[fix] fix some bugs from #3190 (#3195)

paparazzi · Dec 4, 2023 · 7279d9b · 7279d9b
1 parent 12c6524
commit 7279d9b
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
   />
   <aircraft

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
@@ -88,11 +88,13 @@ static void guidance_indi_filter_thrust(void);
 #endif
 
 #ifndef GUIDANCE_INDI_THRUST_DYNAMICS_FREQ
+#ifndef GUIDANCE_INDI_THRUST_DYNAMICS
 #ifndef STABILIZATION_INDI_ACT_FREQ_P
 #error "You need to define GUIDANCE_INDI_THRUST_DYN_FREQ to be able to use indi vertical control"
 #else // assume that the same actuators are used for thrust as for roll (e.g. quadrotor)
 #define GUIDANCE_INDI_THRUST_DYNAMICS_FREQ STABILIZATION_INDI_ACT_FREQ_P
 #endif
+#endif // GUIDANCE_INDI_THRUST_DYN_FREQ
 #endif //GUIDANCE_INDI_THRUST_DYNAMICS_FREQ
 
 

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -170,11 +170,11 @@ float act_pref[INDI_NUM_ACT] = {0.0};
 #ifdef STABILIZATION_INDI_ACT_DYN
 #warning STABILIZATION_INDI_ACT_DYN is deprecated, use STABILIZATION_INDI_ACT_FREQ instead.
 #warning You now have to define the continuous time corner frequency in rad/s of the actuators.
-#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values.
-float act_first_order_cutoff[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_FREQ;
+#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values."
+float act_first_order_cutoff[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_DYN;
 float act_dyn_discrete[INDI_NUM_ACT];
 #else
-float act_dyn_discrete[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_DYN;
+float act_dyn_discrete[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_FREQ;
 #endif
 
 #ifdef STABILIZATION_INDI_WLS_PRIORITIES
@@ -349,8 +349,8 @@ void stabilization_indi_init(void)
   // Initialize filters
   init_filters();
 
-#ifdef STABILIZATION_INDI_ACT_FREQ
   int8_t i;
+#ifdef STABILIZATION_INDI_ACT_FREQ
   // Initialize the array of pointers to the rows of g1g2
   for (i = 0; i < INDI_NUM_ACT; i++) {
     act_dyn_discrete[i] = 1-exp(-act_first_order_cutoff[i]/PERIODIC_FREQUENCY);

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
@@ -44,11 +44,12 @@
 #if defined(STABILIZATION_INDI_ACT_DYN_P) && !defined(STABILIZATION_INDI_ACT_DYN_Q) && !defined(STABILIZATION_INDI_ACT_DYN_R)
 #warning STABILIZATION_INDI_ACT_DYN is deprecated, use STABILIZATION_INDI_ACT_FREQ instead.
 #warning You now have to define the continuous time corner frequency in rad/s of the actuators.
-#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values.
+#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values."
 #else
 #if !defined(STABILIZATION_INDI_ACT_FREQ_P) && !defined(STABILIZATION_INDI_ACT_FREQ_Q) && !defined(STABILIZATION_INDI_ACT_FREQ_R)
 #warning You have to define the corner frequency of the first order actuator dynamics model in rad/s!
 #endif
+#endif
 
 // these parameters are used in the filtering of the angular acceleration
 // define them in the airframe file if different values are required