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[fixedwing] use min/max_cruise_throttle variables instead of defines

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closes #1057
This commit is contained in:
Felix Ruess
2015-01-02 10:57:55 +01:00
parent bb6ddbf15e
commit cf96b48d86
3 changed files with 6 additions and 6 deletions
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sw/airborne/firmwares/fixedwing/nav.c
+2 -2
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@@ -214,8 +214,8 @@ static void nav_ground_speed_loop(void)
&& nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) { && nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) {
float err = nav_ground_speed_setpoint - (*stateGetHorizontalSpeedNorm_f()); float err = nav_ground_speed_setpoint - (*stateGetHorizontalSpeedNorm_f());
v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain * err; v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain * err;
Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, Bound(v_ctl_auto_throttle_cruise_throttle, v_ctl_auto_throttle_min_cruise_throttle,
V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); v_ctl_auto_throttle_max_cruise_throttle);
} else { } else {
/* Reset cruise throttle to nominal value */ /* Reset cruise throttle to nominal value */
v_ctl_auto_throttle_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE; v_ctl_auto_throttle_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+2 -2
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@@ -434,10 +434,10 @@ inline static void loiter(void)
#else #else
float throttle_diff = v_ctl_auto_throttle_cruise_throttle - v_ctl_auto_throttle_nominal_cruise_throttle; float throttle_diff = v_ctl_auto_throttle_cruise_throttle - v_ctl_auto_throttle_nominal_cruise_throttle;
if (throttle_diff > 0) { if (throttle_diff > 0) {
float max_diff = Max(V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE - v_ctl_auto_throttle_nominal_cruise_throttle, 0.1); float max_diff = Max(v_ctl_auto_throttle_max_cruise_throttle - v_ctl_auto_throttle_nominal_cruise_throttle, 0.1);
pitch_trim = throttle_diff / max_diff * v_ctl_pitch_dash_trim; pitch_trim = throttle_diff / max_diff * v_ctl_pitch_dash_trim;
} else { } else {
float max_diff = Max(v_ctl_auto_throttle_nominal_cruise_throttle - V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, 0.1); float max_diff = Max(v_ctl_auto_throttle_nominal_cruise_throttle - v_ctl_auto_throttle_min_cruise_throttle, 0.1);
pitch_trim = -throttle_diff / max_diff * v_ctl_pitch_loiter_trim; pitch_trim = -throttle_diff / max_diff * v_ctl_pitch_loiter_trim;
} }
#endif #endif
sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+2 -2
View File
@@ -414,10 +414,10 @@ inline static float loiter(void)
float throttle_dif = v_ctl_auto_throttle_cruise_throttle - v_ctl_auto_throttle_nominal_cruise_throttle; float throttle_dif = v_ctl_auto_throttle_cruise_throttle - v_ctl_auto_throttle_nominal_cruise_throttle;
if (throttle_dif > 0) { if (throttle_dif > 0) {
float max_dif = Max(V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE - v_ctl_auto_throttle_nominal_cruise_throttle, 0.1); float max_dif = Max(v_ctl_auto_throttle_max_cruise_throttle - v_ctl_auto_throttle_nominal_cruise_throttle, 0.1);
elevator_trim = throttle_dif / max_dif * v_ctl_auto_throttle_dash_trim; elevator_trim = throttle_dif / max_dif * v_ctl_auto_throttle_dash_trim;
} else { } else {
float max_dif = Max(v_ctl_auto_throttle_nominal_cruise_throttle - V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, 0.1); float max_dif = Max(v_ctl_auto_throttle_nominal_cruise_throttle - v_ctl_auto_throttle_min_cruise_throttle, 0.1);
elevator_trim = - throttle_dif / max_dif * v_ctl_auto_throttle_loiter_trim; elevator_trim = - throttle_dif / max_dif * v_ctl_auto_throttle_loiter_trim;
} }