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airspeed max throttle - visualtarget/opticflow/energyctrl messages

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This commit is contained in:
Christophe De Wagter
2010-07-22 13:24:28 +00:00
parent 6a41ec7cec
commit 5e429f3739
4 changed files with 63 additions and 12 deletions
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conf/messages.xml
+35 -6
View File
@@ -322,6 +322,15 @@
<field name="groundspeed_sp" type="float" unit="m/s"/>
</message>
<message name="AIRSPEED" id="54">
<field name="adc" type="uint16"/>
<field name="airspeed" type="float" unit="m/s"/>
<field name="airspeed_sp" type="float" unit="m/s"/>
<field name="airspeed_cnt" type="float" unit="m/s"/>
<field name="groundspeed_sp" type="float" unit="m/s"/>
</message>
<message name="BARO_WORDS" id="46">
<field name="w1" type="uint16"/>
<field name="w2" type="uint16"/>
@@ -366,6 +375,11 @@
<field name="values" type="int16[]" alt_unit_coef="1e-3"/>
</message>
<message name="VISUALTARGET" id="235">
<field name="x" type="uint16"></field>
<field name="y" type="uint16"></field>
</message>
<message name="DEBUG_IR_I2C" id="53">
<field name="top" type="int16" unit="adc"></field>
</message>
@@ -526,6 +540,11 @@
<field name="values" type="uint16[]" unit="ticks"/>
</message>
<message name="OPTICFLOW" id="234">
<field name="flow" type="uint16"></field>
<field name="ref_alt" type="float"></field>
</message>
<message name="RC" id="101">
<field name="values" type="int16[]" unit="pprz" format="%d"/>
</message>
@@ -550,12 +569,12 @@
<field name="values" type="uint16[]" unit="none"/>
</message>
<message name="BETH" id="106">
<field name="azimuth" type="uint16"/>
<field name="elevation" type="uint16"/>
<field name="tilt" type="uint16"/>
<field name="other" type="uint16"/>
</message>
<message name="BETH" id="106">
<field name="azimuth" type="uint16"/>
<field name="elevation" type="uint16"/>
<field name="tilt" type="uint16"/>
<field name="other" type="uint16"/>
</message>
<message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16" unit=""></field>
@@ -597,6 +616,16 @@
<field name="climb" type="float"/>
</message>
<message name="VERTICAL_ENERGY" id="124">
<field name="Epot_err" type="float"/>
<field name="Ekin_err" type="float"/>
<field name="Etot_err" type="float"/>
<field name="Edis_err" type="float"/>
<field name="throttle" type="float"/>
<field name="nav_pitch" type="float"/>
<field name="speed_sp" type="float"/>
</message>
<message name="BOOZ2_STAB_ATTITUDE_FLOAT" id="130">
<field name="est_p" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
<field name="est_q" type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>
conf/ubx.xml
+20
View File
@@ -205,4 +205,24 @@
</class>
<class name="MAVPILOT" ID="100">
<message name="COMMAND" ID="0x05" length="12">
<field name="S1" format="U2"/>
<field name="S2" format="U2"/>
<field name="S3" format="U2"/>
<field name="S4" format="U2"/>
<field name="S5" format="U2"/>
<field name="S6" format="U2"/>
</message>
<message name="FBW" ID="0x06" length="6">
<field name="MOD" format="U1"/>
<field name="STAT" format="U1"/>
<field name="ERR" format="U1"/>
<field name="VOLT" format="U1"/>
<field name="CURRENT" format="U2" />
</message>
</class>
</ubx>
sw/airborne/fw_v_ctl.c
+1
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@@ -336,6 +336,7 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
controlled_throttle = (err_airspeed + v_ctl_auto_airspeed_sum_err * v_ctl_auto_airspeed_igain) * v_ctl_auto_airspeed_pgain;
// Done, set outputs
Bound(controlled_throttle, 0, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
f_throttle = controlled_throttle;
nav_pitch = v_ctl_pitch_of_vz;
v_ctl_throttle_setpoint = TRIM_UPPRZ(f_throttle * MAX_PPRZ);
sw/airborne/main_ap.c
+7 -6
View File
@@ -69,7 +69,7 @@
#include "adc_generic.h"
#endif
#ifdef USE_AIRSPEED
#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED
#include "airspeed.h"
#endif
@@ -147,9 +147,6 @@
#include "osam_imu_ugear.h"
#endif
#ifdef XSENS
#include "xsens_ins.h"
#endif
/*code added by Haiyang Chao ends*/
#if ! defined CATASTROPHIC_BAT_LEVEL && defined LOW_BATTERY
@@ -659,7 +656,8 @@ void periodic_task_ap( void ) {
#if defined GYRO
gyro_update();
#endif
#if defined USE_AIRSPEED
#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED
airspeed_update();
#endif
#ifdef INFRARED
@@ -711,7 +709,7 @@ void init_ap( void ) {
#ifdef GYRO
gyro_init();
#endif
#ifdef USE_AIRSPEED
#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED
airspeed_init();
#endif
#ifdef GPS
@@ -913,6 +911,9 @@ void event_task_ap( void ) {
gps_verbose_downlink = !launch;
UseGpsPosNoSend(estimator_update_state_gps);
gps_downlink();
#ifdef GPS_TRIGGERED_FUNCTION
GPS_TRIGGERED_FUNCTION();
#endif
gps_pos_available = FALSE;
}
}