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changed h_ctl_pitch_Kffa and h_ctl_pitch_Kffd to positive (only stabilization_adaptive and not actually used anywhere atm)

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This commit is contained in:
Felix Ruess
2011-11-29 23:25:29 +01:00
parent 3af35546ba
commit 8cc7802a2e
4 changed files with 15 additions and 15 deletions
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conf/settings/fw_h_ctl_a_settings.xml
+2 -2
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@@ -7,8 +7,8 @@
<dl_settings NAME="stabilization/stabilization_adaptive">
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" module="stabilization/stabilization_adaptive" shortname="roll_Kffa"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" module="stabilization/stabilization_adaptive" shortname="roll_Kffd"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" module="stabilization/stabilization_adaptive" shortname="pitch_Kffa"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" module="stabilization/stabilization_adaptive" shortname="pitch_Kffd"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" module="stabilization/stabilization_adaptive" shortname="pitch_Kffa"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" module="stabilization/stabilization_adaptive" shortname="pitch_Kffd"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" module="stabilization/stabilization_adaptive" handler="SetRollIGain"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_igain" module="stabilization/stabilization_adaptive" handler="SetPitchIGain"/>
</dl_settings>
conf/settings/tuning_ctl_adaptive.xml
+2 -2
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@@ -23,8 +23,8 @@
<dl_settings NAME="feedforward">
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
</dl_settings>
<dl_settings name="alt">
conf/settings/tuning_ctl_new.xml
+2 -2
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@@ -23,8 +23,8 @@
<dl_settings NAME="feedforward">
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
<dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
</dl_settings>
<dl_settings name="alt">
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+9 -9
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@@ -174,8 +174,8 @@ void h_ctl_init( void ) {
h_ctl_pitch_dgain = ABS(H_CTL_PITCH_DGAIN);
h_ctl_pitch_igain = ABS(H_CTL_PITCH_IGAIN);
h_ctl_pitch_sum_err = 0.;
h_ctl_pitch_Kffa = H_CTL_PITCH_KFFA;
h_ctl_pitch_Kffd = H_CTL_PITCH_KFFD;
h_ctl_pitch_Kffa = ABS(H_CTL_PITCH_KFFA);
h_ctl_pitch_Kffd = ABS(H_CTL_PITCH_KFFD);
h_ctl_elevator_setpoint = 0;
h_ctl_elevator_of_roll = 0; //H_CTL_ELEVATOR_OF_ROLL;
#ifdef H_CTL_PITCH_OF_ROLL
@@ -387,9 +387,9 @@ inline static void h_ctl_pitch_loop( void ) {
#endif
// Compute errors
float err = estimator_theta - h_ctl_ref_pitch_angle;
float err = h_ctl_ref_pitch_angle - estimator_theta;
#ifdef USE_GYRO_PITCH_RATE
float d_err = estimator_q - h_ctl_ref_pitch_rate;
float d_err = h_ctl_ref_pitch_rate - estimator_q;
#else // soft derivation
float d_err = (err - last_err)/H_CTL_REF_DT - h_ctl_ref_pitch_rate;
#endif
@@ -407,11 +407,11 @@ inline static void h_ctl_pitch_loop( void ) {
}
}
float cmd = h_ctl_pitch_Kffa * h_ctl_ref_pitch_accel
+ h_ctl_pitch_Kffd * h_ctl_ref_pitch_rate
- h_ctl_pitch_pgain * err
- h_ctl_pitch_dgain * d_err
- h_ctl_pitch_igain * h_ctl_pitch_sum_err;
float cmd = - h_ctl_pitch_Kffa * h_ctl_ref_pitch_accel
- h_ctl_pitch_Kffd * h_ctl_ref_pitch_rate
+ h_ctl_pitch_pgain * err
+ h_ctl_pitch_dgain * d_err
+ h_ctl_pitch_igain * h_ctl_pitch_sum_err;
cmd /= airspeed_ratio2;