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Rate Limiter for Flaps, Gears and servo hatches or any other feature that needs a static variable in the command section.

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This commit is contained in:
Christophe De Wagter
2012-08-04 08:51:19 +02:00
committed by Felix Ruess
parent 97858cb80d
commit 58b84a29bb
5 changed files with 31 additions and 22 deletions
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conf/airframes/examples/easy_glider.xml
+12 -3
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@@ -16,6 +16,7 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/>
</commands>
<rc_commands>
@@ -23,21 +24,29 @@
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="BRAKE" value="@GAIN1"/>
</rc_commands>
<section name="MIXER">
<define name="AILERON_DIFF" value="0.66"/>
<define name="COMBI_SWITCH" value="1.0"/>
<define name="BRAKE_DEFLECTION_TIME" value="2.0" /> <!-- seconds -->
<define name="MAX_BRAKE_RATE" value="(MAX_PPRZ / (60 * BRAKE_DEFLECTION_TIME ))" />
<define name="BRAKE_AILEVON" value="-0.68f"/>
<define name="BRAKE_PITCH" value="0.01f"/>
</section>
<command_laws>
<ratelimit var="brake_value" value="Chop(@BRAKE, 0, MAX_PPRZ)" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="ELEVATOR" value="@PITCH + BRAKE_PITCH * $brake_value"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll + BRAKE_AILEVON * $brake_value"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll + BRAKE_AILEVON * $brake_value"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">