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[rotorcraft] fix stabilization_attitude_read_rc_setpoint_eulers

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Reported by Ewoud.
The constants max_phi_scale etc. were zero because it is an integer divide
where the denominator is larger (depending on STABILIZATION_ATTITUDE_SP_MAX_PHI).
This causes the euler setpoint to always be zero.

Closes #461
This commit is contained in:
Felix Ruess
2013-06-14 13:59:31 +02:00
parent eda1ea3271
commit 65d0889ad0
1 changed files with 6 additions and 6 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
+6 -6
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@@ -84,16 +84,16 @@ float stabilization_attitude_get_heading_f(void) {
* @param[out] sp attitude setpoint as euler angles * @param[out] sp attitude setpoint as euler angles
*/ */
void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight) { void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight) {
const int32_t max_phi_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) / MAX_PPRZ; const float max_phi_scale = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) / MAX_PPRZ;
const int32_t max_theta_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) / MAX_PPRZ; const float max_theta_scale = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) / MAX_PPRZ;
const int32_t max_r_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) / MAX_PPRZ; const float max_r_scale = ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) / MAX_PPRZ;
sp->phi = ((int32_t) radio_control.values[RADIO_ROLL] * max_phi_scale); sp->phi = (int32_t) (radio_control.values[RADIO_ROLL] * max_phi_scale);
sp->theta = ((int32_t) radio_control.values[RADIO_PITCH] * max_theta_scale); sp->theta = (int32_t) (radio_control.values[RADIO_PITCH] * max_theta_scale);
if (in_flight) { if (in_flight) {
if (YAW_DEADBAND_EXCEEDED()) { if (YAW_DEADBAND_EXCEEDED()) {
sp->psi += ((int32_t) radio_control.values[RADIO_YAW] * max_r_scale / RC_UPDATE_FREQ); sp->psi += (int32_t) (radio_control.values[RADIO_YAW] * max_r_scale / RC_UPDATE_FREQ);
INT32_ANGLE_NORMALIZE(sp->psi); INT32_ANGLE_NORMALIZE(sp->psi);
} }
if (autopilot_mode == AP_MODE_FORWARD) { if (autopilot_mode == AP_MODE_FORWARD) {