[paparazzi-commits] [4462] Move wind vane gains from #define constants to memory variables so they can be changed via settings

[Allen Ibara]

Revision: 4462
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4462
Author:   aibara
Date:     2010-01-19 20:21:24 +0000 (Tue, 19 Jan 2010)
Log Message:
-----------
Move wind vane gains from #define constants to memory variables so they can be 
changed via settings

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h   
    2010-01-19 20:20:14 UTC (rev 4461)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h   
    2010-01-19 20:21:24 UTC (rev 4462)
@@ -38,7 +38,10 @@
 extern void booz_stabilization_attitude_ref_init(void);
 extern void booz_stabilization_attitude_ref_update(void);
 
+extern float booz_stabilization_attitude_beta_vane_gain;
+extern float booz_stabilization_attitude_alpha_vane_gain;
 
+
 #define booz_stabilization_attitude_SetKiPhi(_val) {   \
     booz_stabilization_igain.x = _val;                 \
     booz_stabilization_att_sum_err.phi = 0;            \

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2010-01-19 20:20:14 UTC (rev 4461)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2010-01-19 20:21:24 UTC (rev 4462)
@@ -41,7 +41,10 @@
 float booz_stabilization_att_fb_cmd[COMMANDS_NB];
 float booz_stabilization_att_ff_cmd[COMMANDS_NB];
 
+float booz_stabilization_attitude_beta_vane_gain;
+float booz_stabilization_attitude_alpha_vane_gain;
 
+
 void booz_stabilization_attitude_init(void) {
 
   booz_stabilization_attitude_ref_init();
@@ -69,6 +72,11 @@
   FLOAT_QUAT_ZERO( booz_stabilization_sum_err );
   FLOAT_EULERS_ZERO( booz_stabilization_att_sum_err );
 
+#ifdef USE_VANE
+  booz_stabilization_attitude_alpha_vane_gain = 
BOOZ_STABILIZATION_ATTITUDE_ALPHA_VANE_T;
+  booz_stabilization_attitude_beta_vane_gain = 
BOOZ_STABILIZATION_ATTITUDE_BETA_VANE_T;
+#endif
+
 }
 
 static void reset_psi_ref_from_body(void) {
@@ -149,7 +157,8 @@
   struct FloatEulers sticks_eulers;
   struct FloatQuat sticks_quat, prev_sp_quat;
 
-  sticks_eulers.phi = BOOZ_STABILIZATION_ATTITUDE_BETA_VANE_T * beta / 
RC_UPDATE_FREQ;
+
+  sticks_eulers.phi = booz_stabilization_attitude_beta_vane_gain * beta / 
RC_UPDATE_FREQ;
   sticks_eulers.theta = 0;
   sticks_eulers.psi = 0;
 
@@ -166,7 +175,7 @@
   struct FloatEulers sticks_eulers;
   struct FloatQuat sticks_quat, prev_sp_quat;
   sticks_eulers.phi = 0;
-  sticks_eulers.theta = BOOZ_STABILIZATION_ATTITUDE_ALPHA_VANE_T * alpha / 
RC_UPDATE_FREQ;
+  sticks_eulers.theta = booz_stabilization_attitude_alpha_vane_gain * alpha / 
RC_UPDATE_FREQ;
   sticks_eulers.psi = 0;
 
   // convert eulers to quaternion