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[paparazzi-commits] [4302] Make ref_quat_float reference attitude genera
From: |
Allen Ibara |
Subject: |
[paparazzi-commits] [4302] Make ref_quat_float reference attitude generation not depend on in_flight mode again |
Date: |
Fri, 30 Oct 2009 19:08:42 +0000 |
Revision: 4302
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4302
Author: aibara
Date: 2009-10-30 19:08:41 +0000 (Fri, 30 Oct 2009)
Log Message:
-----------
Make ref_quat_float reference attitude generation not depend on in_flight mode
again
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
2009-10-30 19:08:41 UTC (rev 4302)
@@ -35,7 +35,7 @@
#include "stabilization/booz_stabilization_attitude_ref.h"
#include STABILISATION_ATTITUDE_REF_H
extern void booz_stabilization_attitude_ref_init(void);
-extern void booz_stabilization_attitude_ref_update(bool_t in_flight);
+extern void booz_stabilization_attitude_ref_update(void);
#define booz_stabilization_attitude_SetKiPhi(_val) { \
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
2009-10-30 19:08:41 UTC (rev 4302)
@@ -88,7 +88,7 @@
void booz_stabilization_attitude_run(bool_t in_flight) {
- booz_stabilization_attitude_ref_update(in_flight);
+ booz_stabilization_attitude_ref_update();
/* Compute feedforward */
booz_stabilization_att_ff_cmd[COMMAND_ROLL] =
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
2009-10-30 19:08:41 UTC (rev 4302)
@@ -93,7 +93,7 @@
/* update reference */
- booz_stabilization_attitude_ref_update(in_flight);
+ booz_stabilization_attitude_ref_update();
/* compute feedforward command */
booz_stabilization_att_ff_cmd[COMMAND_ROLL] =
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
2009-10-30 19:08:41 UTC (rev 4302)
@@ -74,6 +74,7 @@
static void reset_psi_ref_from_body(void) {
booz_stab_att_sp_euler.psi = booz_ahrs_float.ltp_to_body_euler.psi;
booz_stab_att_ref_euler.psi = booz_ahrs_float.ltp_to_body_euler.psi;
+ booz_stab_att_ref_rate.r = 0;
booz_stab_att_ref_accel.r = 0;
}
@@ -136,7 +137,7 @@
reset_psi_ref_from_body();
update_sp_quat_from_eulers();
update_ref_quat_from_eulers();
- booz_stab_att_ref_rate.r = 8 * radio_control.values[RADIO_CONTROL_YAW] *
YAW_COEF;
+ booz_stab_att_ref_rate.r = radio_control.values[RADIO_CONTROL_YAW] *
YAW_COEF;
}
}
@@ -168,7 +169,7 @@
/*
* Update reference
*/
- booz_stabilization_attitude_ref_update(in_flight);
+ booz_stabilization_attitude_ref_update();
/*
* Compute feedforward
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
2009-10-30 19:08:41 UTC (rev 4302)
@@ -40,7 +40,7 @@
#define USE_REF 1
-void booz_stabilization_attitude_ref_update(bool_t in_flight) {
+void booz_stabilization_attitude_ref_update() {
#ifdef USE_REF
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
2009-10-30 19:08:41 UTC (rev 4302)
@@ -71,7 +71,7 @@
#define USE_REF 1
-void booz_stabilization_attitude_ref_update(bool_t in_flight) {
+void booz_stabilization_attitude_ref_update() {
#ifdef USE_REF
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
2009-10-29 23:23:37 UTC (rev 4301)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
2009-10-30 19:08:41 UTC (rev 4302)
@@ -59,7 +59,7 @@
#define OMEGA_R BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_R
#define ZETA_R BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_R
-void booz_stabilization_attitude_ref_update(bool_t in_flight) {
+void booz_stabilization_attitude_ref_update() {
/* integrate reference attitude */
struct FloatQuat qdot;
@@ -82,11 +82,8 @@
/* propagate the 2nd order linear model */
booz_stab_att_ref_accel.p = -2.*ZETA_P*OMEGA_P*booz_stab_att_ref_rate.p -
OMEGA_P*OMEGA_P*err.qx;
booz_stab_att_ref_accel.q = -2.*ZETA_Q*OMEGA_Q*booz_stab_att_ref_rate.q -
OMEGA_Q*OMEGA_Q*err.qy;
+ booz_stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_R*booz_stab_att_ref_rate.r -
OMEGA_R*OMEGA_R*err.qz;
- if (in_flight) {
- booz_stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_R*booz_stab_att_ref_rate.r -
OMEGA_R*OMEGA_R*err.qz;
- }
-
/* compute ref_euler */
FLOAT_EULERS_OF_QUAT(booz_stab_att_ref_euler, booz_stab_att_ref_quat);
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