changed default coupling values and larger range for G rotation

paparazzi · Aug 9, 2016 · 3421eda · 3421eda
1 parent 2dda17f
commit 3421eda
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Showing 3 changed files with 5 additions and 3 deletions.
diff --git a/conf/airframes/TUDELFT/tudelft_outback.xml b/conf/airframes/TUDELFT/tudelft_outback.xml
@@ -189,6 +189,8 @@
     <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="100."/> <!-- for now distance to waypoint ok -->
     <define name="MilliAmpereOfAdc(_adc)" value="(DefaultMilliAmpereOfAdc(_adc) + 417)"/>
+    <define name="OUTBACK_P_ON_Q_COUPLING" value="6.0"/>
+    <define name="OUTBACK_Q_ON_P_COUPLING" value="1.0"/>
   </section>
 
   <section name="FORWARD">

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
@@ -72,8 +72,8 @@ struct FloatRates stabilization_rate_sum_err;
 
 struct FloatRates stabilization_rate_fb_cmd;
 
-float p_on_q_coupling = 0.0;
-float q_on_p_coupling = 0.0;
+float p_on_q_coupling = OUTBACK_P_ON_Q_COUPLING;
+float q_on_p_coupling = OUTBACK_Q_ON_P_COUPLING;
 
 #ifndef STABILIZATION_RATE_DEADBAND_P
 #define STABILIZATION_RATE_DEADBAND_P 0

diff --git a/sw/airborne/modules/helicopter/swashplate_mixing.c b/sw/airborne/modules/helicopter/swashplate_mixing.c
@@ -85,7 +85,7 @@ void swashplate_mixing_run(pprz_t in_cmd[])
   int16_t cmd_roll;
   int16_t cmd_pitch;
 
-  float compensation_angle = (radio_control.values[8]+9600.0)/(2*9600.0)*0.7854;
+  float compensation_angle = (radio_control.values[8]+9600.0)/(2*9600.0)*1.0472;
 
 //    // Add advance compensation with G matrix
    cmd_roll  = in_cmd[COMMAND_ROLL];