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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-05 13:15:35 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-05 13:15:35 -0800 |
| commit | 7d76a8a57b41c82db0712dd0544e67d1ce97d89c (patch) | |
| tree | d4dd439ef04d0ea9b8b89355b39acdb13c7fdbaa | |
| parent | 976545861a1c7336203a1677120633f14d215a40 (diff) | |
| parent | 59725ccd3a80fd32ed8ef08025daeb4372adb1f1 (diff) | |
| download | px4-firmware-7d76a8a57b41c82db0712dd0544e67d1ce97d89c.tar.gz px4-firmware-7d76a8a57b41c82db0712dd0544e67d1ce97d89c.tar.bz2 px4-firmware-7d76a8a57b41c82db0712dd0544e67d1ce97d89c.zip | |
Merge pull request #45 from thomasgubler/master_origin
re-adding pid limitation & mavlink waypoint handling fix
| -rw-r--r-- | apps/mavlink/waypoints.c | 7 | ||||
| -rw-r--r-- | apps/systemlib/pid/pid.c | 4 |
2 files changed, 5 insertions, 6 deletions
diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c index 3d9e5750a..16759237e 100644 --- a/apps/mavlink/waypoints.c +++ b/apps/mavlink/waypoints.c @@ -360,7 +360,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ float dist = -1.0f; if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->alt); + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); @@ -376,14 +376,13 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw wpm->pos_reached = true; - if (counter % 10 == 0) + if (counter % 100 == 0) printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit); } - // else // { // if(counter % 100 == 0) -// printf("Setpoint not reached yet: %0.4f, orbit: %.4f\n",dist,orbit); +// printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame); // } } diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index dd8b6adc6..0358caa25 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -172,9 +172,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the output. Limit output magnitude to pid->limit float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd); - //if (output > pid->limit) output = pid->limit; + if (output > pid->limit) output = pid->limit; - //if (output < -pid->limit) output = -pid->limit; + if (output < -pid->limit) output = -pid->limit; if (isfinite(output)) { pid->last_output = output; |