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| author | James Goppert <james.goppert@gmail.com> | 2013-08-03 14:33:43 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-08-03 14:33:43 -0400 |
| commit | 97b75951b13b9f4a79058d11f4c8923444ebc544 (patch) | |
| tree | 0d3a651dbbd5e11b63fae1a8b10a31be3ec17b31 | |
| parent | 8f1487b1570ddd79bbd027d3a1bed0c712d2871b (diff) | |
| download | px4-firmware-97b75951b13b9f4a79058d11f4c8923444ebc544.tar.gz px4-firmware-97b75951b13b9f4a79058d11f4c8923444ebc544.tar.bz2 px4-firmware-97b75951b13b9f4a79058d11f4c8923444ebc544.zip | |
Shortened segway param names.
| -rw-r--r-- | src/modules/segway/BlockSegwayController.cpp | 2 | ||||
| -rw-r--r-- | src/modules/segway/BlockSegwayController.hpp | 8 | ||||
| -rw-r--r-- | src/modules/segway/params.c | 8 |
3 files changed, 9 insertions, 9 deletions
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp index 682758a14..b1dc39445 100644 --- a/src/modules/segway/BlockSegwayController.cpp +++ b/src/modules/segway/BlockSegwayController.cpp @@ -31,7 +31,7 @@ void BlockSegwayController::update() { } // compute speed command - float spdCmd = -theta2spd.update(_att.pitch) - q2spd.update(_att.pitchspeed); + float spdCmd = -th2v.update(_att.pitch) - q2v.update(_att.pitchspeed); // handle autopilot modes if (_status.state_machine == SYSTEM_STATE_AUTO || diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp index e2faa4916..4a01f785c 100644 --- a/src/modules/segway/BlockSegwayController.hpp +++ b/src/modules/segway/BlockSegwayController.hpp @@ -8,8 +8,8 @@ class BlockSegwayController : public control::BlockUorbEnabledAutopilot { public: BlockSegwayController() : BlockUorbEnabledAutopilot(NULL,"SEG"), - theta2spd(this, "THETA2SPD"), - q2spd(this, "Q2SPD"), + th2v(this, "TH2V"), + q2v(this, "Q2V"), _attPoll(), _timeStamp(0) { @@ -19,8 +19,8 @@ public: void update(); private: enum {CH_LEFT, CH_RIGHT}; - BlockPI theta2spd; - BlockP q2spd; + BlockPI th2v; + BlockP q2v; struct pollfd _attPoll; uint64_t _timeStamp; }; diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c index 1669785d3..d72923717 100644 --- a/src/modules/segway/params.c +++ b/src/modules/segway/params.c @@ -1,8 +1,8 @@ #include <systemlib/param/param.h> // 16 is max name length -PARAM_DEFINE_FLOAT(SEG_THETA2SPD_P, 10.0f); // pitch to speed -PARAM_DEFINE_FLOAT(SEG_THETA2SPD_I, 0.0f); // pitch integral to speed -PARAM_DEFINE_FLOAT(SEG_THETA2SPD_I_MAX, 0.0f); // integral limiter -PARAM_DEFINE_FLOAT(SEG_Q2SPD, 1.0f); // pitch rate to speed +PARAM_DEFINE_FLOAT(SEG_TH2V_P, 10.0f); // pitch to voltage +PARAM_DEFINE_FLOAT(SEG_TH2V_I, 0.0f); // pitch integral to voltage +PARAM_DEFINE_FLOAT(SEG_TH2V_I_MAX, 0.0f); // integral limiter +PARAM_DEFINE_FLOAT(SEG_Q2V, 1.0f); // pitch rate to voltage |