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[rotorcraft] RC_CLIMB cleanup

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- add GUIDANCE_V_CLIMB_RC_DEADBAND (in pprz units, default MAX_PPRZ/10)
  - GUIDANCE_V_RC_CLIMB_DEAD_BAND is obsolete
- GUIDANCE_V_MAX_RC_CLIMB_SPEED defaults to GUIDANCE_V_REF_MIN_ZD
- GUIDANCE_V_MAX_RC_DESCENT_SPEED defaults to GUIDANCE_V_REF_MAX_ZD
This commit is contained in:
Felix Ruess
2013-09-15 21:39:57 +02:00
parent a0b81eac00
commit 91678391d0
3 changed files with 38 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+28 -9
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@@ -62,6 +62,19 @@ PRINT_CONFIG_VAR(GUIDANCE_V_NOMINAL_HOVER_THROTTLE)
PRINT_CONFIG_VAR(GUIDANCE_V_ADAPT_THROTTLE_ENABLED)
#ifndef GUIDANCE_V_CLIMB_RC_DEADBAND
#define GUIDANCE_V_CLIMB_RC_DEADBAND MAX_PPRZ/10
#endif
#ifndef GUIDANCE_V_MAX_RC_CLIMB_SPEED
#define GUIDANCE_V_MAX_RC_CLIMB_SPEED GUIDANCE_V_REF_MIN_ZD
#endif
#ifndef GUIDANCE_V_MAX_RC_DESCENT_SPEED
#define GUIDANCE_V_MAX_RC_DESCENT_SPEED GUIDANCE_V_REF_MAX_ZD
#endif
uint8_t guidance_v_mode;
int32_t guidance_v_ff_cmd;
int32_t guidance_v_fb_cmd;
@@ -98,10 +111,10 @@ int32_t guidance_v_thrust_coeff;
#define GuidanceVSetRef(_pos, _speed, _accel) { \
gv_set_ref(_pos, _speed, _accel); \
guidance_v_z_ref = _pos; \
guidance_v_zd_ref = _speed; \
guidance_v_zdd_ref = _accel; \
gv_set_ref(_pos, _speed, _accel); \
guidance_v_z_ref = _pos; \
guidance_v_zd_ref = _speed; \
guidance_v_zdd_ref = _accel; \
}
static int32_t get_vertical_thrust_coeff(void);
@@ -131,12 +144,18 @@ void guidance_v_read_rc(void) {
guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE];
/* used in RC_CLIMB */
guidance_v_rc_zd_sp = ((MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE]);
DeadBand(guidance_v_rc_zd_sp, MAX_PPRZ/10);
guidance_v_rc_zd_sp = (MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE];
DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_CLIMB_RC_DEADBAND);
static const int32_t climb_scale = ABS(SPEED_BFP_OF_REAL(GUIDANCE_V_MAX_RC_CLIMB_SPEED) /
(MAX_PPRZ/2 - GUIDANCE_V_CLIMB_RC_DEADBAND));
static const int32_t descent_scale = ABS(SPEED_BFP_OF_REAL(GUIDANCE_V_MAX_RC_DESCENT_SPEED) /
(MAX_PPRZ/2 - GUIDANCE_V_CLIMB_RC_DEADBAND));
if(guidance_v_rc_zd_sp > 0)
guidance_v_rc_zd_sp = SPEED_BFP_OF_REAL(GUIDANCE_V_REF_MAX_ZD) / (MAX_PPRZ/2 - MAX_PPRZ/10) * guidance_v_rc_zd_sp;
else
guidance_v_rc_zd_sp = -SPEED_BFP_OF_REAL(GUIDANCE_V_REF_MIN_ZD) / (MAX_PPRZ/2 - MAX_PPRZ/10) * guidance_v_rc_zd_sp;
guidance_v_rc_zd_sp *= descent_scale;
else
guidance_v_rc_zd_sp *= climb_scale;
}
void guidance_v_mode_changed(uint8_t new_mode) {
sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.c
-7
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@@ -58,14 +58,7 @@ int64_t gv_z_ref;
#endif
#define GV_MAX_ZDD BFP_OF_REAL(GUIDANCE_V_REF_MAX_ZDD, GV_ZDD_REF_FRAC)
#ifndef GUIDANCE_V_REF_MIN_ZD
#define GUIDANCE_V_REF_MIN_ZD (-3.)
#endif
#define GV_MIN_ZD BFP_OF_REAL(GUIDANCE_V_REF_MIN_ZD , GV_ZD_REF_FRAC)
#ifndef GUIDANCE_V_REF_MAX_ZD
#define GUIDANCE_V_REF_MAX_ZD ( 3.)
#endif
#define GV_MAX_ZD BFP_OF_REAL(GUIDANCE_V_REF_MAX_ZD , GV_ZD_REF_FRAC)
/* second order model natural frequency and damping */
sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
+10
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@@ -32,6 +32,16 @@
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
#ifndef GUIDANCE_V_REF_MIN_ZD
#define GUIDANCE_V_REF_MIN_ZD (-3.)
#endif
#ifndef GUIDANCE_V_REF_MAX_ZD
#define GUIDANCE_V_REF_MAX_ZD ( 3.)
#endif
/** Update frequency
*/
#define GV_FREQ_FRAC 9