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rate sp in degrees/s

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This commit is contained in:
Ewoud Smeur
2015-12-15 10:55:07 +01:00
parent 1951056093
commit 2a6b981b24
2 changed files with 9 additions and 9 deletions
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conf/airframes/TUDELFT/tudelft_heli450.xml
+3 -3
View File
@@ -115,9 +115,9 @@
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="SP_MAX_P" unit="deg/s" value="280"/>
<define name="SP_MAX_Q" unit="deg/s" value="280"/>
<define name="SP_MAX_R" unit="deg/s" value="140"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+6 -6
View File
@@ -137,19 +137,19 @@ void stabilization_rate_read_rc(void)
{
if (ROLL_RATE_DEADBAND_EXCEEDED()) {
stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_ROLL] * STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_ROLL] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_P) / MAX_PPRZ;
} else {
stabilization_rate_sp.p = 0;
}
if (PITCH_RATE_DEADBAND_EXCEEDED()) {
stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_Q) / MAX_PPRZ;
} else {
stabilization_rate_sp.q = 0;
}
if (YAW_RATE_DEADBAND_EXCEEDED() && !THROTTLE_STICK_DOWN()) {
stabilization_rate_sp.r = (int32_t)radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
stabilization_rate_sp.r = (int32_t)radio_control.values[RADIO_YAW] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_R) / MAX_PPRZ;
} else {
stabilization_rate_sp.r = 0;
}
@@ -160,19 +160,19 @@ void stabilization_rate_read_rc_switched_sticks(void)
{
if (ROLL_RATE_DEADBAND_EXCEEDED()) {
stabilization_rate_sp.r = (int32_t) - radio_control.values[RADIO_ROLL] * STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
stabilization_rate_sp.r = (int32_t) - radio_control.values[RADIO_ROLL] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_P) / MAX_PPRZ;
} else {
stabilization_rate_sp.r = 0;
}
if (PITCH_RATE_DEADBAND_EXCEEDED()) {
stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_Q) / MAX_PPRZ;
} else {
stabilization_rate_sp.q = 0;
}
if (YAW_RATE_DEADBAND_EXCEEDED() && !THROTTLE_STICK_DOWN()) {
stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_YAW] * RATE_BFP_OF_REAL(STABILIZATION_RATE_SP_MAX_R) / MAX_PPRZ;
} else {
stabilization_rate_sp.p = 0;
}