dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #222 from PX4/trim_calibration 

Fixed wing controller uses global trim values
This commit is contained in:
Lorenz Meier 2013-03-17 03:03:58 -07:00
parent b276676673 494bcddaa4
commit 0ee5293ceb
4 changed files with 16 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
apps/controllib/block/BlockParam.cpp
View File

@ -46,7 +46,7 @@
namespace control namespace control
{ {
BlockParamBase::BlockParamBase(Block *parent, const char *name) : BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
_handle(PARAM_INVALID) _handle(PARAM_INVALID)
{ {
char fullname[blockNameLengthMax]; char fullname[blockNameLengthMax];
@ -61,8 +61,10 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name) :
if (!strcmp(name, "")) { if (!strcmp(name, "")) {
strncpy(fullname, parentName, blockNameLengthMax); strncpy(fullname, parentName, blockNameLengthMax);
} else { } else if (parent_prefix) {
snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name); snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
} else {
strncpy(fullname, name, blockNameLengthMax);
} }
parent->getParams().add(this); parent->getParams().add(this);

11
apps/controllib/block/BlockParam.hpp
View File

@ -53,7 +53,12 @@ namespace control
class __EXPORT BlockParamBase : public ListNode<BlockParamBase *> class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
{ {
public: public:
BlockParamBase(Block *parent, const char *name); /**
* Instantiate a block param base.
*
* @param parent_prefix Set to true to include the parent name in the parameter name
*/
BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
virtual ~BlockParamBase() {}; virtual ~BlockParamBase() {};
virtual void update() = 0; virtual void update() = 0;
const char *getName() { return param_name(_handle); } const char *getName() { return param_name(_handle); }
@ -68,8 +73,8 @@ template<class T>
class __EXPORT BlockParam : public BlockParamBase class __EXPORT BlockParam : public BlockParamBase
{ {
public: public:
BlockParam(Block *block, const char *name) : BlockParam(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name), BlockParamBase(block, name, parent_prefix),
_val() { _val() {
update(); update();
} }

8
apps/controllib/fixedwing.cpp
View File

@ -171,10 +171,10 @@ BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
_headingHold(this, ""), _headingHold(this, ""),
_velocityHold(this, ""), _velocityHold(this, ""),
_altitudeHold(this, ""), _altitudeHold(this, ""),
_trimAil(this, "TRIM_AIL"), _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_ELV"), _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_RDR"), _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR") _trimThr(this, "TRIM_THR", true) /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
{ {
} }

4
apps/examples/control_demo/params.c
View File

@ -56,8 +56,4 @@ PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity
// trim
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); // trim aileron, normalized (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); // trim elevator (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); // trim rudder (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)