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bound trim values at 10% of max command value

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This commit is contained in:
Felix Ruess
2011-11-29 17:30:39 +01:00
parent 3bec1f9332
commit 986142573a
3 changed files with 6 additions and 6 deletions
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conf/settings/tuning.xml
+2 -2
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@@ -32,8 +32,8 @@
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="3000" MIN="-3000" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="3000" MIN="-3000" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="attitude">
conf/settings/tuning_ins.xml
+2 -2
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@@ -32,8 +32,8 @@
<dl_settings NAME="control">
<dl_settings NAME="trim">
<dl_setting MAX="3000" MIN="-3000" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="3000" MIN="-3000" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
<dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
</dl_settings>
<dl_settings NAME="ins">
sw/airborne/firmwares/fixedwing/main_fbw.c
+2 -2
View File
@@ -155,10 +155,10 @@ void event_task_fbw( void) {
for(i = 0; i < COMMANDS_NB; i++) trimmed_commands[i] = commands[i];
#ifdef COMMAND_ROLL
trimmed_commands[COMMAND_ROLL] += command_roll_trim;
trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ/10);
#endif
#ifdef COMMAND_PITCH
trimmed_commands[COMMAND_PITCH] += command_pitch_trim;
trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ/10);
#endif
SetActuatorsFromCommands(trimmed_commands);