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Code Issues Wiki Activity

Remove PosHold support settings from PID bank

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-03-09 19:06:51 +01:00
parent ad0d14e2a5
commit 15cdc109f9
5 changed files with 21 additions and 15 deletions
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8
src/main/navigation/navigation.c
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@ -77,7 +77,7 @@ PG_DECLARE_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList);
PG_REGISTER_ARRAY(navWaypoint_t, NAV_MAX_WAYPOINTS, nonVolatileWaypointList, PG_WAYPOINT_MISSION_STORAGE, 0);
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 3);
PG_REGISTER_WITH_RESET_TEMPLATE(navConfig_t, navConfig, PG_NAV_CONFIG, 4);
PG_RESET_TEMPLATE(navConfig_t, navConfig,
.general = {
@ -127,6 +127,8 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.braking_boost_speed_threshold = 150, // Boost can happen only above 1.5m/s
.braking_boost_disengage_speed = 100, // Disable boost at 1m/s
.braking_bank_angle = 40, // Max braking angle
.posDecelerationTime = 120, // posDecelerationTime * 100
.posResponseExpo = 10, // posResponseExpo * 100
},
// Fixed wing
@ -3025,10 +3027,10 @@ void navigationUsePIDs(void)
{
/** Multicopter PIDs */
// Brake time parameter
posControl.posDecelerationTime = (float)pidProfile()->bank_mc.pid[PID_POS_XY].I / 100.0f;
posControl.posDecelerationTime = (float)navConfig()->mc.posDecelerationTime / 100.0f;
// Position controller expo (taret vel expo for MC)
posControl.posResponseExpo = constrainf((float)pidProfile()->bank_mc.pid[PID_POS_XY].D / 100.0f, 0.0f, 1.0f);
posControl.posResponseExpo = constrainf((float)navConfig()->mc.posResponseExpo / 100.0f, 0.0f, 1.0f);
// Initialize position hold P-controller
for (int axis = 0; axis < 2; axis++) {