[fixedwing] fix energy_ctl compilation if V_CTL_AUTO_GROUNDSPEED_SETP…

…OINT is not used/defined also specify the params in the settings files for saving
paparazzi · Oct 28, 2012 · b883586 · b883586
1 parent e530890
commit b883586
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Showing 4 changed files with 24 additions and 15 deletions.
diff --git a/conf/airframes/examples/MentorEnergy.xml b/conf/airframes/examples/MentorEnergy.xml
@@ -160,6 +160,7 @@
     <define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
     <define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
     <define name="RACE_AIRSPEED" value="25." unit="m/s"/>
+    <define name="STALL_AIRSPEED" value="10." unit="m/s"/>
 
     <define name="CARROT" value="5." unit="s"/>
 
@@ -199,6 +200,10 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.307000011206"/>
 
     <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
+
+    <!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">

diff --git a/conf/settings/control/ctl_energy.xml b/conf/settings/control/ctl_energy.xml
@@ -53,9 +53,9 @@
       </dl_settings>
 
       <dl_settings name="groundspeed">
-        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
+        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"  module="guidance/energy_ctrl" param="V_CTL_AUTO_GROUNDSPEED_SETPOINT"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain" param="V_CTL_AUTO_GROUNDSPEED_PGAIN"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain" param="V_CTL_AUTO_GROUNDSPEED_IGAIN"/>
       </dl_settings>
 <!--
 

diff --git a/conf/settings/control/ctl_energyadaptive.xml b/conf/settings/control/ctl_energyadaptive.xml
@@ -58,9 +58,9 @@
       </dl_settings>
 
       <dl_settings name="groundspeed">
-        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
+        <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"  module="guidance/energy_ctrl" param="V_CTL_AUTO_GROUNDSPEED_SETPOINT"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain" param="V_CTL_AUTO_GROUNDSPEED_PGAIN"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain" param="V_CTL_AUTO_GROUNDSPEED_IGAIN"/>
       </dl_settings>
 
       <dl_settings name="climb_accel">

diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
@@ -123,23 +123,31 @@ float v_ctl_energy_diff_igain;
 
 float v_ctl_auto_airspeed_setpoint; ///< in meters per second
 float v_ctl_auto_airspeed_setpoint_slew;
-#ifndef AIRSPEED_SETPOINT_SLEW
-#define AIRSPEED_SETPOINT_SLEW 1
-#endif
 float v_ctl_auto_airspeed_controlled;
-#ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT
+
 float v_ctl_auto_groundspeed_setpoint; ///< in meters per second
 float v_ctl_auto_groundspeed_pgain;
 float v_ctl_auto_groundspeed_igain;
 float v_ctl_auto_groundspeed_sum_err;
 #define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
-#endif
 
 pprz_t v_ctl_throttle_setpoint;
 pprz_t v_ctl_throttle_slewed;
 float v_ctl_pitch_setpoint;
 
 
+///////////// DEFAULT SETTINGS ////////////////
+#ifndef V_CTL_ALTITUDE_MAX_CLIMB
+#define V_CTL_ALTITUDE_MAX_CLIMB 2;
+#warning "V_CTL_ALTITUDE_MAX_CLIMB not defined - default is 2m/s"
+#endif
+#ifndef STALL_AIRSPEED
+#define STALL_AIRSPEED NOMINAL_AIRSPEED
+#endif
+#ifndef AIRSPEED_SETPOINT_SLEW
+#define AIRSPEED_SETPOINT_SLEW 1
+#endif
+
 /////////////////////////////////////////////////
 // Automatically found airplane characteristics
 
@@ -246,10 +254,6 @@ void v_ctl_init( void ) {
   v_ctl_auto_groundspeed_sum_err = 0.;
 #endif
 
-#ifndef STALL_AIRSPEED
-#define STALL_AIRSPEED NOMINAL_AIRSPEED
-#endif
-
   v_ctl_throttle_setpoint = 0;
 }