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mc_att_control: parameters MC_SCALE_XXX renamed to MC_MAN_X_MAX

This commit is contained in:
Anton Babushkin 2014-04-07 14:16:10 +04:00
parent 606660d94a
commit 9a579fa870
2 changed files with 24 additions and 24 deletions
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36
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -157,9 +157,9 @@ private:
param_t yaw_rate_d;
param_t yaw_ff;
param_t man_scale_roll;
param_t man_scale_pitch;
param_t man_scale_yaw;
param_t man_roll_max;
param_t man_pitch_max;
param_t man_yaw_max;
} _params_handles; /**< handles for interesting parameters */
struct {
@ -169,9 +169,9 @@ private:
math::Vector<3> rate_d; /**< D gain for angular rate error */
float yaw_ff; /**< yaw control feed-forward */
float man_scale_roll;
float man_scale_pitch;
float man_scale_yaw;
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
} _params;
/**
@ -299,9 +299,9 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
_params_handles.yaw_ff = param_find("MC_YAW_FF");
_params_handles.man_scale_roll = param_find("MC_SCALE_ROLL");
_params_handles.man_scale_pitch = param_find("MC_SCALE_PITCH");
_params_handles.man_scale_yaw = param_find("MC_SCALE_YAW");
_params_handles.man_roll_max = param_find("MC_MAN_R_MAX");
_params_handles.man_pitch_max = param_find("MC_MAN_P_MAX");
_params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX");
/* fetch initial parameter values */
parameters_update();
@ -369,13 +369,13 @@ MulticopterAttitudeControl::parameters_update()
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* manual control scale */
param_get(_params_handles.man_scale_roll, &_params.man_scale_roll);
param_get(_params_handles.man_scale_pitch, &_params.man_scale_pitch);
param_get(_params_handles.man_scale_yaw, &_params.man_scale_yaw);
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_scale_roll *= M_PI / 180.0;
_params.man_scale_pitch *= M_PI / 180.0;
_params.man_scale_yaw *= M_PI / 180.0;
_params.man_roll_max *= M_PI / 180.0;
_params.man_pitch_max *= M_PI / 180.0;
_params.man_yaw_max *= M_PI / 180.0;
return OK;
}
@ -496,7 +496,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
//}
} else {
/* move yaw setpoint */
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_scale_yaw * dt);
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt);
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
@ -511,8 +511,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.roll * _params.man_scale_roll;
_v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_scale_pitch;
_v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}

12
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -175,30 +175,30 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
/**
* Manual control scaling factor for roll
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_SCALE_ROLL, 35.0f);
PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
/**
* Manual control scaling factor for pitch
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_SCALE_PITCH, 35.0f);
PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
/**
* Manual control scaling factor for yaw
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_SCALE_YAW, 120.0f);
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);