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This commit is contained in:
Antoine Drouin
2009-02-12 15:08:58 +00:00
parent dd512b7c2a
commit 7ad29c301a
6 changed files with 18 additions and 8 deletions
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conf/airframes/booz2_a2.xml
+2 -2
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@@ -97,8 +97,8 @@
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="81"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KP" value="-300"/>
<define name="HOVER_KD" value="-150"/>
<define name="HOVER_KI" value="0"/>
</section>
conf/messages.xml
+1 -1
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@@ -791,7 +791,7 @@
<field name="est_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="est_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="ref_z" type="int32" alt_unit="m" alt_unit_coef="0.0039063"/>
<field name="red_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_zd" type="int32" alt_unit="m/s" alt_unit_coef="0.0000019"/>
<field name="ref_zdd" type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
<field name="adp_inv_m" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
<field name="adp_cov" type="int32" alt_unit="foo" alt_unit_coef="0.0000038"/>
conf/settings/settings_booz2.xml
+1 -1
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@@ -37,7 +37,7 @@
<dl_settings NAME="Vert Loop">
<dl_setting var="booz2_guidance_v_kp" min="-600" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
<dl_setting var="booz2_guidance_v_kd" min="-600" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
<dl_setting var="booz2_guidance_v_z_sp" min="-20" step="1" max="10" module="booz2_guidance_v" shortname="sp"/>
<dl_setting var="booz2_guidance_v_z_sp" min="-2560" step="1" max="1024" module="booz2_guidance_v" shortname="sp"/>
</dl_settings>
<dl_settings NAME="Horiz Loop">
sw/airborne/booz/booz2_fms_test_signal.c
+1 -1
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@@ -3,7 +3,7 @@
#include "booz2_ins.h"
#include "booz_geometry_mixed.h"
#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_PERIOD 200;
#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_PERIOD 300;
#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_AMPLITUDE 20;
#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_AXE 0
sw/airborne/booz/booz2_guidance_v.c
+12 -2
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@@ -36,6 +36,15 @@ int32_t booz2_guidance_v_ki;
int32_t booz2_guidance_v_z_sum_err;
#define Booz2GuidanceVSetRef(_pos, _speed, _accel) { \
b2_gv_set_ref(_pos, _speed, _accel); \
booz2_guidance_v_z_ref = _pos; \
booz2_guidance_v_zd_ref = _speed; \
booz2_guidance_v_zdd_ref = _accel; \
}
static inline void run_hover_loop(bool_t in_flight);
@@ -60,7 +69,7 @@ void booz2_guidance_v_read_rc(void) {
switch (booz2_guidance_v_mode) {
case BOOZ2_GUIDANCE_V_MODE_DIRECT:
booz2_guidance_v_z_sp = booz_ins_position.z;
b2_gv_set_ref(booz_ins_position.z, 0, 0);
Booz2GuidanceVSetRef(booz_ins_position.z, 0, 0);
break;
case BOOZ2_GUIDANCE_V_MODE_HOVER:
if (booz_fms_on && booz_fms_input.v_mode >= BOOZ2_GUIDANCE_V_MODE_HOVER)
@@ -84,6 +93,7 @@ void booz2_guidance_v_mode_changed(uint8_t new_mode) {
case BOOZ2_GUIDANCE_V_MODE_HOVER:
booz2_guidance_v_z_sum_err = 0;
booz2_guidance_v_z_sp = booz_ins_position.z;
Booz2GuidanceVSetRef(booz_ins_position.z, 0, 0);
break;
}
@@ -136,7 +146,7 @@ static inline void run_hover_loop(bool_t in_flight) {
else
booz2_guidance_v_z_sum_err = 0;
/* our nominal command : (g + zdd)/m */
/* our nominal command : (g + zdd)*m */
// const int32_t inv_m = BOOZ_INT_OF_FLOAT(0.140, IACCEL_RES);
const int32_t inv_m = b2_gv_adapt_X>>(B2_GV_ADAPT_X_FRAC - IACCEL_RES);
booz2_guidance_v_ff_cmd = (BOOZ_INT_OF_FLOAT(9.81, IACCEL_RES) - booz2_guidance_v_zdd_ref) / inv_m;
sw/airborne/booz/test/test_vg_ref.c
+1 -1
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@@ -48,7 +48,7 @@ void print_ref(int i) {
int32_t get_sp (int i) {
// return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? 10.0 : 0, IPOS_FRAC);
return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? -5.0 : 0, IPOS_FRAC);
}