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actually use V_CTL_AUTO_THROTTLE_DGAIN if it's defined in the airframe file

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This commit is contained in:
Felix Ruess
2011-11-29 21:24:18 +01:00
parent 72940e1fac
commit f2af350dc8
2 changed files with 10 additions and 2 deletions
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sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+5 -1
View File
@@ -48,6 +48,10 @@ float v_ctl_climb_setpoint;
uint8_t v_ctl_climb_mode;
uint8_t v_ctl_auto_throttle_submode;
#ifndef V_CTL_AUTO_THROTTLE_DGAIN
#define V_CTL_AUTO_THROTTLE_DGAIN 0.
#endif
/* "auto throttle" inner loop parameters */
float v_ctl_auto_throttle_cruise_throttle;
float v_ctl_auto_throttle_nominal_cruise_throttle;
@@ -126,7 +130,7 @@ void v_ctl_init( void ) {
v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
v_ctl_auto_throttle_pgain = ABS(V_CTL_AUTO_THROTTLE_PGAIN);
v_ctl_auto_throttle_igain = ABS(V_CTL_AUTO_THROTTLE_IGAIN);
v_ctl_auto_throttle_dgain = 0.;
v_ctl_auto_throttle_dgain = ABS(V_CTL_AUTO_THROTTLE_DGAIN);
v_ctl_auto_throttle_sum_err = 0.;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+5 -1
View File
@@ -49,6 +49,10 @@ float v_ctl_climb_setpoint;
uint8_t v_ctl_climb_mode;
uint8_t v_ctl_auto_throttle_submode;
#ifndef V_CTL_AUTO_THROTTLE_DGAIN
#define V_CTL_AUTO_THROTTLE_DGAIN 0.
#endif
/* "auto throttle" inner loop parameters */
float v_ctl_auto_throttle_cruise_throttle;
float v_ctl_auto_throttle_nominal_cruise_throttle;
@@ -131,7 +135,7 @@ void v_ctl_init( void ) {
v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
v_ctl_auto_throttle_pgain = ABS(V_CTL_AUTO_THROTTLE_PGAIN);
v_ctl_auto_throttle_igain = ABS(V_CTL_AUTO_THROTTLE_IGAIN);
v_ctl_auto_throttle_dgain = 0.;
v_ctl_auto_throttle_dgain = ABS(V_CTL_AUTO_THROTTLE_DGAIN);
v_ctl_auto_throttle_sum_err = 0.;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;