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Antoine Drouin
2009-02-11 16:19:08 +00:00
parent 3b4931a515
commit 2f8e5b9fc6
3 changed files with 4 additions and 3 deletions
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conf/airframes/booz2_a2.xml
+1 -1
View File
@@ -99,7 +99,7 @@
<define name="HOVER_POWER" value="81"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-75"/>
<define name="HOVER_KI" value="0"/>
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
sw/airborne/booz/booz2_guidance_v.c
+1
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@@ -60,6 +60,7 @@ void booz2_guidance_v_read_rc(void) {
switch (booz2_guidance_v_mode) {
case BOOZ2_GUIDANCE_V_MODE_DIRECT:
booz2_guidance_v_z_sp = booz_ins_position.z;
b2_gv_set_ref(booz_ins_position.z, 0, 0);
break;
case BOOZ2_GUIDANCE_V_MODE_HOVER:
if (booz_fms_on && booz_fms_input.v_mode >= BOOZ2_GUIDANCE_V_MODE_HOVER)
sw/airborne/booz/test/test_vg_ref.c
+2 -2
View File
@@ -47,8 +47,8 @@ void print_ref(int i) {
}
int32_t get_sp (int i) {
return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
// return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? 10.0 : 0, IPOS_FRAC);
// return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? 10.0 : 0, IPOS_FRAC);
}