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some minor corrections

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agressiva
2015-05-02 22:30:29 -03:00
parent ae23111f3d
commit 96c80e1e6e
3 changed files with 13 additions and 19 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
+1 -1
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@@ -277,7 +277,7 @@ void stabilization_attitude_run(bool_t enable_integrator)
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ/4);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn)
sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c
+10 -17
View File
@@ -28,13 +28,6 @@
* Rectangle is defined by two points, sweep can be south-north or west-east.
*/
/*
#include <stdio.h>
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
*/
#ifndef RECTANGLE_SURVEY_DEFAULT_SWEEP
#define RECTANGLE_SURVEY_DEFAULT_SWEEP 25
#endif
@@ -109,14 +102,14 @@ bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float gri
survey_orientation = so;
if (survey_orientation == NS) {
if (abs(stateGetPositionEnu_f()->x - nav_survey_west) < abs(stateGetPositionEnu_f()->x - nav_survey_east)) {
if (fabsf(stateGetPositionEnu_f()->x - nav_survey_west) < fabsf(stateGetPositionEnu_f()->x - nav_survey_east)) {
survey_from.x = survey_to.x = nav_survey_west + grid / 4.;
} else {
survey_from.x = survey_to.x = nav_survey_east - grid / 4.;
grid = -grid;
}
if (abs(stateGetPositionEnu_f()->y - nav_survey_south) > abs(stateGetPositionEnu_f()->y - nav_survey_north)) {
if (fabsf(stateGetPositionEnu_f()->y - nav_survey_south) > fabsf(stateGetPositionEnu_f()->y - nav_survey_north)) {
survey_to.y = nav_survey_south;
survey_from.y = nav_survey_north;
} else {
@@ -124,14 +117,14 @@ bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float gri
survey_to.y = nav_survey_north;
}
} else { /* survey_orientation == WE */
if (abs(stateGetPositionEnu_f()->y - nav_survey_south) < abs(stateGetPositionEnu_f()->y - nav_survey_north)) {
if (fabsf(stateGetPositionEnu_f()->y - nav_survey_south) < fabsf(stateGetPositionEnu_f()->y - nav_survey_north)) {
survey_from.y = survey_to.y = nav_survey_south + grid / 4.;
} else {
survey_from.y = survey_to.y = nav_survey_north - grid / 4.;
grid = -grid;
}
if (abs(stateGetPositionEnu_f()->x - nav_survey_west) > abs(stateGetPositionEnu_f()->x - nav_survey_east)) {
if (fabsf(stateGetPositionEnu_f()->x - nav_survey_west) > fabsf(stateGetPositionEnu_f()->x - nav_survey_east)) {
survey_to.x = nav_survey_west;
survey_from.x = nav_survey_east;
} else {
@@ -167,7 +160,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2)
/* entry scan */ // wait for start position and altitude be reached
if (!nav_survey_retange_active && ((!nav_approaching_from(&survey_from_i, NULL, 0))
|| (abs(stateGetPositionEnu_f()->z - waypoints[wp1].enu_f.z)) > 1)) {
|| (fabsf(stateGetPositionEnu_f()->z - waypoints[wp1].enu_f.z)) > 1.)) {
} else {
if (!nav_survey_retange_active) {
nav_survey_retange_active = TRUE;
@@ -195,12 +188,12 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2)
}
if (!survey_uturn) { /* S-N, N-S, W-E or E-W straight route */
/*
/* if you like to use position croos instead of approaching uncoment this line
if ((stateGetPositionEnu_f()->y < nav_survey_north && SurveyGoingNorth()) ||
(stateGetPositionEnu_f()->y > nav_survey_south && SurveyGoingSouth()) ||
(stateGetPositionEnu_f()->x < nav_survey_east && SurveyGoingEast()) ||
(stateGetPositionEnu_f()->x > nav_survey_west && SurveyGoingWest())) {
*/
*/
/* Continue ... */
ENU_BFP_OF_REAL(survey_to_i, survey_to);
@@ -230,7 +223,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2)
rectangle_survey_sweep_num ++;
} else { //room for half sweep after
survey_radius = nav_survey_shift / 2.;
is_last_half = true;
is_last_half = TRUE;
}
} else {// room for full sweep after
survey_radius = nav_survey_shift;
@@ -271,7 +264,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2)
rectangle_survey_sweep_num ++;
} else { //room for half sweep after
survey_radius = nav_survey_shift / 2.;
is_last_half = true;
is_last_half = TRUE;
}
} else {// room for full sweep after
survey_radius = nav_survey_shift;
@@ -312,7 +305,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2)
}
//detect when segment has done
/*
/* if you like to use position croos instead of approaching uncoment this line
if ( (stateGetPositionEnu_f()->y > waypoints[0].enu_f.y && ((survey_orientation == WE) && (temp_f.y < waypoints[0].enu_f.y)) )||
(stateGetPositionEnu_f()->y < waypoints[0].enu_f.y && ((survey_orientation == WE) && (temp_f.y > waypoints[0].enu_f.y)) )||
(stateGetPositionEnu_f()->x < waypoints[0].enu_f.x && ((survey_orientation == NS) && (temp_f.x > waypoints[0].enu_f.x)) )||
sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h
+2 -1
View File
@@ -1,5 +1,6 @@
/*
* Copyright (C) 2007-2009 ENAC, Pascal Brisset, Antoine Drouin
* 2015 NAC-VA, Eduardo Lavratti
*
* This file is part of paparazzi.
*
@@ -20,7 +21,7 @@
*/
/**
* @file .c
* @file modules/nav/nav_survey_rectangle_rotorcraft.h
*
* Automatic survey of a rectangle for rotorcraft.
*