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| author | Julian Oes <julian@oes.ch> | 2013-06-17 21:03:55 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-17 21:10:38 +0200 |
| commit | c874f681080e0e68d62a31e88c80240350f8a595 (patch) | |
| tree | f6f2180e67857eba17170c88828249ecb6a234d0 | |
| parent | e8dbc1fadaf6340d8c9f414ba0402eefd9af2420 (diff) | |
| download | px4-firmware-c874f681080e0e68d62a31e88c80240350f8a595.tar.gz px4-firmware-c874f681080e0e68d62a31e88c80240350f8a595.tar.bz2 px4-firmware-c874f681080e0e68d62a31e88c80240350f8a595.zip | |
Checkpoint: Quad is flying after PID lib changes
Conflicts:
src/modules/multirotor_att_control/multirotor_attitude_control.c
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 2 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 10 |
2 files changed, 5 insertions, 7 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 51faaa8c0..0dad10316 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -187,7 +187,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); - + // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); if (control_yaw_position) { diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 01bf383e2..9135a9351 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -189,10 +189,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); initialized = true; - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, - 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, - 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); } @@ -201,8 +199,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (motor_skip_counter % 2500 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f); + pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); } /* control pitch (forward) output */ |