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Fix airframes in master (#3380)

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* Nederdrone fixes

* fix automation
This commit is contained in:
Christophe De Wagter
2024-10-02 09:59:07 +02:00
committed by GitHub
parent 5fce15418b
commit 903b4897f8
4 changed files with 4 additions and 37 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
-1
View File
@@ -46,7 +46,6 @@ extern float thrust_bx_state_filt;
extern float act_pref[INDI_NUM_ACT];
extern float indi_Wu[INDI_NUM_ACT];
struct Indi_gains {
struct FloatRates att;
struct FloatRates rate;
sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
+4 -4
View File
@@ -32,7 +32,7 @@ not use this module at the same time!
#include "state.h"
#include "autopilot.h"
#include "modules/radio_control/radio_control.h"
#include "generated/radio.h"
//#include "generated/radio.h"
#include "modules/actuators/actuators.h"
#define INDI_SCHEDULING_LOWER_BOUND_G1 0.0001
@@ -232,15 +232,15 @@ void schdule_control_effectiveness(void) {
if(airspeed > 15.0) {
uint8_t i;
for (i = 0; i < 4; i++) {
indi_Wu[i] = indi_Wu_original[i]*pref_flaps_factor;
wls_stab_p.Wu[i] = indi_Wu_original[i]*pref_flaps_factor;
}
for (i = 4; i < 8; i++) {
indi_Wu[i] = indi_Wu_original[i]/pref_flaps_factor;
wls_stab_p.Wu[i] = indi_Wu_original[i]/pref_flaps_factor;
}
} else {
uint8_t i;
for (i = 0; i < 8; i++) {
indi_Wu[i] = indi_Wu_original[i];
wls_stab_p.Wu[i] = indi_Wu_original[i];
}
}
}