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flight_altitude moved to nav

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Pascal Brisset
2006-10-20 16:09:59 +00:00
parent 22e579554f
commit 052cf3524c
5 changed files with 13 additions and 16 deletions
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conf/settings/tuning.xml
+1 -1
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@@ -5,7 +5,7 @@
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="2000" MIN="0" STEP="10" VAR="v_ctl_flight_altitude" shortname="altitude"/>
<dl_setting MAX="2000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
<!-- <dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/> -->
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
sw/airborne/fw_v_ctl.c
-13
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@@ -29,7 +29,6 @@
*/
#include "fw_v_ctl.h"
//#include "autopilot.h"
#include "estimator.h"
#include "nav.h"
#include "airframe.h"
@@ -40,9 +39,6 @@ float v_ctl_altitude_pre_climb;
float v_ctl_altitude_pgain;
float v_ctl_altitude_error;
/** Dynamically adjustable, reset to nav_altitude when it is changing */
float v_ctl_flight_altitude;
/* inner loop */
float v_ctl_climb_setpoint;
uint8_t v_ctl_climb_mode;
@@ -103,16 +99,7 @@ void v_ctl_init( void ) {
* outer loop
* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
*/
static float last_nav_altitude;
void v_ctl_altitude_loop( void ) {
//mmmm LOOKATME : should that be in nav ???
if (nav_altitude != last_nav_altitude) {
v_ctl_flight_altitude = nav_altitude;
last_nav_altitude = nav_altitude;
}
v_ctl_altitude_setpoint = v_ctl_flight_altitude + altitude_shift;
v_ctl_altitude_error = estimator_z - v_ctl_altitude_setpoint;
v_ctl_climb_setpoint = v_ctl_altitude_pgain * v_ctl_altitude_error
+ v_ctl_altitude_pre_climb;
sw/airborne/fw_v_ctl.h
-1
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@@ -38,7 +38,6 @@
extern float v_ctl_altitude_setpoint;
extern float v_ctl_altitude_pre_climb;
extern float v_ctl_altitude_pgain;
extern float v_ctl_flight_altitude;
/* inner loop */
extern float v_ctl_climb_setpoint;
sw/airborne/nav.c
+11
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@@ -68,6 +68,10 @@ int16_t segment_x_1, segment_y_1, segment_x_2, segment_y_2;
uint8_t horizontal_mode;
float circle_bank = 0;
/** Dynamically adjustable, reset to nav_altitude when it is changing */
float flight_altitude;
#define PowerVoltage() (vsupply/10.)
#define RcRoll(travel) (fbw_state->channels[RADIO_ROLL]* (float)travel /(float)MAX_PPRZ)
@@ -479,6 +483,13 @@ void nav_update(void) {
if ( vertical_mode == VERTICAL_MODE_AUTO_CLIMB)
v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_STANDARD;
#endif
static float last_nav_altitude;
if (fabs(nav_altitude - last_nav_altitude) > 1.) {
flight_altitude = nav_altitude;
last_nav_altitude = nav_altitude;
}
v_ctl_altitude_setpoint = flight_altitude + altitude_shift;
}
sw/airborne/nav.h
+1 -1
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@@ -57,7 +57,7 @@ extern const uint8_t nb_waypoint;
extern struct point waypoints[]; /** size == nb_waypoint + 1 */
extern bool_t moved_waypoints[]; /** size == nb_waypoint + 1 */
extern float desired_x, desired_y, altitude_shift, nav_altitude;
extern float desired_x, desired_y, altitude_shift, nav_altitude, flight_altitude;
extern uint16_t nav_desired_gaz;
extern float nav_pitch, rc_pitch;