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[modules] rotorcraft_cam: fix DEFAULT_MODE

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This commit is contained in:
Felix Ruess
2014-11-25 14:30:57 +01:00
parent 0cd9ed4cc6
commit 4f39d2ab7e
4 changed files with 39 additions and 40 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -236,7 +236,7 @@
</section>
<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="MODE_MANUAL"/>
<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
</section>
<section name="SERVO_SWITCH">
conf/airframes/examples/quadrotor_navgo.xml
+37 -37
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@@ -196,46 +196,46 @@
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="130"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
<define name="REF_MIN_ZDD" value="-0.5*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.5*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="130"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
<define name="ADAPT_NOISE_FACTOR" value="1.5"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="80"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="80"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>
<!-- feedforward -->
<define name="AGAIN" value="0"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/-->
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</section>
<section name="FMS">
<define name="BOOZ_FMS_TIMEOUT" value="0"/>
</section>
<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="MODE_MANUAL"/>
</section>
<section name="CAM" prefix="ROTORCRAFT_CAM_">
<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
</section>
<section name="SERVO_SWITCH">
<define name="SERVO_SWITCH_SERVO" value="DROP"/>
@@ -245,9 +245,9 @@
<define name="DropClose()" value="ServoSwitchOff()"/>
</section>
<section name="MISC">
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>
<section name="MISC">
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
sw/airborne/modules/cam_control/rotorcraft_cam.c
+1 -1
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@@ -109,7 +109,7 @@ void rotorcraft_cam_init(void) {
#ifdef ROTORCRAFT_CAM_SWITCH_GPIO
gpio_setup_output(ROTORCRAFT_CAM_SWITCH_GPIO);
#endif
rotorcraft_cam_SetCamMode(ROTORCRAFT_CAM_DEFAULT_MODE);
rotorcraft_cam_set_mode(ROTORCRAFT_CAM_DEFAULT_MODE);
#if ROTORCRAFT_CAM_USE_TILT
rotorcraft_cam_tilt_pwm = ROTORCRAFT_CAM_TILT_NEUTRAL;
ActuatorSet(ROTORCRAFT_CAM_TILT_SERVO, rotorcraft_cam_tilt_pwm);
sw/airborne/modules/cam_control/rotorcraft_cam.h
-1
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@@ -42,7 +42,6 @@
#include "std.h"
#include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/gpio.h"