Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-26 08:22:43 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[stabilization] float_euler fixes so it actually compiles

Browse Source
This commit is contained in:
podhrmic
2013-10-22 16:53:56 -06:00
committed by Felix Ruess
parent a0214d8eb0
commit 5cf0b28d46
4 changed files with 33 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/settings/control/stabilization_att_float_euler.xml
+27
View File
@@ -0,0 +1,27 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="Att Loop">
<dl_setting var="stabilization_gains.p.x" min="1" step="1" max="8000" module="stabilization/stabilization_attitude" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN"/>
<dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800" module="stabilization/stabilization_attitude" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
<dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
<dl_setting var="stabilization_gains.rates_d.x" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind p" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
<dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
<dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000" module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
<dl_setting var="stabilization_gains.i.y" min="0" step="1" max="800" module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
<dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
<dl_setting var="stabilization_gains.rates_d.y" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind q" param="STABILIZATION_ATTITUDE_THETA_DGAIN_D"/>
<dl_setting var="stabilization_gains.dd.y" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
<dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
<dl_setting var="stabilization_gains.i.z" min="0" step="1" max="400" module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
<dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
<dl_setting var="stabilization_gains.rates_d.z" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind r" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
<dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h
+1 -1
View File
@@ -46,7 +46,7 @@ struct FloatAttitudeGains {
struct FloatVect3 surface_i;
};
extern struct FloatEulers stabilization_att_sum_err_eulers;
extern struct FloatEulers stabilization_att_sum_err;
extern float stabilization_att_fb_cmd[COMMANDS_NB];
extern float stabilization_att_ff_cmd[COMMANDS_NB];
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
+2 -2
View File
@@ -82,8 +82,8 @@ void stabilization_attitude_ref_update() {
stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_P*stab_att_ref_rate.r - OMEGA_R*OMEGA_R*ref_err.psi;
/* saturate acceleration */
const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
const struct Int32Rates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R }; \
const struct FloatRates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
const struct FloatRates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R };
RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
/* saturate speed and trim accel accordingly */
sw/airborne/firmwares/rotorcraft/telemetry.h
+3 -3
View File
@@ -303,9 +303,9 @@
&stab_att_ref_euler.phi, \
&stab_att_ref_euler.theta, \
&stab_att_ref_euler.psi, \
&stabilization_att_sum_err_eulers.phi, \
&stabilization_att_sum_err_eulers.theta, \
&stabilization_att_sum_err_eulers.psi, \
&stabilization_att_sum_err.phi, \
&stabilization_att_sum_err.theta, \
&stabilization_att_sum_err.psi, \
&stabilization_att_fb_cmd[COMMAND_ROLL], \
&stabilization_att_fb_cmd[COMMAND_PITCH], \
&stabilization_att_fb_cmd[COMMAND_YAW], \