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removed everything related to rate reference

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This commit is contained in:
Ewoud Smeur
2015-11-20 13:17:29 +01:00
parent 528cfdab82
commit bf06d09f29
2 changed files with 4 additions and 53 deletions
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conf/messages.xml
-9
View File
@@ -1101,18 +1101,9 @@
<field name="sp_p" type="int32"/>
<field name="sp_q" type="int32"/>
<field name="sp_r" type="int32"/>
<field name="ref_p" type="int32"/>
<field name="ref_q" type="int32"/>
<field name="ref_r" type="int32"/>
<field name="refdot_p" type="int32"/>
<field name="refdot_q" type="int32"/>
<field name="refdot_r" type="int32"/>
<field name="sumerr_p" type="int32"/>
<field name="sumerr_q" type="int32"/>
<field name="sumerr_r" type="int32"/>
<field name="ff_p" type="int32"/>
<field name="ff_q" type="int32"/>
<field name="ff_r" type="int32"/>
<field name="fb_p" type="int32"/>
<field name="fb_q" type="int32"/>
<field name="fb_r" type="int32"/>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+4 -44
View File
@@ -37,22 +37,8 @@
#include "subsystems/radio_control.h"
#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
#define F_UPDATE_RES 9
#define REF_DOT_FRAC 11
#define REF_FRAC 16
#define MAX_SUM_ERR 4000000
#ifndef STABILIZATION_RATE_DDGAIN_P
#define STABILIZATION_RATE_DDGAIN_P 0
#endif
#ifndef STABILIZATION_RATE_DDGAIN_Q
#define STABILIZATION_RATE_DDGAIN_Q 0
#endif
#ifndef STABILIZATION_RATE_DDGAIN_R
#define STABILIZATION_RATE_DDGAIN_R 0
#endif
#ifndef STABILIZATION_RATE_IGAIN_P
#define STABILIZATION_RATE_IGAIN_P 0
#endif
@@ -80,14 +66,9 @@
struct Int32Rates stabilization_rate_sp;
struct Int32Rates stabilization_rate_gain;
struct Int32Rates stabilization_rate_igain;
struct Int32Rates stabilization_rate_ddgain;
struct Int32Rates stabilization_rate_ref;
struct Int32Rates stabilization_rate_refdot;
struct Int32Rates stabilization_rate_sum_err;
struct Int32Rates stabilization_rate_fb_cmd;
struct Int32Rates stabilization_rate_ff_cmd;
#ifndef STABILIZATION_RATE_DEADBAND_P
#define STABILIZATION_RATE_DEADBAND_P 0
@@ -120,18 +101,9 @@ static void send_rate(struct transport_tx *trans, struct link_device *dev)
&stabilization_rate_sp.p,
&stabilization_rate_sp.q,
&stabilization_rate_sp.r,
&stabilization_rate_ref.p,
&stabilization_rate_ref.q,
&stabilization_rate_ref.r,
&stabilization_rate_refdot.p,
&stabilization_rate_refdot.q,
&stabilization_rate_refdot.r,
&stabilization_rate_sum_err.p,
&stabilization_rate_sum_err.q,
&stabilization_rate_sum_err.r,
&stabilization_rate_ff_cmd.p,
&stabilization_rate_ff_cmd.q,
&stabilization_rate_ff_cmd.r,
&stabilization_rate_fb_cmd.p,
&stabilization_rate_fb_cmd.q,
&stabilization_rate_fb_cmd.r,
@@ -151,14 +123,8 @@ void stabilization_rate_init(void)
RATES_ASSIGN(stabilization_rate_igain,
STABILIZATION_RATE_IGAIN_P,
STABILIZATION_RATE_IGAIN_Q,
STABILIZATION_RATE_IGAIN_R);
RATES_ASSIGN(stabilization_rate_ddgain,
STABILIZATION_RATE_DDGAIN_P,
STABILIZATION_RATE_DDGAIN_Q,
STABILIZATION_RATE_DDGAIN_R);
STABILIZATION_RATE_IGAIN_R);;
INT_RATES_ZERO(stabilization_rate_ref);
INT_RATES_ZERO(stabilization_rate_refdot);
INT_RATES_ZERO(stabilization_rate_sum_err);
#if PERIODIC_TELEMETRY
@@ -214,7 +180,6 @@ void stabilization_rate_read_rc_switched_sticks(void)
void stabilization_rate_enter(void)
{
RATES_COPY(stabilization_rate_ref, stabilization_rate_sp);
INT_RATES_ZERO(stabilization_rate_sum_err);
}
@@ -242,14 +207,9 @@ void stabilization_rate_run(bool_t in_flight)
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 10);
stabilization_rate_fb_cmd.p = stabilization_rate_fb_cmd.p >> 11;
stabilization_rate_fb_cmd.q = stabilization_rate_fb_cmd.q >> 11;
stabilization_rate_fb_cmd.r = stabilization_rate_fb_cmd.r >> 11;
/* sum to final command */
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r;
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 11;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 11;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 11;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);