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fixedwing control new: fix guidance_v_n after Christophe made min/max auto cruise throttle vars to set via settings

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This commit is contained in:
Felix Ruess
2012-03-13 03:27:20 +01:00
parent 74339b4129
commit 050ae6f548
3 changed files with 7 additions and 1 deletions
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conf/settings/tuning_ctl_new.xml
+2
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@@ -42,6 +42,8 @@
<strip_button name="AS" value="1" group="speed_mode"/>
<strip_button name="GS" value="2" group="speed_mode"/>
</dl_setting>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_min_cruise_throttle" shortname="min cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_max_cruise_throttle" shortname="max cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
conf/settings/tuning_ins.xml
+1 -1
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@@ -57,7 +57,7 @@
</dl_settings>
<dl_settings name="alt">
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN" module="guidance/guidance_v"/>
<dl_setting MAX="10" MIN="0.1" STEP="0.1" VAR="v_ctl_altitude_max_climb" shortname="max climb" param="V_CTL_ALTITUDE_MAX_CLIMB"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.05" VAR="v_ctl_altitude_pre_climb_correction" shortname="pre climb cor" param="V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION"/>
</dl_settings>
sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+4
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@@ -52,6 +52,8 @@ uint8_t v_ctl_auto_throttle_submode;
/* "auto throttle" inner loop parameters */
float v_ctl_auto_throttle_cruise_throttle;
float v_ctl_auto_throttle_nominal_cruise_throttle;
float v_ctl_auto_throttle_min_cruise_throttle;
float v_ctl_auto_throttle_max_cruise_throttle;
float v_ctl_auto_throttle_climb_throttle_increment;
float v_ctl_auto_throttle_pgain;
float v_ctl_auto_throttle_igain;
@@ -128,6 +130,8 @@ void v_ctl_init( void ) {
/* "auto throttle" inner loop parameters */
v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
v_ctl_auto_throttle_min_cruise_throttle = V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE;
v_ctl_auto_throttle_max_cruise_throttle = V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE;
v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
v_ctl_auto_throttle_pgain = V_CTL_AUTO_THROTTLE_PGAIN;
v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;