Fixes, disable SITL swinging

MichelleRos · Aug 20, 2024 · 5831ef9 · 5831ef9
1 parent cd15026
commit 5831ef9
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Showing 5 changed files with 8 additions and 8 deletions.
diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp
@@ -836,8 +836,8 @@ const AP_Param::GroupInfo Loiter::var_info[] = {
     AP_SUBGROUPINFO(pid_lvl_pitch, "LVLPIT_", 20, Loiter, AC_PID),
     AP_SUBGROUPINFO(pid_lvl_roll, "LVLRLL_", 21, Loiter, AC_PID),
     AP_GROUPINFO("LVLMAX", 22, Loiter, level_max, 0), //Max throttle output to level, use 0 to disable
-    AP_GROUPINFO("LVLDZ", 23, Loiter, level_dz, 0), //Deadzone in degrees (no level output when roll/pitch below this amount from zero, 0 to disable
-    AP_GROUPINFO("MAX_VELYAWS", 24, Loiter, max_vel_yaw_s, 0), //max yaw velocity in level mode, in rad/s
+    AP_GROUPINFO("LVLDZ", 23, Loiter, level_dz, 0), //Deadzone in degrees (no level output when roll/pitch below this amount from zero, 0 to disable)
+    AP_GROUPINFO("MAX_VELYAWS", 24, Loiter, max_vel_yaws, 0), //max yaw velocity in level mode, in rad/s
 
     AP_GROUPEND
 };
@@ -1135,7 +1135,7 @@ void Loiter::run_level_pitch(float& out_front_com)
 
 void Loiter::run_yaw_stab(float& out_yaw_com)
 {
-    if (is_zero(max_vel_yaw_s)) {
+    if (is_zero(max_vel_yaws)) {
         blimp.motors->yaw_out = out_yaw_com;
     } else {
         const float dt = blimp.scheduler.get_last_loop_time_s();

diff --git a/Blimp/Loiter.h b/Blimp/Loiter.h
@@ -78,7 +78,7 @@ class Loiter
     AC_PID pid_lvl_roll{1, 0.2, 0, 0, 0.5, 0, 0, 0};
     AP_Float level_max;
     AP_Float level_dz;
-    AP_Float max_vel_yaw_s;
+    AP_Float max_vel_yaws;
 
     AP_Float    max_vel_x;
     AP_Float    max_vel_y;

diff --git a/Blimp/mode_level.cpp b/Blimp/mode_level.cpp
@@ -8,8 +8,8 @@ bool ModeLevel::init(bool ignore_checks)
     if (is_zero(blimp.loiter->level_max)){
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_LVLMAX is zero. Leveling is disabled.");
     }
-    if (is_zero(blimp.loiter->max_vel_yaw_s)){
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_YAW_S is zero. Yaw rate stabilization is manual.");
+    if (is_zero(blimp.loiter->max_vel_yaws)){
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "LOIT_MAX_VEL_YAWS is zero. Yaw rate stabilization is manual.");
     }
     return true;
 }

diff --git a/Tools/autotest/default_params/blimp-motor.parm b/Tools/autotest/default_params/blimp-motor.parm
@@ -15,7 +15,7 @@ SERVO4_TRIM      1500
 
 FINS_THR_MAX 0.4
 
-LOIT_POS_LAG         0.1
+LOIT_POS_LAG         1.0
 
 # default PID params for position and velocity-controlled modes
 LOIT_MAX_POS_X   2.0

diff --git a/libraries/SITL/SIM_Blimp.cpp b/libraries/SITL/SIM_Blimp.cpp
@@ -227,7 +227,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
     Vector3f rot_T{0,0,0};
     rot_T.z = mot[0].thrust * gondolawidth - mot[1].thrust * gondolawidth; //in N*m (Torque = force * lever arm)
 
-    #if 1 //Swing effect attempt
+    #if 0 //Swing effect attempt
     //Swing effect generated by the motors - at the bottom of the blimp rather than cog since the gondola is mounted to the bottom.
     rot_T.x = -mot[3].thrust*radius;                  //roll force generated by the motors
     rot_T.y = (mot[0].thrust + mot[1].thrust)*radius; //pitch force generated by the motors