From 34d8c75d3a891c0a01baf031d1970dd2c64567fe Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sat, 18 Feb 2017 21:20:45 -0600
Subject: [PATCH] Allowed values to be set before Gear switch. Re-enabled x/y
controllers and made throttle manual for autonomous mode.
---
quad/sw/modular_quad_pid/src/control_algorithm.c | 12 ++++++------
quad/sw/modular_quad_pid/src/initialize_components.c | 9 +++------
2 files changed, 9 insertions(+), 12 deletions(-)
diff --git a/quad/sw/modular_quad_pid/src/control_algorithm.c b/quad/sw/modular_quad_pid/src/control_algorithm.c
index 63ba75613..ee77a7623 100644
--- a/quad/sw/modular_quad_pid/src/control_algorithm.c
+++ b/quad/sw/modular_quad_pid/src/control_algorithm.c
@@ -184,13 +184,13 @@
parameter_struct->pid_controllers[PITCH_ID].current_point = sensor_struct->pitch_angle_filtered;
parameter_struct->pid_controllers[PITCH_ID].setpoint =
- /*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- (parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim :*/ user_input_struct->pitch_angle_manual_setpoint;
+ (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+ (parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim : user_input_struct->pitch_angle_manual_setpoint;
parameter_struct->pid_controllers[ROLL_ID].current_point = sensor_struct->roll_angle_filtered;
parameter_struct->pid_controllers[ROLL_ID].setpoint =
- /*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- (parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim :*/ user_input_struct->roll_angle_manual_setpoint;
+ (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+ (parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim : user_input_struct->roll_angle_manual_setpoint;
//logging and PID computation
@@ -239,8 +239,8 @@
if(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)
{
//THROTTLE
- raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
- ((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
+ //raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
+ // ((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
//ROLL
raw_actuator_struct->controller_corrected_motor_commands[ROLL] =
diff --git a/quad/sw/modular_quad_pid/src/initialize_components.c b/quad/sw/modular_quad_pid/src/initialize_components.c
index c548d26d2..0b693dea6 100644
--- a/quad/sw/modular_quad_pid/src/initialize_components.c
+++ b/quad/sw/modular_quad_pid/src/initialize_components.c
@@ -24,13 +24,10 @@ int protection_loops(modular_structs_t *structs)
// wait until throttle is low and the gear switch is engaged (so you don't immediately break out of the main loop below)
// also wait for the flight mode to be set to manual
- while(rc_commands[THROTTLE] > 125000 || read_kill(rc_commands[GEAR]) || !read_flap(rc_commands[FLAP]))
- read_rec_all(rc_commands);
-
- // wait until the ground station has connected to the quad and acknowledged that its ready to start
- while (!structs->user_input_struct.receivedBeginUpdate) {
+ while(rc_commands[THROTTLE] > 125000 || read_kill(rc_commands[GEAR]) || !read_flap(rc_commands[FLAP]) ||
+ !structs->user_input_struct.receivedBeginUpdate) {
process_received(structs);
- usleep(10000);
+ read_rec_all(rc_commands);
}
// let the pilot/observers know that the quad is now active
--
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