Fly-By-Wire A Flightmode #33
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antimonyB
commented
Oct 18, 2023
| FBWA::FBWA() | ||
| { | ||
| //Get PID tuning data from config | ||
| config::ControlTuning_t tuningData = config::flightmodes[config::FM_FBWA_IDX].tuningData; |
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Is this a reasonable way to get the config data for the appropriate flightmode?
antimonyB
commented
Nov 8, 2023
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| AttitudeManagerInput FBWA::run(const AttitudeManagerInput& input) { | ||
| // Get latest attitude from sensor fusion | ||
| SensorFusionOutput currentState = AttitudeManager::getSensorFusionData(); |
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Calling this here instead of receiving an argument because some flightmodes don't need sensor fusion.
antimonyB
commented
Nov 8, 2023
| if(tuningData.PIDValues.pitchPID.isEnabled) | ||
| { | ||
| output.pitch = pitchPID_->execute(targetPitch, currentState.pitch); | ||
| output.pitch = AttitudeManager::attitudeDegreesToPercent(output.pitch); |
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Should I assume AM input/output are percentages while sensor fusion output gives angles in degrees?
Aidan-B
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Closing as old |
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Description
What was completed, changed, or updated?
Adding flightmode to attitude manager for Fly-By-Wire A.
Why was this done (if applicable)?
Testing
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