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Fix the use of INDI_ALLOCATION_PSEUDO_INVERSE (#3407)

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Co-authored-by: Florian Sansou <florian.sansou@enac.fr>
This commit is contained in:
Florian Sansou
2024-11-05 13:00:09 +01:00
committed by GitHub
parent 90ac935509
commit 6691770b72
1 changed files with 6 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+6 -1
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@@ -297,6 +297,7 @@ void sum_g1_g2(void);
#if PERIODIC_TELEMETRY
#include "modules/datalink/telemetry.h"
#if !STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
static void send_wls_v_stab(struct transport_tx *trans, struct link_device *dev)
{
send_wls_v("stab", &wls_stab_p, trans, dev);
@@ -305,7 +306,7 @@ static void send_wls_u_stab(struct transport_tx *trans, struct link_device *dev)
{
send_wls_u("stab", &wls_stab_p, trans, dev);
}
#endif
static void send_eff_mat_g_indi(struct transport_tx *trans, struct link_device *dev)
{
pprz_msg_send_EFF_MAT_STAB(trans, dev, AC_ID,
@@ -426,8 +427,10 @@ void stabilization_indi_init(void)
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_EFF_MAT_STAB, send_eff_mat_g_indi);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_REF_QUAT, send_ahrs_ref_quat);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE, send_att_full_indi);
#if !STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_WLS_V, send_wls_v_stab);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_WLS_U, send_wls_u_stab);
#endif
#endif
}
@@ -725,6 +728,7 @@ void stabilization_indi_rate_run(bool in_flight, struct StabilizationSetpoint *s
/**
* Function that sets the u_min, u_max and u_pref if function not elsewhere defined
*/
#if !STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
void WEAK stabilization_indi_set_wls_settings(void)
{
// Calculate the min and max increments
@@ -748,6 +752,7 @@ void WEAK stabilization_indi_set_wls_settings(void)
#endif
}
}
#endif
/**
* @param in_flight enable integrator only in flight