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Merged beta into master

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Lorenz Meier
2015-07-04 23:02:47 +02:00
parent f0f28d5420 a74cc5bf49
commit d1f8edb346
6 changed files with 44 additions and 25 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+14 -7
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -808,6 +808,14 @@ FixedwingAttitudeControl::task_main()
continue;
}
/* default flaps to center */
float flaps_control = 0.0f;
/* map flaps by default to manual if valid */
if (isfinite(_manual.flaps)) {
flaps_control = _manual.flaps;
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_attitude_enabled) {
@@ -927,7 +935,6 @@ FixedwingAttitudeControl::task_main()
/* allow manual control of rudder deflection */
yaw_manual = _manual.r;
throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
* in manual mode no external source should / does emit attitude setpoints.
@@ -1090,13 +1097,13 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
_actuators.control[0] = _manual.y + _parameters.trim_roll;
_actuators.control[1] = -_manual.x + _parameters.trim_pitch;
_actuators.control[2] = _manual.r + _parameters.trim_yaw;
_actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
_actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll;
_actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch;
_actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z;
}
_actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control;
_actuators.control[5] = _manual.aux1;
_actuators.control[6] = _manual.aux2;
_actuators.control[7] = _manual.aux3;
src/modules/fw_att_control/fw_att_control_params.c
+6 -6
View File
@@ -64,7 +64,7 @@
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.4f);
/**
* Pitch rate proportional gain.
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
/**
* Pitch rate integrator gain.
@@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
* @max 50.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f);
/**
* Maximum positive / up pitch rate.
@@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
/**
* Roll to Pitch feedforward gain.
@@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* @max 100.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f);
/**
* Roll Integrator Anti-Windup
@@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
* @max 10.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
/**
* Pitch rate feed forward