT,
* before arcraft will flare.
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
@@ -173,6 +178,8 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
* distance to the desired altitude. Mostly used for takeoff waypoints / modes.
* Set to zero to disable climbout mode (not recommended).
*
* @min 0.0
* @max 150.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
@@ -193,6 +200,8 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
* FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
* FW_THR_MAX reduced.
*
* @min 2.0
* @max 10.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
src/modules/mavlink/mavlink_messages.cpp
+2 -2
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@@ -547,7 +547,7 @@ protected:
msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
msg.load = status.load * 1000.0f;
msg.voltage_battery = status.battery_voltage * 1000.0f;
msg.current_battery = status.battery_current * 100.0f;
msg.current_battery = status.battery_current / 10.0f;
msg.drop_rate_comm = status.drop_rate_comm;
msg.errors_comm = status.errors_comm;
msg.errors_count1 = status.errors_count1;
@@ -572,7 +572,7 @@ protected:
bat_msg.voltages[i] = 0;
}
}
bat_msg.current_battery = status.battery_current * 100.0f;
bat_msg.current_battery = status.battery_current / 10.0f;
bat_msg.current_consumed = status.battery_discharged_mah;
bat_msg.energy_consumed = -1.0f;
bat_msg.battery_remaining = (status.battery_voltage > 0) ?