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Warn if GUIDANCE_INDI_RC_DEBUG is true

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This commit is contained in:
Ewoud Smeur
2017-02-06 21:38:09 +01:00
parent 17cc32d4b2
commit fc9fafee26
2 changed files with 4 additions and 3 deletions
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conf/airframes/TUDELFT/tudelft_bebop_indi_actuators.xml
+1 -1
View File
@@ -32,7 +32,7 @@
<module name="guidance" type="indi"> <module name="guidance" type="indi">
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/> <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/> <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/>
<define name="GUIDANCE_INDI_RC_DEBUG" value="TRUE"/> <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
</module> </module>
</firmware> </firmware>
sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+3 -2
View File
@@ -144,7 +144,8 @@ void guidance_indi_run(bool in_flight, int32_t heading) {
sp_accel.y = (speed_sp_y - stateGetSpeedNed_f()->y) * guidance_indi_speed_gain; sp_accel.y = (speed_sp_y - stateGetSpeedNed_f()->y) * guidance_indi_speed_gain;
sp_accel.z = (speed_sp_z - stateGetSpeedNed_f()->z) * guidance_indi_speed_gain; sp_accel.z = (speed_sp_z - stateGetSpeedNed_f()->z) * guidance_indi_speed_gain;
#ifdef GUIDANCE_INDI_RC_DEBUG #if GUIDANCE_INDI_RC_DEBUG
#warning "GUIDANCE_INDI_RC_DEBUG lets you control the accelerations via RC, but disables autonomous flight!"
//for rc control horizontal, rotate from body axes to NED //for rc control horizontal, rotate from body axes to NED
float psi = stateGetNedToBodyEulers_f()->psi; float psi = stateGetNedToBodyEulers_f()->psi;
float rc_x = -(radio_control.values[RADIO_PITCH]/9600.0)*8.0; float rc_x = -(radio_control.values[RADIO_PITCH]/9600.0)*8.0;
@@ -193,7 +194,7 @@ void guidance_indi_run(bool in_flight, int32_t heading) {
thrust_in = thrust_filt.o[0] + euler_cmd.z*thrust_in_specific_force_gain; thrust_in = thrust_filt.o[0] + euler_cmd.z*thrust_in_specific_force_gain;
Bound(thrust_in, 0, 9600); Bound(thrust_in, 0, 9600);
#ifdef GUIDANCE_INDI_RC_DEBUG #if GUIDANCE_INDI_RC_DEBUG
if(radio_control.values[RADIO_THROTTLE]<300) { if(radio_control.values[RADIO_THROTTLE]<300) {
thrust_in = 0; thrust_in = 0;
} }