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ACM: Arducopter - remove the stabilize D scheduling

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Jason Short 2012-11-09 21:37:16 -08:00
parent d2a0913b2d
commit cdabc3878b
1 changed files with 9 additions and 7 deletions
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16
ArduCopter/ArduCopter.pde
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@ -592,11 +592,11 @@ int32_t pitch_axis;
AP_LeadFilter xLeadFilter; // Long GPS lag filter AP_LeadFilter xLeadFilter; // Long GPS lag filter
AP_LeadFilter yLeadFilter; // Lat GPS lag filter AP_LeadFilter yLeadFilter; // Lat GPS lag filter
AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration //AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration //AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration
// Barometer filter // Barometer filter
AverageFilterInt32_Size5 baro_filter; // filtered pitch acceleration AverageFilterInt32_Size5 baro_filter;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control // Circle Mode / Loiter control
@ -1631,6 +1631,7 @@ void update_roll_pitch_mode(void)
// These values can be used to scale the PID gains // These values can be used to scale the PID gains
// This allows for a simple gain scheduling implementation // This allows for a simple gain scheduling implementation
/*
roll_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in); roll_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in);
roll_scale_d = (1 - (roll_scale_d / 4500.0)); roll_scale_d = (1 - (roll_scale_d / 4500.0));
roll_scale_d = constrain(roll_scale_d, 0, 1) * g.stabilize_d; roll_scale_d = constrain(roll_scale_d, 0, 1) * g.stabilize_d;
@ -1638,6 +1639,7 @@ void update_roll_pitch_mode(void)
pitch_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in); pitch_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in);
pitch_scale_d = (1 - (pitch_scale_d / 4500.0)); pitch_scale_d = (1 - (pitch_scale_d / 4500.0));
pitch_scale_d = constrain(pitch_scale_d, 0, 1) * g.stabilize_d; pitch_scale_d = constrain(pitch_scale_d, 0, 1) * g.stabilize_d;
*/
} }
} }
@ -1982,10 +1984,10 @@ static void tuning(){
g.pi_stabilize_pitch.kI(tuning_value); g.pi_stabilize_pitch.kI(tuning_value);
break; break;
case CH6_DAMP: //case CH6_DAMP:
case CH6_STABILIZE_KD: //case CH6_STABILIZE_KD:
g.stabilize_d = tuning_value; //g.stabilize_d = tuning_value;
break; //break;
case CH6_ACRO_KP: case CH6_ACRO_KP:
g.acro_p = tuning_value; g.acro_p = tuning_value;