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add poligon survey for rotorcraft

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agressiva
2015-04-28 16:51:29 -03:00
parent 0953dff334
commit e4082f04a4
4 changed files with 10 additions and 2 deletions
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conf/airframes/examples/quadrotor_navgo.xml
+2 -1
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@@ -9,6 +9,7 @@
<!-- AUX1 --> <!-- AUX1 -->
<define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO7"/> <define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO7"/>
</load> </load>
<load name="nav_survey_rectangle_rotorcraft.xml"/>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
@@ -215,7 +216,7 @@
<section name="GUIDANCE_H" prefix="GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/> <define name="MAX_BANK" value="30" unit="deg"/>
<define name="PGAIN" value="50"/> <define name="PGAIN" value="50"/>
<define name="DGAIN" value="80"/> <define name="DGAIN" value="140"/>
<define name="IGAIN" value="20"/> <define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/> <define name="NGAIN" value="0"/>
<!-- feedforward --> <!-- feedforward -->
conf/telemetry/default_rotorcraft.xml
+1
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@@ -24,6 +24,7 @@
<message name="DATALINK_REPORT" period="5.1"/> <message name="DATALINK_REPORT" period="5.1"/>
<message name="STATE_FILTER_STATUS" period="3.2"/> <message name="STATE_FILTER_STATUS" period="3.2"/>
<message name="AIR_DATA" period="1.3"/> <message name="AIR_DATA" period="1.3"/>
<message name="SURVEY" period="2.5"/>
</mode> </mode>
<mode name="ppm"> <mode name="ppm">
sw/airborne/firmwares/rotorcraft/navigation.c
+4
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@@ -76,6 +76,8 @@ int32_t nav_circle_radius, nav_circle_qdr, nav_circle_radians;
int32_t nav_leg_progress; int32_t nav_leg_progress;
uint32_t nav_leg_length; uint32_t nav_leg_length;
bool_t nav_survey_active;
int32_t nav_roll, nav_pitch; int32_t nav_roll, nav_pitch;
int32_t nav_heading; int32_t nav_heading;
float nav_radius; float nav_radius;
@@ -398,6 +400,8 @@ void nav_periodic_task(void)
{ {
RunOnceEvery(NAV_FREQ, { stage_time++; block_time++; }); RunOnceEvery(NAV_FREQ, { stage_time++; block_time++; });
nav_survey_active = FALSE;
dist2_to_wp = 0; dist2_to_wp = 0;
/* from flight_plan.h */ /* from flight_plan.h */
sw/airborne/firmwares/rotorcraft/navigation.h
+3 -1
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@@ -1,4 +1,4 @@
/* /*
* Copyright (C) 2008-2011 The Paparazzi Team * Copyright (C) 2008-2011 The Paparazzi Team
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -59,6 +59,8 @@ extern float nav_radius;
extern int32_t nav_leg_progress; extern int32_t nav_leg_progress;
extern uint32_t nav_leg_length; extern uint32_t nav_leg_length;
extern bool_t nav_survey_active;
extern uint8_t vertical_mode; extern uint8_t vertical_mode;
extern uint32_t nav_throttle; ///< direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL extern uint32_t nav_throttle; ///< direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL
extern int32_t nav_climb, nav_altitude, nav_flight_altitude; extern int32_t nav_climb, nav_altitude, nav_flight_altitude;