[paparazzi-commits] [5231] fix on fb, still working of ff

[Paul Cox]

Revision: 5231
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5231
Author:   paulcox
Date:     2010-08-05 15:39:21 +0000 (Thu, 05 Aug 2010)
Log Message:
-----------
fix on fb, still working of ff

Modified Paths:
--------------
    paparazzi3/trunk/conf/settings/settings_beth.xml
    paparazzi3/trunk/sw/airborne/beth/overo_controller.c
    paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c

Modified: paparazzi3/trunk/conf/settings/settings_beth.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_beth.xml    2010-08-05 15:25:28 UTC 
(rev 5230)
+++ paparazzi3/trunk/conf/settings/settings_beth.xml    2010-08-05 15:39:21 UTC 
(rev 5231)
@@ -6,7 +6,7 @@
     <dl_settings NAME="Controller">
       <dl_setting var="controller.kp" min="0" step="0.005" max="0.1" 
module="beth/overo_controller"/>
       <dl_setting var="controller.kd" min="0" step="0.002" max="0.02" 
module="beth/overo_controller"/>
-      <dl_setting var="controller.tilt_sp" min="-400" step="4" max="400" 
module="beth/overo_controller"/>
+      <dl_setting var="controller.tilt_sp" min="-0.5" step="0.05" max="0.5" 
module="beth/overo_controller"/>
     </dl_settings>
 
     </dl_settings>

Modified: paparazzi3/trunk/sw/airborne/beth/overo_controller.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_controller.c        2010-08-05 
15:25:28 UTC (rev 5230)
+++ paparazzi3/trunk/sw/airborne/beth/overo_controller.c        2010-08-05 
15:39:21 UTC (rev 5231)
@@ -27,8 +27,6 @@
   controller.cmd_fb1 = 0.;
   controller.cmd_fb2 = 0.;
   controller.cmd = 0.;
-  //printf("omega_ref: %f omega_cl: 
%f",controller.omega_ref,controller.omega_cl);
-  //omega_ref: 3.490659 omega_cl: 8.726646
 }
 
 
@@ -63,7 +61,7 @@
   controller.cmd_fb1 = 
controller.one_over_J*(2*controller.xi_cl*controller.omega_cl*err_tilt_dot);
   controller.cmd_fb2 = 
controller.one_over_J*(controller.omega_cl*controller.omega_cl*err_tilt);
 
-  controller.cmd = controller.cmd_ff + controller.cmd_fb1+ controller.cmd_fb1; 
+  controller.cmd = controller.cmd_ff + controller.cmd_fb1+ controller.cmd_fb2; 
   if (!(foo%100)) 
   //printf("ff:%f fb:%f %f (%f)\n",controller.cmd_ff, controller.cmd_fb1, 
controller.cmd_fb2,estimator.tilt_dot);
   printf("%f %f 
%f\n",controller.tilt_ref,controller.tilt_dot_ref,controller.tilt_ddot_ref);

Modified: paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c   2010-08-05 15:25:28 UTC 
(rev 5230)
+++ paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c   2010-08-05 15:39:21 UTC 
(rev 5231)
@@ -8,8 +8,6 @@
 #include "udp_transport2.h"
 #include "dl_protocol.h"
 #include "settings.h"
-//#include "downlink.h"
-#include "overo_controller.h"
 
 #define GCS_HOST "10.31.4.104"
 #define GCS_PORT 4242
@@ -74,7 +72,6 @@
       float var = DL_SETTING_value(gcs_com.my_dl_buffer);
       DlSetting(i, var);
       printf("datalink : %d %f\n",i,var);
-      printf("controller.tilt_sp : %f \n",controller.tilt_sp);
       DOWNLINK_SEND_DL_VALUE(tp, &i, &var);
     }
     break;