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Merge pull request #3052 from EwoudSmeur/set_speed_without_ref

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Set speed without ref
This commit is contained in:
Gautier Hattenberger
2023-08-25 13:43:01 +02:00
committed by GitHub
parent ee01f2720b 6c5093f1ac
commit 3749664a1b
8 changed files with 40 additions and 5 deletions
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conf/airframes/tudelft/cyfoam.xml
+3 -1
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@@ -313,7 +313,9 @@
<define name="FE_LIFT_A_AS" value="0.0008"/>
<define name="FE_LIFT_B_AS" value="0.00009"/>
</module>
<module name="nav" type="hybrid"/>
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<!--<module name="ahrs" type="int_cmpl_quat">-->
<!--<configure name="USE_MAGNETOMETER" value="TRUE"/>-->
conf/airframes/tudelft/nederdrone4.xml
+4
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@@ -108,6 +108,10 @@
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
conf/airframes/tudelft/nederdrone4_tem.xml
+5 -1
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@@ -77,7 +77,7 @@
<module name="stabilization" type="indi_simple"/>
<module name="stabilization" type="rate_indi"/>
<module name="ins" type="ekf2" />
<module name="air_data"/>
<!-- Internal MAG -->
@@ -97,6 +97,10 @@
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
conf/airframes/tudelft/nederdrone5.xml
+4
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@@ -104,6 +104,10 @@
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
conf/airframes/tudelft/nederdrone6.xml
+4
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@@ -128,6 +128,10 @@
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
conf/airframes/tudelft/nederdrone7.xml
+4
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@@ -127,6 +127,10 @@
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
conf/airframes/tudelft/nederdrone8.xml
+4
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@@ -127,6 +127,10 @@
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="nav" type="hybrid">
<define name="GUIDANCE_H_USE_REF" value="FALSE"/>
</module>
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.3"/>
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+12 -3
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@@ -360,9 +360,18 @@ static void guidance_h_update_reference(void)
guidance_h.ref.accel.x = ACCEL_BFP_OF_REAL(gh_ref.accel.x);
guidance_h.ref.accel.y = ACCEL_BFP_OF_REAL(gh_ref.accel.y);
} else {
VECT2_COPY(guidance_h.ref.pos, guidance_h.sp.pos);
INT_VECT2_ZERO(guidance_h.ref.speed);
INT_VECT2_ZERO(guidance_h.ref.accel);
if (nav.setpoint_mode == NAV_SETPOINT_MODE_POS) {
VECT2_COPY(guidance_h.ref.pos, guidance_h.sp.pos);
INT_VECT2_ZERO(guidance_h.ref.speed);
INT_VECT2_ZERO(guidance_h.ref.accel);
} else { //(nav.setpoint_mode == NAV_SETPOINT_MODE_SPEED)
guidance_h.ref.pos.x = stateGetPositionNed_i()->x;
guidance_h.ref.pos.y = stateGetPositionNed_i()->y;
guidance_h.ref.speed.x = guidance_h.sp.speed.x;
guidance_h.ref.speed.y = guidance_h.sp.speed.y;
guidance_h.ref.accel.x = 0;
guidance_h.ref.accel.y = 0;
} // TODO: make accel ref set
}
#if GUIDANCE_H_USE_SPEED_REF