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fix dependancy of stabilization on guidance (#2253)

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Kirk Scheper
2018-04-26 14:56:14 +02:00
committed by GitHub
parent 5675d4e073
commit 578ffe2b4d
4 changed files with 3 additions and 4 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
-1
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@@ -80,7 +80,6 @@ PRINT_CONFIG_VAR(GUIDANCE_H_USE_SPEED_REF)
struct HorizontalGuidance guidance_h; struct HorizontalGuidance guidance_h;
int32_t transition_percentage; int32_t transition_percentage;
int32_t transition_theta_offset;
/* /*
* internal variables * internal variables
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
-1
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@@ -106,7 +106,6 @@ struct HorizontalGuidance {
extern struct HorizontalGuidance guidance_h; extern struct HorizontalGuidance guidance_h;
extern int32_t transition_percentage; extern int32_t transition_percentage;
extern int32_t transition_theta_offset;
extern void guidance_h_init(void); extern void guidance_h_init(void);
extern void guidance_h_mode_changed(uint8_t new_mode); extern void guidance_h_mode_changed(uint8_t new_mode);
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
+1 -2
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@@ -28,7 +28,6 @@
#include "subsystems/radio_control.h" #include "subsystems/radio_control.h"
#include "state.h" #include "state.h"
#include "firmwares/rotorcraft/guidance/guidance_h.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h" #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h" #include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
@@ -56,7 +55,7 @@
radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R) radio_control.values[RADIO_YAW] < -STABILIZATION_ATTITUDE_DEADBAND_R)
float care_free_heading = 0; float care_free_heading = 0;
int32_t transition_theta_offset = 0;
static int32_t get_rc_roll(void) static int32_t get_rc_roll(void)
{ {
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h
+2
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@@ -30,6 +30,8 @@
#include "math/pprz_algebra_int.h" #include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h" #include "math/pprz_algebra_float.h"
extern int32_t transition_theta_offset; // Pitch offset added for hybrid vehicle when in forward mode
extern void stabilization_attitude_reset_care_free_heading(void); extern void stabilization_attitude_reset_care_free_heading(void);
extern int32_t stabilization_attitude_get_heading_i(void); extern int32_t stabilization_attitude_get_heading_i(void);
extern float stabilization_attitude_get_heading_f(void); extern float stabilization_attitude_get_heading_f(void);