diff options
author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-28 16:15:51 +0100 |
---|---|---|
committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-28 16:15:51 +0100 |
commit | 8fff4e19d6185ef91a92d36d649584161ef69d8a (patch) | |
tree | 0d0f0255a5a4015e9fd1a1667faea1f4c316bec1 /apps/fixedwing_att_control | |
parent | 2f4cb6ca84d3c2fa5142fba303079030d22c67ae (diff) | |
download | px4-firmware-8fff4e19d6185ef91a92d36d649584161ef69d8a.tar.gz px4-firmware-8fff4e19d6185ef91a92d36d649584161ef69d8a.tar.bz2 px4-firmware-8fff4e19d6185ef91a92d36d649584161ef69d8a.zip |
roll compensation and default paramter values, pitch value has a sign error
Diffstat (limited to 'apps/fixedwing_att_control')
-rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_att.c | 10 | ||||
-rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_main.c | 17 |
2 files changed, 16 insertions, 11 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index b6196702f..4193bbfdf 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -69,6 +69,7 @@ struct fw_att_control_params { float pitch_lim; float pitchrate_lim; float yawrate_lim; + float pitch_roll_compensation_p; }; struct fw_pos_control_params_handle { @@ -78,6 +79,7 @@ struct fw_pos_control_params_handle { float pitch_lim; float pitchrate_lim; float yawrate_lim; + float pitch_roll_compensation_p; }; @@ -95,6 +97,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h) h->pitch_lim = param_find("FW_PITCH_LIM"); h->pitchrate_lim = param_find("FW_PITCHR_LIM"); h->yawrate_lim = param_find("FW_YAWR_LIM"); + h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); return OK; } @@ -106,6 +109,7 @@ static int parameters_update(const struct fw_pos_control_params_handle *h, struc param_get(h->pitch_p, &(p->pitch_p)); param_get(h->pitchrate_lim, &(p->pitchrate_lim)); param_get(h->yawrate_lim, &(p->yawrate_lim)); + param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p)); return OK; } @@ -142,11 +146,11 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att } /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0); + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0); /* Pitch (P) */ - - rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0); + float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan; + rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ //TODO diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 82ef0403b..869fb16e4 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -72,18 +72,19 @@ * */ // Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); +PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f); +PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); //Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller -PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); //Yaw control parameters //XXX TODO this is copy paste, asign correct values PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); |