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Move wind vane gains from #define constants to memory variables so they can be changed via settings

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This commit is contained in:
Allen Ibara
2010-01-19 20:21:24 +00:00
parent b45fdbe6ce
commit 43b0d4de2f
2 changed files with 14 additions and 2 deletions
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sw/airborne/booz/stabilization/booz_stabilization_attitude.h
+3
View File
@@ -38,6 +38,9 @@ extern void booz_stabilization_attitude_run(bool_t in_flight);
extern void booz_stabilization_attitude_ref_init(void);
extern void booz_stabilization_attitude_ref_update(void);
extern float booz_stabilization_attitude_beta_vane_gain;
extern float booz_stabilization_attitude_alpha_vane_gain;
#define booz_stabilization_attitude_SetKiPhi(_val) { \
booz_stabilization_igain.x = _val; \
sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
+11 -2
View File
@@ -41,6 +41,9 @@ struct FloatEulers booz_stabilization_att_sum_err;
float booz_stabilization_att_fb_cmd[COMMANDS_NB];
float booz_stabilization_att_ff_cmd[COMMANDS_NB];
float booz_stabilization_attitude_beta_vane_gain;
float booz_stabilization_attitude_alpha_vane_gain;
void booz_stabilization_attitude_init(void) {
@@ -69,6 +72,11 @@ void booz_stabilization_attitude_init(void) {
FLOAT_QUAT_ZERO( booz_stabilization_sum_err );
FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err );
#ifdef USE_VANE
booz_stabilization_attitude_alpha_vane_gain = BOOZ_STABILIZATION_ATTITUDE_ALPHA_VANE_T;
booz_stabilization_attitude_beta_vane_gain = BOOZ_STABILIZATION_ATTITUDE_BETA_VANE_T;
#endif
}
static void reset_psi_ref_from_body(void) {
@@ -149,7 +157,8 @@ void booz_stabilization_attitude_read_beta_vane(float beta)
struct FloatEulers sticks_eulers;
struct FloatQuat sticks_quat, prev_sp_quat;
sticks_eulers.phi = BOOZ_STABILIZATION_ATTITUDE_BETA_VANE_T * beta / RC_UPDATE_FREQ;
sticks_eulers.phi = booz_stabilization_attitude_beta_vane_gain * beta / RC_UPDATE_FREQ;
sticks_eulers.theta = 0;
sticks_eulers.psi = 0;
@@ -166,7 +175,7 @@ void booz_stabilization_attitude_read_alpha_vane(float alpha)
struct FloatEulers sticks_eulers;
struct FloatQuat sticks_quat, prev_sp_quat;
sticks_eulers.phi = 0;
sticks_eulers.theta = BOOZ_STABILIZATION_ATTITUDE_ALPHA_VANE_T * alpha / RC_UPDATE_FREQ;
sticks_eulers.theta = booz_stabilization_attitude_alpha_vane_gain * alpha / RC_UPDATE_FREQ;
sticks_eulers.psi = 0;
// convert eulers to quaternion