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Merge pull request #644 from paparazzi/ins_reset

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- reset reference position from INS not from NAV
- remove hf_realign, vf_realign from ins struct
- remove ins_realign_v and ins_realign_h API functions
- weak functions for things that don't need to be implemented in each algoritm
This commit is contained in:
Felix Ruess
2014-02-27 18:53:42 +01:00
parent c48e0975be 02b32c97ea
commit 7cb1f8a890
24 changed files with 593 additions and 836 deletions
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conf/flight_plans/versatile.xml
+2 -2
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@@ -12,8 +12,8 @@
<waypoint name="MOB" x="-11.5" y="-21.2"/>
<waypoint name="S1" x="-151.6" y="80.4"/>
<waypoint name="S2" x="180.1" y="214.9"/>
<waypoint alt="30" name="AF" x="200" y="-10"/>
<waypoint alt="0" name="TD" x="80.0" y="20.0"/>
<waypoint alt="215.0" name="AF" x="200" y="-10"/>
<waypoint alt="185.0" name="TD" x="80.0" y="20.0"/>
<waypoint name="BASELEG" x="26.9" y="-23.0"/>
<waypoint name="_1" x="-100" y="0"/>
<waypoint name="_2" x="-100" y="200"/>
conf/settings/control/rotorcraft_guidance.xml
-2
View File
@@ -10,7 +10,6 @@
<dl_setting var="guidance_v_nominal_throttle" min="0.2" step="0.01" max="0.8" module="guidance/guidance_v" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
<dl_setting var="guidance_v_adapt_throttle_enabled" min="0" step="1" max="1" module="guidance/guidance_v" shortname="adapt_throttle" param="GUIDANCE_V_ADAPT_THROTTLE_ENABLED" values="FALSE|TRUE"/>
<dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="ins.vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
</dl_settings>
<dl_settings NAME="Horiz Loop">
@@ -22,7 +21,6 @@
<dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
<dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
<dl_setting var="ins.hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
</dl_settings>
<dl_settings NAME="NAV">