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attitude possible

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This commit is contained in:
Christophe De Wagter
2015-11-05 16:10:23 +01:00
parent 32a05bb918
commit f12cfdd41d
4 changed files with 13 additions and 9 deletions
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conf/airframes/TUDelft/airframes/logo600.xml
+7 -6
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@@ -101,6 +101,7 @@
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
<!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/-->
<define name="VoltageOfAdc(adc)" value="(0.014355*adc)"/>
<define name="MilliAmpereOfAdc(adc)" value="(((float)adc)-1990.0f)*40.29f*2.0f"/> <!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
@@ -180,13 +181,13 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="100"/>
<define name="PHI_DGAIN" value="0"/>
<define name="PHI_PGAIN" value="500"/>
<define name="PHI_DGAIN" value="100"/>
<define name="PHI_IGAIN" value="0"/>
<define name="THETA_PGAIN" value="100"/>
<define name="THETA_DGAIN" value="0"/>
<define name="THETA_PGAIN" value="500"/>
<define name="THETA_DGAIN" value="100"/>
<define name="THETA_IGAIN" value="0"/>
<define name="PSI_PGAIN" value="100"/>
<define name="PSI_PGAIN" value="200"/>
<define name="PSI_DGAIN" value="0"/>
<define name="PSI_IGAIN" value="0"/>
@@ -224,7 +225,7 @@
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
+1
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@@ -58,6 +58,7 @@ static inline bool_t rc_attitude_sticks_centered(void)
}
#ifdef RADIO_KILL_SWITCH
#warning RADIO_KILL_DEFINED
static inline bool_t kill_switch_is_on(void)
{
if (radio_control.values[RADIO_KILL_SWITCH] < 0) {
sw/airborne/firmwares/rotorcraft/main.c
+2
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@@ -280,6 +280,8 @@ STATIC_INLINE void main_periodic(void)
#ifndef INTER_MCU_AP
SetActuatorsFromCommands(commands, autopilot_mode);
#else
#warning ALL IS GOOD
commands[COMMAND_THRUST] = radio_control.values[RADIO_THROTTLE];\
intermcu_set_actuators(commands, autopilot_mode);
#endif
sw/airborne/subsystems/intermcu/intermcu_ap.h
+3 -3
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@@ -44,8 +44,8 @@ void RadioControlEvent(void (*frame_handler)(void));
#ifndef RADIO_MODE
#define RADIO_MODE RADIO_GEAR
#endif
#ifndef RADIO_KILL_SWITCH
#define RADIO_KILL_SWITCH RADIO_FLAP
#endif
//#ifndef RADIO_KILL_SWITCH
//#define RADIO_KILL_SWITCH RADIO_FLAP
//#endif
#endif /* INTERMCU_AP_ROTORCRAFT_H */