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Added test for stab_d gain scheduling.

This commit is contained in:
Jason Short 2012-02-28 20:12:25 -08:00
parent ccb8c31966
commit 4ef4a19f8e
1 changed files with 38 additions and 0 deletions
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38
ArduCopter/test.pde
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@ -16,6 +16,7 @@ static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
//static int8_t test_dcm_eulers(uint8_t argc, const Menu::arg *argv);
//static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
//static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
//static int8_t test_stab_d(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
//static int8_t test_boost(uint8_t argc, const Menu::arg *argv);
//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
@ -65,6 +66,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"imu", test_imu},
// {"dcm", test_dcm_eulers},
//{"omega", test_omega},
// {"stab_d", test_stab_d},
{"battery", test_battery},
{"tune", test_tuning},
//{"tri", test_tri},
@ -592,6 +594,42 @@ test_gps(uint8_t argc, const Menu::arg *argv)
return 0;
}
// used to test the gain scheduler for Stab_D
/*
static int8_t
test_stab_d(uint8_t argc, const Menu::arg *argv)
{
int16_t i = 0;
g.stabilize_d = 1;
g.stabilize_d_schedule = 1
for (i = -4600; i < 4600; i+=10) {
new_radio_frame = true;
g.rc_1.control_in = i;
g.rc_2.control_in = i;
update_roll_pitch_mode();
Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
}
g.stabilize_d_schedule = .5
for (i = -4600; i < 4600; i+=10) {
new_radio_frame = true;
g.rc_1.control_in = i;
g.rc_2.control_in = i;
update_roll_pitch_mode();
Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
}
g.stabilize_d_schedule = 0
for (i = -4600; i < 4600; i+=10) {
new_radio_frame = true;
g.rc_1.control_in = i;
g.rc_2.control_in = i;
update_roll_pitch_mode();
Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d);
}
}*/
/*
//static int8_t
//test_dcm(uint8_t argc, const Menu::arg *argv)