Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 07:53:43 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

exclude the AOA code if USE_AOA is not defined

Browse Source
This commit is contained in:
Bruzzlee
2011-08-16 21:51:21 +03:00
parent 018ef24129
commit 1070bb2a54
1 changed files with 15 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+15 -1
View File
@@ -65,7 +65,10 @@ float h_ctl_pitch_loop_setpoint;
float h_ctl_pitch_pgain;
float h_ctl_pitch_dgain;
pprz_t h_ctl_elevator_setpoint;
uint8_t h_ctl_pitch_mode;
#ifdef USE_AOA
uint8_t h_ctl_pitch_mode;
#endif
/* inner loop pre-command */
float h_ctl_aileron_of_throttle;
@@ -120,6 +123,10 @@ void h_ctl_init( void ) {
h_ctl_course_dgain = H_CTL_COURSE_DGAIN;
h_ctl_roll_max_setpoint = H_CTL_ROLL_MAX_SETPOINT;
#ifdef USE_AOA
h_ctl_pitch_mode = 0;
#endif
h_ctl_disabled = FALSE;
h_ctl_roll_setpoint = 0.;
@@ -419,6 +426,8 @@ inline static void h_ctl_pitch_loop( void ) {
- h_ctl_elevator_of_roll / h_ctl_pitch_pgain * fabs(estimator_phi);
float err = 0;
#ifdef USE_AOA
switch (h_ctl_pitch_mode){
case H_CTL_PITCH_MODE_THETA:
err = estimator_theta - h_ctl_pitch_loop_setpoint;
@@ -430,6 +439,11 @@ inline static void h_ctl_pitch_loop( void ) {
err = estimator_theta - h_ctl_pitch_loop_setpoint;
break;
}
#else //NO_AOA
err = estimator_theta - h_ctl_pitch_loop_setpoint;
#endif
float d_err = err - last_err;
last_err = err;
float cmd = h_ctl_pitch_pgain * (err + h_ctl_pitch_dgain * d_err);