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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-04 12:29:15 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-15 10:13:49 +0100 |
| commit | 53ffde30c257a00f4760e93cfb3b02bac085f682 (patch) | |
| tree | 72002ac799101de3769b7560590917ef8d525dff /src/modules/fw_att_control | |
| parent | 1b8a830a38caf393cb308ad206d3c23329d58a48 (diff) | |
| download | px4-firmware-53ffde30c257a00f4760e93cfb3b02bac085f682.tar.gz px4-firmware-53ffde30c257a00f4760e93cfb3b02bac085f682.tar.bz2 px4-firmware-53ffde30c257a00f4760e93cfb3b02bac085f682.zip | |
fw att: add param to select yawrate control method
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 5 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 13 |
2 files changed, 18 insertions, 0 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 00c2080a0..5dfc82747 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -183,6 +183,7 @@ private: float y_roll_feedforward; float y_integrator_max; float y_coordinated_min_speed; + int32_t y_coordinated_method; float y_rmax; float airspeed_min; @@ -225,6 +226,7 @@ private: param_t y_roll_feedforward; param_t y_integrator_max; param_t y_coordinated_min_speed; + param_t y_coordinated_method; param_t y_rmax; param_t airspeed_min; @@ -391,6 +393,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX"); _parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN"); + _parameter_handles.y_coordinated_method = param_find("FW_YCO_METHOD"); _parameter_handles.trim_roll = param_find("TRIM_ROLL"); _parameter_handles.trim_pitch = param_find("TRIM_PITCH"); @@ -459,6 +462,7 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max)); param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed)); + param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method)); param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax)); param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min)); @@ -501,6 +505,7 @@ FixedwingAttitudeControl::parameters_update() _yaw_ctrl.set_k_ff(_parameters.y_ff); _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max); _yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed); + _yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method); _yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax)); return OK; diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 7cae84678..f48075d71 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -275,6 +275,19 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); */ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f); +/** + * Method used for yaw coordination + * + * The param value sets the method used to calculate the yaw rate + * 0: open-loop zero lateral acceleration based on kinematic constraints + * + * @min 0 + * @max 0 + * @unit m/s + * @group FW Attitude Control + */ +PARAM_DEFINE_INT32(FW_YCO_METHOD, 0); + /* Airspeed parameters: * The following parameters about airspeed are used by the attitude and the * position controller. |