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px4-firmware
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Merge branch 'beta'

This commit is contained in:
Lorenz Meier 2015-08-23 14:06:37 +02:00
parent b02af04f41 3ccb35f338
commit 295e4be8c3
6 changed files with 17 additions and 14 deletions
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4
msg/tecs_status.msg
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@ -23,7 +23,7 @@ float32 energyDistributionError
float32 totalEnergyRateError
float32 energyDistributionRateError
float32 throttle_sp
float32 pitch_sp
float32 throttle_integ
float32 pitch_integ
uint8 mode

9
src/lib/external_lgpl/tecs/tecs.cpp
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@ -62,6 +62,10 @@ void TECS::update_state(float baro_altitude, float airspeed, const math::Matrix<
_integ3_state = baro_altitude;
_integ2_state = 0.0f;
_integ1_state = 0.0f;
// Reset the filter state as we just switched from non-altitude control
// to altitude control mode
_states_initalized = false;
}
_update_50hz_last_usec = now;
@ -616,9 +620,8 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
_tecs_state.energy_error_integ = _integ6_state;
_tecs_state.energy_distribution_error_integ = _integ7_state;
_tecs_state.throttle_sp = _throttle_dem;
_tecs_state.pitch_sp = _pitch_dem;
_tecs_state.throttle_integ = _integ6_state;
_tecs_state.pitch_integ = _integ7_state;
_update_pitch_throttle_last_usec = now;

4
src/lib/external_lgpl/tecs/tecs.h
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@ -155,8 +155,8 @@ public:
float total_energy_rate_error;
float energy_distribution_error;
float energy_distribution_rate_error;
float throttle_sp;
float pitch_sp;
float throttle_integ;
float pitch_integ;
enum ECL_TECS_MODE mode;
};

4
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1937,8 +1937,8 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
t.energyDistributionError = s.energy_distribution_error;
t.energyDistributionRateError = s.energy_distribution_rate_error;
t.throttle_sp = s.throttle_sp;
t.pitch_sp = s.pitch_sp;
t.throttle_integ = s.throttle_integ;
t.pitch_integ = s.pitch_integ;
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);

4
src/modules/sdlog2/sdlog2.c
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@ -1923,8 +1923,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
log_msg.body.log_TECS.throttle_sp = buf.tecs_status.throttle_sp;
log_msg.body.log_TECS.pitch_sp = buf.tecs_status.pitch_sp;
log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ;
log_msg.body.log_TECS.pitch_integ = buf.tecs_status.pitch_integ;
log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
LOGBUFFER_WRITE_AND_COUNT(TECS);
}

6
src/modules/sdlog2/sdlog2_messages.h
View File

@ -371,8 +371,8 @@ struct log_TECS_s {
float totalEnergyRateError;
float energyDistributionError;
float energyDistributionRateError;
float throttle_sp;
float pitch_sp;
float pitch_integ;
float throttle_integ;
uint8_t mode;
};
@ -545,7 +545,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "ffffffffffffffB", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,EDE,ERE,EDRE,Thr,Ptch,M"),
LOG_FORMAT(TECS, "ffffffffffffffB", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,EDE,ERE,EDRE,PtchI,ThrI,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
LOG_FORMAT(TSYN, "Q", "TimeOffset"),