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fw_att_control: renamed FW_R_MAX/FW_P_MAX to FW_MAN_R_MAX/FW_MAN_P_MAX

This commit is contained in:
Anton Babushkin 2014-04-07 14:07:16 +04:00
parent c77a7b1162
commit 606660d94a
2 changed files with 16 additions and 16 deletions
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24
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -173,8 +173,8 @@ private:
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float roll_max; /**< Max Roll in rad */
float pitch_max; /**< Max Pitch in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
} _parameters; /**< local copies of interesting parameters */
@ -213,8 +213,8 @@ private:
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
param_t roll_max;
param_t pitch_max;
param_t man_roll_max;
param_t man_pitch_max;
} _parameter_handles; /**< handles for interesting parameters */
@ -358,8 +358,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
_parameter_handles.roll_max = param_find("FW_R_MAX");
_parameter_handles.pitch_max = param_find("FW_P_MAX");
_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
/* fetch initial parameter values */
parameters_update();
@ -428,10 +428,10 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
param_get(_parameter_handles.roll_max, &(_parameters.roll_max));
param_get(_parameter_handles.pitch_max, &(_parameters.pitch_max));
_parameters.roll_max = math::radians(_parameters.roll_max);
_parameters.pitch_max = math::radians(_parameters.pitch_max);
param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
/* pitch control parameters */
@ -717,8 +717,8 @@ FixedwingAttitudeControl::task_main()
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = (_manual.roll * _parameters.roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
pitch_sp = (-_manual.pitch * _parameters.pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
_actuators.control[4] = _manual.flaps;

8
src/modules/fw_att_control/fw_att_control_params.c
View File

@ -187,12 +187,12 @@ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
// @DisplayName Max Roll
// @DisplayName Max Manual Roll
// @Description Max roll for manual control in attitude stabilized mode
// @Range 0.0 to 90.0
PARAM_DEFINE_FLOAT(FW_R_MAX, 45.0f);
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
// @DisplayName Max Pitch
// @DisplayName Max Manual Pitch
// @Description Max pitch for manual control in attitude stabilized mode
// @Range 0.0 to 90.0
PARAM_DEFINE_FLOAT(FW_P_MAX, 45.0f);
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);