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Adding test for the downwards thrust direction logic added in

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495c6b8f73.
This commit is contained in:
Dominic Clifton 2014-05-05 17:06:20 +01:00
parent f268c9c4f2
commit ddd322fb9f
11 changed files with 193 additions and 23 deletions
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4
src/flight_common.c
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@ -68,7 +68,7 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int)max_angle_inclination), +max_angle_inclination) - angle[axis] + angleTrim->raw[axis];
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int)max_angle_inclination), +max_angle_inclination) - angle.raw[axis] + angleTrim->raw[axis];
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
@ -127,7 +127,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_PITCH || axis == FD_ROLL)) { // MODE relying on ACC
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)max_angle_inclination), +max_angle_inclination) - angle[axis] + angleTrim->raw[axis]; // 16 bits is ok here
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)max_angle_inclination), +max_angle_inclination) - angle.raw[axis] + angleTrim->raw[axis]; // 16 bits is ok here
}
if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);