Adaptive Hover not working with PWM Actuators

[ljb2208]

When using a rotorcraft with PWM actuators, the thrust_applied value passed to the gv_adapt_run function is not correct.

For PWM Actuators the following is defined in the airframe config:

SUPERVISION_MIN_MOTOR 1030
SUPERVISION_MAX_MOTOR 2000

In guidance_v.c is the following code

int32_t cmd_hack = Chop(stabilization_cmd[COMMAND_THRUST], SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR); gv_adapt_run(ins_ltp_accel.z, cmd_hack);

This results in cmd_hack not being calculated correctly.

Temporary fix was to add new defines in guidance_v.c and use these to bound the stabilization_cmd[COMMAND_THRUST] to between 3 and 200.

[flixr]

I think the GV_ADAPT_[MIN|MAX]_CMD and GV_ADAPT_HOVER_[MIN|MAX]_CMD should rather be scaled relative to the SUPERVISION_[MIN|MAX]_MOTOR instead of setting them to explicit values...

[gautierhattenberger]

Fixed in dev branch 2509dc1

[flixr]

Please test and also check if the rc throttle limit is working as expected or if
guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ;
should really be
guidance_v_rc_delta_t = SUPERVISION_MIN_MOTOR + (int32_t)radio_control.values[RADIO_THROTTLE] * (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ;

[flixr]

@ljb2208
Luke, did you have a change to test the fixes?

[ljb2208]

Hi Felix, no not as yet. Hopefully I will this weekend. Will let you know

On Wed, Mar 21, 2012 at 7:04 PM, Felix Ruess <
reply@reply.github.com

wrote:

@ljb2208
Luke, did you have a change to test the fixes?

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Reply to this email directly or view it on GitHub:
#156 (comment)

[ljb2208]

Still not working as per issue #166.

Also guidance_v_delta_t is being set to the negative of the feedforward and feedback commands, however the feedforward command is still calculated as a positive number. Feedback command also looks to be positive as well, although I haven't checked that each of the terms are positive.

[flixr]

thx, somehow missed that in the merge...
should be fixed in dev...