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Disable rate control, disable offset estimation

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This commit is contained in:
Lorenz Meier
2012-10-13 12:25:30 +02:00
parent d62ec78ab8
commit 4dbf7befe3
2 changed files with 10 additions and 9 deletions
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apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+4 -3
View File
@@ -418,9 +418,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
att.pitch = euler[1]; att.pitch = euler[1];
att.yaw = euler[2]; att.yaw = euler[2];
att.rollspeed = x_aposteriori[0]; // XXX replace with x_apo after fix to filter
att.pitchspeed = x_aposteriori[1]; att.rollspeed = raw.gyro_rad_s[0]; //x_aposteriori[0];
att.yawspeed = x_aposteriori[2]; att.pitchspeed = raw.gyro_rad_s[1]; //x_aposteriori[1];
att.yawspeed = raw.gyro_rad_s[2]; //x_aposteriori[2];
/* copy offsets */ /* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
apps/commander/state_machine_helper.c
+6 -6
View File
@@ -501,10 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
{ {
int old_mode = current_status->flight_mode; int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true; //XXX current_status->flag_control_manual_enabled = true;
/* enable attitude control per default */ /* enable attitude control per default */
current_status->flag_control_attitude_enabled = true; current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true; current_status->flag_control_rates_enabled = false; // XXX
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -517,9 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
{ {
int old_mode = current_status->flight_mode; int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED; current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true; //XXX current_status->flag_control_manual_enabled = true;
current_status->flag_control_attitude_enabled = true; current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true; current_status->flag_control_rates_enabled = false; // XXX
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -532,9 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
{ {
int old_mode = current_status->flight_mode; int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true; //XXX current_status->flag_control_manual_enabled = true;
current_status->flag_control_attitude_enabled = true; current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true; current_status->flag_control_rates_enabled = false; // XXX
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {