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Merge pull request #67

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makes sense so you can't accidentally switch to AOA pitch mode while you don't even have an AOA sensor
This commit is contained in:
Felix Ruess
2011-08-17 00:38:26 +02:00
parent 38613d1e4a 6aa676daa1
commit cc5109ee84
2 changed files with 19 additions and 1 deletions
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sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+17 -1
View File
@@ -65,7 +65,10 @@ float h_ctl_pitch_loop_setpoint;
float h_ctl_pitch_pgain;
float h_ctl_pitch_dgain;
pprz_t h_ctl_elevator_setpoint;
uint8_t h_ctl_pitch_mode;
#ifdef USE_AOA
uint8_t h_ctl_pitch_mode;
#endif
/* inner loop pre-command */
float h_ctl_aileron_of_throttle;
@@ -120,7 +123,13 @@ void h_ctl_init( void ) {
h_ctl_course_dgain = H_CTL_COURSE_DGAIN;
h_ctl_roll_max_setpoint = H_CTL_ROLL_MAX_SETPOINT;
<<<<<<< HEAD
h_ctl_pitch_mode = 0;
=======
#ifdef USE_AOA
h_ctl_pitch_mode = 0;
#endif
>>>>>>> bruzzlee/dev
h_ctl_disabled = FALSE;
@@ -421,6 +430,8 @@ inline static void h_ctl_pitch_loop( void ) {
- h_ctl_elevator_of_roll / h_ctl_pitch_pgain * fabs(estimator_phi);
float err = 0;
#ifdef USE_AOA
switch (h_ctl_pitch_mode){
case H_CTL_PITCH_MODE_THETA:
err = estimator_theta - h_ctl_pitch_loop_setpoint;
@@ -432,6 +443,11 @@ inline static void h_ctl_pitch_loop( void ) {
err = estimator_theta - h_ctl_pitch_loop_setpoint;
break;
}
#else //NO_AOA
err = estimator_theta - h_ctl_pitch_loop_setpoint;
#endif
float d_err = err - last_err;
last_err = err;
float cmd = h_ctl_pitch_pgain * (err + h_ctl_pitch_dgain * d_err);
sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
+2
View File
@@ -56,10 +56,12 @@ extern float h_ctl_roll_pgain;
extern pprz_t h_ctl_aileron_setpoint;
extern float h_ctl_roll_slew;
#ifdef USE_AOA
/* Pitch mode */
#define H_CTL_PITCH_MODE_THETA 0
#define H_CTL_PITCH_MODE_AOA 1
extern uint8_t h_ctl_pitch_mode;
#endif
/* inner pitch loop parameters */
extern float h_ctl_pitch_setpoint;