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Merge branch 'master' into dev

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This commit is contained in:
Felix Ruess
2011-12-05 23:14:02 +01:00
parent 890ca5e42f 84adda8309
commit b1f1d93a50
9 changed files with 54 additions and 1 deletions
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conf/settings/tuning.xml
+5
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@@ -31,6 +31,11 @@
<dl_settings NAME="control">
<dl_settings NAME="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">
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
conf/settings/tuning_ctl_adaptive.xml
+5
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@@ -6,6 +6,11 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="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">
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
conf/settings/tuning_ctl_new.xml
+5
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@@ -6,6 +6,11 @@
<dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="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">
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
conf/settings/tuning_ins.xml
+5
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@@ -31,6 +31,11 @@
<dl_settings NAME="control">
<dl_settings NAME="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">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
conf/settings/tuning_ins_dcm.xml
+5
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@@ -31,6 +31,11 @@
<dl_settings NAME="control">
<dl_settings NAME="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">
<dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
<dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
conf/settings/tuning_loiter.xml
+4
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@@ -44,6 +44,10 @@
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
</dl_settings>
<dl_settings NAME="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">
<dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
sw/airborne/commands.c
+11
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@@ -28,5 +28,16 @@
#include "commands.h"
#ifndef COMMAND_ROLL_TRIM
#define COMMAND_ROLL_TRIM 0
#endif
#ifndef COMMAND_PITCH_TRIM
#define COMMAND_PITCH_TRIM 0
#endif
pprz_t command_roll_trim = COMMAND_ROLL_TRIM;
pprz_t command_pitch_trim = COMMAND_PITCH_TRIM;
pprz_t commands[COMMANDS_NB];
const pprz_t commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
sw/airborne/commands.h
+2
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@@ -32,6 +32,8 @@
#include "paparazzi.h"
#include "generated/airframe.h"
extern pprz_t command_roll_trim;
extern pprz_t command_pitch_trim;
extern pprz_t commands[COMMANDS_NB];
extern const pprz_t commands_failsafe[COMMANDS_NB];
sw/airborne/firmwares/fixedwing/main_fbw.c
+12 -1
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@@ -145,7 +145,18 @@ void event_task_fbw( void) {
#ifdef ACTUATORS
if (fbw_new_actuators > 0)
{
SetActuatorsFromCommands(commands);
pprz_t trimmed_commands[COMMANDS_NB];
int i;
for(i = 0; i < COMMANDS_NB; i++) trimmed_commands[i] = commands[i];
#ifdef COMMAND_ROLL
trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ/10);
#endif
#ifdef COMMAND_PITCH
trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ/10);
#endif
SetActuatorsFromCommands(trimmed_commands);
fbw_new_actuators = 0;
}
#endif