Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-01 04:46:51 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

[rotorcraft] guidance_h: make some vars private

Browse Source
This commit is contained in:
Felix Ruess
2015-07-01 22:07:31 +02:00
parent b791f2fe37
commit a4275abee3
3 changed files with 13 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/settings/control/rotorcraft_guidance.xml
+1 -1
View File
@@ -21,7 +21,7 @@
<dl_setting var="gh_ref.zeta" min="0.7" step="0.05" max="1.0" module="guidance/guidance_h" shortname="zeta" handler="SetZeta" param="GUIDANCE_H_REF_ZETA"/> <dl_setting var="gh_ref.zeta" min="0.7" step="0.05" max="1.0" module="guidance/guidance_h" shortname="zeta" handler="SetZeta" param="GUIDANCE_H_REF_ZETA"/>
<dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/> <dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/>
<dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/> <dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/>
<dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi" param="GUIDANCE_H_IGAIN"/> <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="set_igain" param="GUIDANCE_H_IGAIN"/>
<dl_setting var="guidance_h_vgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kv" param="GUIDANCE_H_VGAIN"/> <dl_setting var="guidance_h_vgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kv" param="GUIDANCE_H_VGAIN"/>
<dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/> <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
<dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/> <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1" module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+11 -3
View File
@@ -82,9 +82,6 @@ struct Int32Vect2 guidance_h_accel_ref;
#if GUIDANCE_H_USE_SPEED_REF #if GUIDANCE_H_USE_SPEED_REF
struct Int32Vect2 guidance_h_speed_sp; struct Int32Vect2 guidance_h_speed_sp;
#endif #endif
struct Int32Vect2 guidance_h_pos_err;
struct Int32Vect2 guidance_h_speed_err;
struct Int32Vect2 guidance_h_trim_att_integrator;
struct Int32Vect2 guidance_h_cmd_earth; struct Int32Vect2 guidance_h_cmd_earth;
struct Int32Eulers guidance_h_rc_sp; struct Int32Eulers guidance_h_rc_sp;
@@ -99,6 +96,11 @@ int32_t guidance_h_vgain;
int32_t transition_percentage; int32_t transition_percentage;
int32_t transition_theta_offset; int32_t transition_theta_offset;
/* internal variables */
struct Int32Vect2 guidance_h_pos_err;
struct Int32Vect2 guidance_h_speed_err;
struct Int32Vect2 guidance_h_trim_att_integrator;
static void guidance_h_update_reference(void); static void guidance_h_update_reference(void);
static void guidance_h_traj_run(bool_t in_flight); static void guidance_h_traj_run(bool_t in_flight);
@@ -587,3 +589,9 @@ static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool_t in_flig
speed_sp->y = 0; speed_sp->y = 0;
} }
} }
void guidance_h_set_igain(uint32_t igain)
{
guidance_h_igain = igain;
INT_VECT2_ZERO(guidance_h_trim_att_integrator);
}
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
+1 -9
View File
@@ -74,11 +74,6 @@ extern struct Int32Vect2 guidance_h_pos_ref; ///< with #INT32_POS_FRAC
extern struct Int32Vect2 guidance_h_speed_ref; ///< with #INT32_SPEED_FRAC extern struct Int32Vect2 guidance_h_speed_ref; ///< with #INT32_SPEED_FRAC
extern struct Int32Vect2 guidance_h_accel_ref; ///< with #INT32_ACCEL_FRAC extern struct Int32Vect2 guidance_h_accel_ref; ///< with #INT32_ACCEL_FRAC
extern struct Int32Vect2 guidance_h_pos_err;
extern struct Int32Vect2 guidance_h_speed_err;
extern struct Int32Vect2 guidance_h_trim_att_integrator;
/** horizontal guidance command. /** horizontal guidance command.
* In north/east with #INT32_ANGLE_FRAC * In north/east with #INT32_ANGLE_FRAC
* @todo convert to real force command * @todo convert to real force command
@@ -101,11 +96,8 @@ extern void guidance_h_mode_changed(uint8_t new_mode);
extern void guidance_h_read_rc(bool_t in_flight); extern void guidance_h_read_rc(bool_t in_flight);
extern void guidance_h_run(bool_t in_flight); extern void guidance_h_run(bool_t in_flight);
extern void guidance_h_set_igain(uint32_t igain);
#define guidance_h_SetKi(_val) { \
guidance_h_igain = _val; \
INT_VECT2_ZERO(guidance_h_trim_att_integrator); \
}
/* Make sure that ref can only be temporarily disabled for testing, /* Make sure that ref can only be temporarily disabled for testing,
* but not enabled if GUIDANCE_H_USE_REF was defined to FALSE. * but not enabled if GUIDANCE_H_USE_REF was defined to FALSE.