Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 23:49:00 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

cleanup some trailing whitespaces

Browse Source
This commit is contained in:
Felix Ruess
2010-11-05 16:24:29 +00:00
parent 6004a57c32
commit 18f1ad5a0a
8 changed files with 70 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+21 -21
View File
@@ -1,6 +1,6 @@
/*
* $Id$
*
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin, Michel Gorraz
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
* \file v_ctl_ctl
* \brief Vertical control for fixed wing vehicles.
*
@@ -123,14 +123,14 @@ 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_climb_throttle_increment =
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;
v_ctl_auto_throttle_dgain = 0.;
v_ctl_auto_throttle_sum_err = 0.;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
#ifdef V_CTL_AUTO_PITCH_PGAIN
/* "auto pitch" inner loop parameters */
@@ -161,7 +161,7 @@ void v_ctl_init( void ) {
#define AGR_CLIMB_THROTTLE agr_climb_throttle
agr_climb_pitch = AGR_CLIMB_PITCH;
#undef AGR_CLIMB_PITCH
#define AGR_CLIMB_PITCH agr_climb_pitch
#define AGR_CLIMB_PITCH agr_climb_pitch
agr_climb_nav_ratio = AGR_CLIMB_NAV_RATIO;
#undef AGR_CLIMB_NAV_RATIO
#define AGR_CLIMB_NAV_RATIO agr_climb_nav_ratio
@@ -177,9 +177,9 @@ void v_ctl_init( void ) {
#endif
}
/**
/**
* outer loop
* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
*/
void v_ctl_altitude_loop( void ) {
float altitude_pgain_boost = 1.0;
@@ -228,9 +228,9 @@ void v_ctl_climb_loop ( void ) {
}
}
/**
/**
* auto throttle inner loop
* \brief
* \brief
*/
#ifndef USE_AIRSPEED
@@ -242,12 +242,12 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
float err = estimator_z_dot - v_ctl_climb_setpoint;
float d_err = err - last_err;
last_err = err;
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err);
/* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain) * v_ctl_auto_throttle_pitch_of_vz_pgain;
@@ -257,15 +257,15 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
if (v_ctl_climb_setpoint > 0) { /* Climbing */
f_throttle = AGR_CLIMB_THROTTLE;
nav_pitch = AGR_CLIMB_PITCH;
}
}
else { /* Going down */
f_throttle = AGR_DESCENT_THROTTLE;
nav_pitch = AGR_DESCENT_PITCH;
}
break;
case V_CTL_AUTO_THROTTLE_BLENDED: {
float ratio = (fabs(v_ctl_altitude_error) - AGR_BLEND_END)
float ratio = (fabs(v_ctl_altitude_error) - AGR_BLEND_END)
/ (AGR_BLEND_START - AGR_BLEND_END);
f_throttle = (1-ratio) * controlled_throttle;
nav_pitch = (1-ratio) * v_ctl_pitch_of_vz;
@@ -280,7 +280,7 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
}
break;
}
case V_CTL_AUTO_THROTTLE_STANDARD:
default:
#endif
@@ -346,7 +346,7 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
#endif // USE_AIRSPEED
/**
/**
* auto pitch inner loop
* \brief computes a nav_pitch from a climb_setpoint given a fixed throttle
*/
@@ -356,7 +356,7 @@ inline static void v_ctl_climb_auto_pitch_loop(void) {
v_ctl_throttle_setpoint = nav_throttle_setpoint;
v_ctl_auto_pitch_sum_err += err;
BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR);
nav_pitch = v_ctl_auto_pitch_pgain *
nav_pitch = v_ctl_auto_pitch_pgain *
(err + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err);
Bound(nav_pitch, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
}
sw/airborne/firmwares/fixedwing/guidance/guidance_v.h
+4 -4
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id$
*
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
*
* fixed wing vertical control
*
@@ -51,7 +51,7 @@ extern float v_ctl_altitude_pgain;
/* inner loop */
extern float v_ctl_climb_setpoint;
extern uint8_t v_ctl_climb_mode;
#define V_CTL_CLIMB_MODE_AUTO_THROTTLE 0
#define V_CTL_CLIMB_MODE_AUTO_THROTTLE 0
#define V_CTL_CLIMB_MODE_AUTO_PITCH 1
extern uint8_t v_ctl_auto_throttle_submode;
sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+8 -9
View File
@@ -1,6 +1,6 @@
/*
* $Id: $
*
*
* Copyright (C) 2010 ENAC
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
* \file v_ctl_ctl_n
* \brief Vertical control for fixed wing vehicles.
*
@@ -120,8 +120,8 @@ void v_ctl_init( void ) {
v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;
v_ctl_auto_throttle_dgain = 0.;
v_ctl_auto_throttle_sum_err = 0.;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
/* "auto pitch" inner loop parameters */
v_ctl_auto_pitch_pgain = V_CTL_AUTO_PITCH_PGAIN;
@@ -146,9 +146,9 @@ void v_ctl_init( void ) {
v_ctl_throttle_setpoint = 0;
}
/**
/**
* outer loop
* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
*/
// Don't use lead controller unless you know what you're doing
@@ -172,7 +172,7 @@ void v_ctl_altitude_loop( void ) {
float diff_climb = v_ctl_climb_setpoint - v_ctl_climb_setpoint_last;
BoundAbs(diff_climb, V_CTL_AUTO_CLIMB_LIMIT);
v_ctl_climb_setpoint = v_ctl_climb_setpoint_last + diff_climb;
// Limit climb setpoint
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
v_ctl_climb_setpoint_last = v_ctl_climb_setpoint;
@@ -289,4 +289,3 @@ void v_ctl_throttle_slew( void ) {
BoundAbs(diff_throttle, TRIM_PPRZ(V_CTL_THROTTLE_SLEW*MAX_PPRZ));
v_ctl_throttle_slewed += diff_throttle;
}
sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.h
+3 -3
View File
@@ -1,6 +1,6 @@
/*
* $Id: $
*
*
* Copyright (C) 2010 ENAC
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
*
* fixed wing vertical control
*
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+7 -8
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id: fw_h_ctl.c 3603 2009-07-01 20:06:53Z hecto $
*
*
* Copyright (C) 2009-2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
*
* fixed wing horizontal adaptive control
*
@@ -150,8 +150,8 @@ void h_ctl_init( void ) {
}
/**
* \brief
/**
* \brief
*
*/
void h_ctl_course_loop ( void ) {
@@ -165,7 +165,7 @@ void h_ctl_course_loop ( void ) {
last_err = err;
NormRadAngle(d_err);
float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED;
float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED;
Bound(speed_depend_nav, 0.66, 1.5);
h_ctl_roll_setpoint = h_ctl_course_pre_bank_correction * h_ctl_course_pre_bank
@@ -264,7 +264,7 @@ inline static void h_ctl_roll_loop( void ) {
//x cmd /= airspeed_ratio2;
// Set aileron commands
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
}
@@ -342,4 +342,3 @@ inline static void h_ctl_pitch_loop( void ) {
h_ctl_elevator_setpoint = TRIM_PPRZ(cmd);
}
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
+3 -3
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id: fw_h_ctl.h 3784 2009-07-24 14:55:54Z poine $
*
*
* Copyright (C) 2009 ENAC
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
*
* fixed wing horizontal adaptive control
*
sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+21 -23
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id$
*
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin, Michel Gorraz
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
*
* fixed wing horizontal control
*
@@ -164,8 +164,8 @@ nav_ratio=0;
#endif
}
/**
* \brief
/**
* \brief
*
*/
void h_ctl_course_loop ( void ) {
@@ -180,7 +180,7 @@ void h_ctl_course_loop ( void ) {
const float reference_advance = (NOMINAL_AIRSPEED / 2.);
float advance = cos(err) * estimator_hspeed_mod / reference_advance;
if (
if (
(advance < 1.) && // Path speed is small
(estimator_hspeed_mod < reference_advance) // Small path speed is due to wind (small groundspeed)
)
@@ -203,12 +203,12 @@ void h_ctl_course_loop ( void ) {
// Heading error
float herr = estimator_psi - h_ctl_course_setpoint; //+crab);
NormRadAngle(herr);
if (advance < -0.5) //<! moving in the wrong direction / big > 90 degree turn
{
err = herr;
}
else if (advance < 0.) //<!
else if (advance < 0.) //<!
{
err = (-advance)*2. * herr;
}
@@ -259,7 +259,7 @@ void h_ctl_course_loop ( void ) {
}
#endif
float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED;
float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED;
Bound(speed_depend_nav, 0.66, 1.5);
float cmd = h_ctl_course_pgain * speed_depend_nav * (err + d_err * h_ctl_course_dgain);
@@ -272,11 +272,11 @@ void h_ctl_course_loop ( void ) {
if (v_ctl_auto_throttle_submode == V_CTL_AUTO_THROTTLE_AGRESSIVE || V_CTL_AUTO_THROTTLE_BLENDED) {
BoundAbs(cmd, h_ctl_roll_max_setpoint); /* bound cmd before NAV_RATIO and again after */
if (v_ctl_altitude_error < 0) {
nav_ratio = AGR_CLIMB_NAV_RATIO + (1 - AGR_CLIMB_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END));
Bound (nav_ratio, AGR_CLIMB_NAV_RATIO, 1);
nav_ratio = AGR_CLIMB_NAV_RATIO + (1 - AGR_CLIMB_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END));
Bound (nav_ratio, AGR_CLIMB_NAV_RATIO, 1);
} else {
nav_ratio = AGR_DESCENT_NAV_RATIO + (1 - AGR_DESCENT_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END));
Bound (nav_ratio, AGR_DESCENT_NAV_RATIO, 1);
nav_ratio = AGR_DESCENT_NAV_RATIO + (1 - AGR_DESCENT_NAV_RATIO) * (1 - (fabs(v_ctl_altitude_error) - AGR_BLEND_END) / (AGR_BLEND_START - AGR_BLEND_END));
Bound (nav_ratio, AGR_DESCENT_NAV_RATIO, 1);
}
cmd *= nav_ratio;
}
@@ -316,7 +316,7 @@ inline static void h_ctl_roll_loop( void ) {
- h_ctl_roll_rate_gain * estimator_p
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
}
#else // H_CTL_ROLL_ATTITUDE_GAIN
@@ -324,7 +324,7 @@ inline static void h_ctl_roll_loop( void ) {
/** Computes h_ctl_aileron_setpoint from h_ctl_roll_setpoint */
inline static void h_ctl_roll_loop( void ) {
float err = estimator_phi - h_ctl_roll_setpoint;
float cmd = h_ctl_roll_pgain * err
float cmd = h_ctl_roll_pgain * err
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
@@ -336,7 +336,7 @@ inline static void h_ctl_roll_loop( void ) {
} else {
h_ctl_roll_rate_setpoint = h_ctl_roll_rate_setpoint_pgain * err;
BoundAbs(h_ctl_roll_rate_setpoint, H_CTL_ROLL_RATE_MAX_SETPOINT);
float saved_aileron_setpoint = h_ctl_aileron_setpoint;
h_ctl_roll_rate_loop();
h_ctl_aileron_setpoint = Blend(h_ctl_aileron_setpoint, saved_aileron_setpoint, h_ctl_roll_rate_mode) ;
@@ -348,23 +348,23 @@ inline static void h_ctl_roll_loop( void ) {
static inline void h_ctl_roll_rate_loop() {
float err = estimator_p - h_ctl_roll_rate_setpoint;
/* I term calculation */
static float roll_rate_sum_err = 0.;
static uint8_t roll_rate_sum_idx = 0;
static float roll_rate_sum_values[H_CTL_ROLL_RATE_SUM_NB_SAMPLES];
roll_rate_sum_err -= roll_rate_sum_values[roll_rate_sum_idx];
roll_rate_sum_values[roll_rate_sum_idx] = err;
roll_rate_sum_err += err;
roll_rate_sum_idx++;
if (roll_rate_sum_idx >= H_CTL_ROLL_RATE_SUM_NB_SAMPLES) roll_rate_sum_idx = 0;
/* D term calculations */
static float last_err = 0;
float d_err = err - last_err;
last_err = err;
float throttle_dep_pgain =
Blend(h_ctl_hi_throttle_roll_rate_pgain, h_ctl_lo_throttle_roll_rate_pgain, v_ctl_throttle_setpoint/((float)MAX_PPRZ));
float cmd = throttle_dep_pgain * ( err + h_ctl_roll_rate_igain * roll_rate_sum_err / H_CTL_ROLL_RATE_SUM_NB_SAMPLES + h_ctl_roll_rate_dgain * d_err);
@@ -414,7 +414,7 @@ inline static void h_ctl_pitch_loop( void ) {
h_ctl_elevator_of_roll = 0.;
h_ctl_pitch_loop_setpoint =
h_ctl_pitch_setpoint
h_ctl_pitch_setpoint
- h_ctl_elevator_of_roll / h_ctl_pitch_pgain * fabs(estimator_phi);
float err = estimator_theta - h_ctl_pitch_loop_setpoint;
@@ -426,5 +426,3 @@ inline static void h_ctl_pitch_loop( void ) {
#endif
h_ctl_elevator_setpoint = TRIM_PPRZ(cmd);
}
sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
+3 -3
View File
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id$
*
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin, Michel Gorraz
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*
*/
/**
/**
*
* fixed wing horizontal control
*