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some cleanup and fixme stuff

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- attitude_ref_quat: use STABILIZATION_ATTITUDE_SP_MAX_PHI instead of STABILIZATION_ATTITUDE_SP_MAX_P to define ROLL_COEFF
- added ahrs test prog to gitignore
This commit is contained in:
Felix Ruess
2012-02-10 18:55:16 +01:00
parent 41215fa0a1
commit 4a7062b6e9
5 changed files with 24 additions and 14 deletions
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.gitignore
+2
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@@ -165,3 +165,5 @@
/sw/airborne/test/test_algebra /sw/airborne/test/test_algebra
/sw/airborne/test/test_matrix /sw/airborne/test/test_matrix
/sw/airborne/test/test_att /sw/airborne/test/test_att
/sw/airborne/test/ahrs/run_ahrs_on_synth
sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.c
+2 -1
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@@ -67,7 +67,7 @@ static void update_sp_quat_from_eulers(void) {
INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat); INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
} }
/* /* FIXME: what is up with this???
void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane) void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane)
{ {
pprz_t roll = radio_control.values[RADIO_ROLL]; pprz_t roll = radio_control.values[RADIO_ROLL];
@@ -110,6 +110,7 @@ void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t
void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight) { void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight) {
// FIXME: wtf???
#ifdef AIRPLANE_STICKS #ifdef AIRPLANE_STICKS
pprz_t roll = radio_control.values[RADIO_ROLL]; pprz_t roll = radio_control.values[RADIO_ROLL];
pprz_t pitch = radio_control.values[RADIO_PITCH]; pprz_t pitch = radio_control.values[RADIO_PITCH];
sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.h
+4 -1
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@@ -12,7 +12,10 @@
#include "stabilization/stabilization_attitude_ref_int.h" #include "stabilization/stabilization_attitude_ref_int.h"
void stabilization_attitude_sp_enter(void); void stabilization_attitude_sp_enter(void);
void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane);
// FIXME: apparently unused... still needed??
//void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane);
void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight); void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight);
void quat_setpoint_enter_absolute(void); void quat_setpoint_enter_absolute(void);
void booz_stab_att_vane_on(void); void booz_stab_att_vane_on(void);
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
+8 -6
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@@ -31,14 +31,16 @@
#include "stabilization_attitude_ref_float.h" #include "stabilization_attitude_ref_float.h"
#define RC_UPDATE_FREQ 40. #define RC_UPDATE_FREQ 40.
#define ROLL_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P / MAX_PPRZ) #define ROLL_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PHI / MAX_PPRZ)
#define ROLL_COEF_H (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P_H / MAX_PPRZ) // FIXME: unused, what was it supposed to be?
#define PITCH_COEF ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA / MAX_PPRZ) //#define ROLL_COEF_H (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P_H / MAX_PPRZ)
#define YAW_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PSI / MAX_PPRZ) #define PITCH_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA / MAX_PPRZ)
// FIXME: what is this supposed to be??
#define YAW_COEF (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PSI / MAX_PPRZ)
#define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P / MAX_PPRZ) #define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P / MAX_PPRZ)
#define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_Q / MAX_PPRZ) #define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_Q / MAX_PPRZ)
#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R / MAX_PPRZ) #define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R / MAX_PPRZ)
#define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE)) #define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0) #define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
+8 -6
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@@ -42,14 +42,16 @@
#define RC_UPDATE_FREQ 40. #define RC_UPDATE_FREQ 40.
#define ROLL_COEF (STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ) #define ROLL_COEF (STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ)
#define ROLL_COEF_H (STABILIZATION_ATTITUDE_SP_MAX_P_H / MAX_PPRZ) // FIXME: unused, what was it supposed to be?
#define PITCH_COEF ( STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ) //#define ROLL_COEF_H (STABILIZATION_ATTITUDE_SP_MAX_P_H / MAX_PPRZ)
#define YAW_COEF (STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ) #define PITCH_COEF (STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
// FIXME: what is this supposed to be??
#define YAW_COEF (STABILIZATION_ATTITUDE_SP_MAX_PSI / MAX_PPRZ)
#define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ) #define ROLL_COEF_RATE (-STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
#define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ) #define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ)
#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ) #define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ)
#define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE)) #define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
#define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0) #define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)