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Merge remote-tracking branch 'multiwii/master'

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Conflicts:
	src/flight_imu.c
	src/mw.c
This commit is contained in:
Dominic Clifton 2014-05-05 01:43:57 +01:00 • committed by Hydra
commit c004e48a87
2 changed files with 20 additions and 18 deletions
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5
src/flight_imu.c
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@ -415,7 +415,7 @@ int getEstimatedAltitude(void)
// set vario // set vario
vario = applyDeadband(vel_tmp, 5); vario = applyDeadband(vel_tmp, 5);
if (abs(angle[ROLL]) < 800 && abs(angle[PITCH]) < 800) { // only calculate pid if the copters thrust is facing downwards(<80deg)
// Altitude P-Controller // Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500); error = constrain(AltHold - EstAlt, -500, 500);
error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position error = applyDeadband(error, 10); // remove small P parametr to reduce noise near zero position
@ -433,6 +433,9 @@ int getEstimatedAltitude(void)
// D // D
BaroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150); BaroPID -= constrain(currentProfile.pidProfile.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
} else {
BaroPID = 0;
}
accZ_old = accZ_tmp; accZ_old = accZ_tmp;
return 1; return 1;

5
src/mw.c
View file

@ -587,7 +587,7 @@ void loop(void)
AltHold = EstAlt; AltHold = EstAlt;
isAltHoldChanged = 0; isAltHoldChanged = 0;
} }
rcCommand[THROTTLE] = initialThrottleHold + BaroPID; rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, masterConfig.escAndServoConfig.minthrottle + 100, masterConfig.escAndServoConfig.maxthrottle);
} }
} else { } else {
// slow alt changes for apfags // slow alt changes for apfags
@ -602,8 +602,7 @@ void loop(void)
AltHoldCorr = 0; AltHoldCorr = 0;
isAltHoldChanged = 0; isAltHoldChanged = 0;
} }
rcCommand[THROTTLE] = initialThrottleHold + BaroPID; rcCommand[THROTTLE] = constrain(initialThrottleHold + BaroPID, masterConfig.escAndServoConfig.minthrottle + 100, masterConfig.escAndServoConfig.maxthrottle);
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], masterConfig.escAndServoConfig.minthrottle + 150, masterConfig.escAndServoConfig.maxthrottle);
} }
} else { } else {
// handle fixedwing-related althold. UNTESTED! and probably wrong // handle fixedwing-related althold. UNTESTED! and probably wrong