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Hiller-Bar Helicopter Stabilization Manual Mode (for safety pilot)

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This commit is contained in:
Christophe De Wagter
2012-03-05 15:22:40 +01:00
parent a0257f958f
commit 81ab407a86
5 changed files with 111 additions and 0 deletions
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conf/autopilot/rotorcraft.makefile
+1
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@@ -197,6 +197,7 @@ endif
ap.srcs += $(SRC_FIRMWARE)/autopilot.c
ap.srcs += $(SRC_FIRMWARE)/stabilization.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
ap.CFLAGS += -DUSE_NAVIGATION
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+2
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@@ -115,6 +115,8 @@ sim.srcs += $(SRC_FIRMWARE)/autopilot.c
sim.srcs += $(SRC_FIRMWARE)/stabilization.c
sim.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
sim.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
NUM_TYPE=integer
#NUM_TYPE=float
sw/airborne/firmwares/rotorcraft/stabilization.h
+2
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@@ -28,9 +28,11 @@
#include "generated/airframe.h"
#include "firmwares/rotorcraft/stabilization/stabilization_none.h"
#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
extern void stabilization_init(void);
extern int32_t stabilization_cmd[COMMANDS_NB];
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c
+69
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@@ -0,0 +1,69 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2010 Felix Ruess <felix.ruess@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_none.h"
#include "subsystems/radio_control.h"
#include "generated/airframe.h"
#define F_UPDATE_RES 9
#define REF_DOT_FRAC 11
#define REF_FRAC 16
#define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
#define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
struct Int32Rates stabilization_none_rc_cmd;
void stabilization_none_init(void) {
INT_RATES_ZERO(stabilization_none_rc_cmd);
}
void stabilization_none_read_rc( void ) {
stabilization_none_rc_cmd.p = (int32_t)-radio_control.values[RADIO_ROLL];
stabilization_none_rc_cmd.q = (int32_t)radio_control.values[RADIO_PITCH];
stabilization_none_rc_cmd.r = (int32_t)-radio_control.values[RADIO_YAW];
}
void stabilization_none_enter(void) {
INT_RATES_ZERO(stabilization_none_rc_cmd);
}
void stabilization_none_run(bool_t in_flight) {
/* sum to final command */
stabilization_cmd[COMMAND_ROLL] = stabilization_none_rc_cmd.p * SUPERVISION_SCALE / MAX_PPRZ;
stabilization_cmd[COMMAND_PITCH] = stabilization_none_rc_cmd.q * SUPERVISION_SCALE / MAX_PPRZ;
stabilization_cmd[COMMAND_YAW] = stabilization_none_rc_cmd.r * SUPERVISION_SCALE / MAX_PPRZ;
}
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h
+37
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@@ -0,0 +1,37 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef STABILIZATION_NONE
#define STABILIZATION_NONE
#include "math/pprz_algebra_int.h"
extern void stabilization_none_init(void);
extern void stabilization_none_read_rc(void);
extern void stabilization_none_run(bool_t in_flight);
extern void stabilization_none_enter(void);
extern struct Int32Rates stabilization_none_rc_cmd;
#endif /* STABILIZATION_NONE */