Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-08 02:15:53 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

stablilization_adaptive changed the signs of the roll error signals (now setpoint - estimate) for better readability and consistency

Browse Source
This commit is contained in:
Felix Ruess
2011-11-29 23:14:39 +01:00
parent a193dc9f7b
commit 3af35546ba
1 changed files with 6 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+6 -12
View File
@@ -287,13 +287,13 @@ inline static void h_ctl_roll_loop( void ) {
#endif
// Compute errors
float err = estimator_phi - h_ctl_ref_roll_angle;
float err = h_ctl_ref_roll_angle - estimator_phi;
#ifdef SITL
static float last_err = 0;
estimator_p = (err - last_err)/(1/60.);
last_err = err;
#endif
float d_err = estimator_p - h_ctl_ref_roll_rate;
float d_err = h_ctl_ref_roll_rate - estimator_p;
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0) {
h_ctl_roll_sum_err = 0.;
@@ -307,20 +307,14 @@ inline static void h_ctl_roll_loop( void ) {
}
}
cmd_fb = -h_ctl_roll_attitude_gain * err;// - h_ctl_roll_rate_gain * d_err;
cmd_fb = h_ctl_roll_attitude_gain * err;
float cmd = - h_ctl_roll_Kffa * h_ctl_ref_roll_accel
- h_ctl_roll_Kffd * h_ctl_ref_roll_rate
- cmd_fb
+ h_ctl_roll_rate_gain * d_err
+ h_ctl_roll_igain * h_ctl_roll_sum_err
- h_ctl_roll_rate_gain * d_err
- h_ctl_roll_igain * h_ctl_roll_sum_err
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
// float cmd = - h_ctl_roll_Kffa * h_ctl_ref_roll_accel
// - h_ctl_roll_Kffd * h_ctl_ref_roll_rate
// + h_ctl_roll_attitude_gain * err
// + h_ctl_roll_rate_gain * d_err
// + h_ctl_roll_igain * h_ctl_roll_sum_err
// + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
//
cmd /= airspeed_ratio2;
// Set aileron commands