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consider scale parameters in rc calibration code

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tumbili
2016-07-13 09:29:12 +02:00
committed by Andreas Antener
parent f0dd5a103c
commit 71e2a43790
1 changed files with 11 additions and 3 deletions
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src/modules/commander/rc_calibration.cpp
+11 -3
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@@ -79,18 +79,26 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
float yaw_trim_active; float yaw_trim_active;
param_get(param_find("TRIM_YAW"), &yaw_trim_active); param_get(param_find("TRIM_YAW"), &yaw_trim_active);
/* get manual control scale values */
float roll_scale;
param_get(param_find("FW_MAN_R_SC"), &roll_scale);
float pitch_scale;
param_get(param_find("FW_MAN_P_SC"), &pitch_scale);
float yaw_scale;
param_get(param_find("FW_MAN_Y_SC"), &yaw_scale);
/* set parameters: the new trim values are the combination of active trim values /* set parameters: the new trim values are the combination of active trim values
and the values coming from the remote control of the user and the values coming from the remote control of the user
*/ */
float p = sp.y + roll_trim_active; float p = sp.y * roll_scale + roll_trim_active;
int p1r = param_set(param_find("TRIM_ROLL"), &p); int p1r = param_set(param_find("TRIM_ROLL"), &p);
/* /*
we explicitly swap sign here because the trim is added to the actuator controls we explicitly swap sign here because the trim is added to the actuator controls
which are moving in an inverse sense to manual pitch inputs which are moving in an inverse sense to manual pitch inputs
*/ */
p = -sp.x + pitch_trim_active; p = -sp.x * pitch_scale + pitch_trim_active;
int p2r = param_set(param_find("TRIM_PITCH"), &p); int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = sp.r + yaw_trim_active; p = sp.r * yaw_scale + yaw_trim_active;
int p3r = param_set(param_find("TRIM_YAW"), &p); int p3r = param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */ /* store to permanent storage */