[stabilization] float_euler fixes so it actually compiles

paparazzi · Oct 23, 2013 · 5cf0b28 · 5cf0b28
1 parent a0214d8
commit 5cf0b28
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Showing 4 changed files with 33 additions and 6 deletions.
diff --git a/conf/settings/control/stabilization_att_float_euler.xml b/conf/settings/control/stabilization_att_float_euler.xml
@@ -0,0 +1,27 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Att Loop">
+      <dl_setting var="stabilization_gains.p.x" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN"/>
+      <dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800"    module="stabilization/stabilization_attitude" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
+      <dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
+      <dl_setting var="stabilization_gains.rates_d.x" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind p" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
+      <dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
+
+      <dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
+      <dl_setting var="stabilization_gains.i.y" min="0"  step="1" max="800"    module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
+      <dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
+      <dl_setting var="stabilization_gains.rates_d.y" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind q" param="STABILIZATION_ATTITUDE_THETA_DGAIN_D"/>
+      <dl_setting var="stabilization_gains.dd.y" min="0"    step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
+
+      <dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
+      <dl_setting var="stabilization_gains.i.z" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
+      <dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
+      <dl_setting var="stabilization_gains.rates_d.z" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind r" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
+      <dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_float.h
@@ -46,7 +46,7 @@ struct FloatAttitudeGains {
   struct FloatVect3  surface_i;
 };
 
-extern struct FloatEulers stabilization_att_sum_err_eulers;
+extern struct FloatEulers stabilization_att_sum_err;
 
 extern float stabilization_att_fb_cmd[COMMANDS_NB];
 extern float stabilization_att_ff_cmd[COMMANDS_NB];

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
@@ -82,8 +82,8 @@ void stabilization_attitude_ref_update() {
   stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_P*stab_att_ref_rate.r - OMEGA_R*OMEGA_R*ref_err.psi;
 
   /*	saturate acceleration */
-  const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
-  const struct Int32Rates MAX_ACCEL = {  REF_ACCEL_MAX_P,  REF_ACCEL_MAX_Q,  REF_ACCEL_MAX_R }; \
+  const struct FloatRates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
+  const struct FloatRates MAX_ACCEL = {  REF_ACCEL_MAX_P,  REF_ACCEL_MAX_Q,  REF_ACCEL_MAX_R };
   RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
 
   /* saturate speed and trim accel accordingly */

diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -303,9 +303,9 @@
       &stab_att_ref_euler.phi,                            \
       &stab_att_ref_euler.theta,                          \
       &stab_att_ref_euler.psi,                            \
-      &stabilization_att_sum_err_eulers.phi,              \
-      &stabilization_att_sum_err_eulers.theta,            \
-      &stabilization_att_sum_err_eulers.psi,              \
+      &stabilization_att_sum_err.phi,              \
+      &stabilization_att_sum_err.theta,            \
+      &stabilization_att_sum_err.psi,              \
       &stabilization_att_fb_cmd[COMMAND_ROLL],            \
       &stabilization_att_fb_cmd[COMMAND_PITCH],           \
       &stabilization_att_fb_cmd[COMMAND_YAW],             \