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Code Issues Wiki Activity

Deprecate nav_fw_roll2pitch

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Konstantin Sharlaimov (DigitalEntity) 2017-04-12 23:48:12 +10:00
parent 1f0bc8ee0f
commit dc123d09ec
5 changed files with 0 additions and 5 deletions
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1
docs/Cli.md
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@ -176,7 +176,6 @@ Re-apply any new defaults as desired.
| nav_fw_climb_angle | 20 | Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit | | nav_fw_climb_angle | 20 | Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit |
| nav_fw_dive_angle | 15 | Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit | | nav_fw_dive_angle | 15 | Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit |
| nav_fw_pitch2thr | 10 | Amount of throttle applied related to pitch attitude in GPS assisted modes | | nav_fw_pitch2thr | 10 | Amount of throttle applied related to pitch attitude in GPS assisted modes |
| nav_fw_roll2pitch | 75 | Amount of positive pitch (nose up) when the plane turns by ailerons in GPS assisted modes. With high wind is better lowering this |
| nav_fw_loiter_radius | 5000 | PosHold radius in cm. 3000 to 7500 is a good value (30-75m) | | nav_fw_loiter_radius | 5000 | PosHold radius in cm. 3000 to 7500 is a good value (30-75m) |
| nav_fw_launch_velocity | 300 | Forward velocity threshold for swing-launch detection (cm/s) | | nav_fw_launch_velocity | 300 | Forward velocity threshold for swing-launch detection (cm/s) |
| nav_fw_launch_accel | 1863 | Forward acceleration threshold for bungee launch of throw launch (cm/s/s, 1G = 981 cm/s/s) | | nav_fw_launch_accel | 1863 | Forward acceleration threshold for bungee launch of throw launch (cm/s/s, 1G = 981 cm/s/s) |

1
src/main/fc/cli.c
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@ -854,7 +854,6 @@ static const clivalue_t valueTable[] = {
{ "nav_fw_climb_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 5, 80 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.max_climb_angle) }, { "nav_fw_climb_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 5, 80 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.max_climb_angle) },
{ "nav_fw_dive_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 5, 80 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.max_dive_angle) }, { "nav_fw_dive_angle", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 5, 80 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.max_dive_angle) },
{ "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.pitch_to_throttle) }, { "nav_fw_pitch2thr", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.pitch_to_throttle) },
{ "nav_fw_roll2pitch", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.roll_to_pitch) },
{ "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 10000 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.loiter_radius) }, { "nav_fw_loiter_radius", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 10000 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.loiter_radius) },
{ "nav_fw_launch_velocity", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 10000 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.launch_velocity_thresh) }, { "nav_fw_launch_velocity", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 10000 }, PG_NAV_CONFIG, offsetof(navConfig_t, fw.launch_velocity_thresh) },

1
src/main/navigation/navigation.c
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@ -116,7 +116,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
.max_throttle = 1700, .max_throttle = 1700,
.min_throttle = 1200, .min_throttle = 1200,
.pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle) .pitch_to_throttle = 10, // pwm units per degree of pitch (10pwm units ~ 1% throttle)
.roll_to_pitch = 75, // percent of coupling
.loiter_radius = 5000, // 50m .loiter_radius = 5000, // 50m
// Fixed wing launch // Fixed wing launch

1
src/main/navigation/navigation.h
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@ -141,7 +141,6 @@ typedef struct navConfig_s {
uint16_t min_throttle; // Minimum allowed throttle in auto mode uint16_t min_throttle; // Minimum allowed throttle in auto mode
uint16_t max_throttle; // Maximum allowed throttle in auto mode uint16_t max_throttle; // Maximum allowed throttle in auto mode
uint8_t pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10) uint8_t pitch_to_throttle; // Pitch angle (in deg) to throttle gain (in 1/1000's of throttle) (*10)
uint8_t roll_to_pitch; // Roll to pitch compensation (in %)
uint16_t loiter_radius; // Loiter radius when executing PH on a fixed wing uint16_t loiter_radius; // Loiter radius when executing PH on a fixed wing
uint16_t launch_velocity_thresh; // Velocity threshold for swing launch detection uint16_t launch_velocity_thresh; // Velocity threshold for swing launch detection

1
src/main/navigation/navigation_fixedwing.c
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@ -407,7 +407,6 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
// Mix Pitch/Roll/Throttle // Mix Pitch/Roll/Throttle
if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) { if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) {
pitchCorrection += ABS(posControl.rcAdjustment[ROLL]) * (navConfig()->fw.roll_to_pitch / 100.0f);
rollCorrection += posControl.rcAdjustment[ROLL]; rollCorrection += posControl.rcAdjustment[ROLL];
} }