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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-22 14:42:50 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-22 14:42:50 +0200 |
commit | 64c5096c9f56b4ec1c995a0129ce5088ea8be719 (patch) | |
tree | 28a051688556b4c5ae380dda9839e13c16df6854 /apps/multirotor_att_control | |
parent | 9e8a02b928abfd9cd54858f773cc2ab1ffa1e602 (diff) | |
parent | 1e0a34a10211dbe9894540a45dcbe428d5ae09bd (diff) | |
download | px4-firmware-64c5096c9f56b4ec1c995a0129ce5088ea8be719.tar.gz px4-firmware-64c5096c9f56b4ec1c995a0129ce5088ea8be719.tar.bz2 px4-firmware-64c5096c9f56b4ec1c995a0129ce5088ea8be719.zip |
Merged with fixed-wing stabilization work, multirotor control tested
Diffstat (limited to 'apps/multirotor_att_control')
-rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 51 |
1 files changed, 8 insertions, 43 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index a08ee5e46..8c0e10fc3 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -60,11 +60,9 @@ PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); - - -PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); /* 0.025 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); @@ -78,12 +76,6 @@ struct mc_att_control_params { float yaw_awu; float yaw_lim; - // float yawrate_p; - // float yawrate_i; - // float yawrate_d; - // float yawrate_awu; - // float yawrate_lim; - float att_p; float att_i; float att_d; @@ -101,12 +93,6 @@ struct mc_att_control_param_handles { param_t yaw_awu; param_t yaw_lim; - // param_t yawrate_p; - // param_t yawrate_i; - // param_t yawrate_d; - // param_t yawrate_awu; - // param_t yawrate_lim; - param_t att_p; param_t att_i; param_t att_d; @@ -139,12 +125,6 @@ static int parameters_init(struct mc_att_control_param_handles *h) h->yaw_awu = param_find("MC_YAWPOS_AWU"); h->yaw_lim = param_find("MC_YAWPOS_LIM"); - // h->yawrate_p = param_find("MC_YAWRATE_P"); - // h->yawrate_i = param_find("MC_YAWRATE_I"); - // h->yawrate_d = param_find("MC_YAWRATE_D"); - // h->yawrate_awu = param_find("MC_YAWRATE_AWU"); - // h->yawrate_lim = param_find("MC_YAWRATE_LIM"); - h->att_p = param_find("MC_ATT_P"); h->att_i = param_find("MC_ATT_I"); h->att_d = param_find("MC_ATT_D"); @@ -165,12 +145,6 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc param_get(h->yaw_awu, &(p->yaw_awu)); param_get(h->yaw_lim, &(p->yaw_lim)); - // param_get(h->yawrate_p, &(p->yawrate_p)); - // param_get(h->yawrate_i, &(p->yawrate_i)); - // param_get(h->yawrate_d, &(p->yawrate_d)); - // param_get(h->yawrate_awu, &(p->yawrate_awu)); - // param_get(h->yawrate_lim, &(p->yawrate_lim)); - param_get(h->att_p, &(p->att_p)); param_get(h->att_i, &(p->att_i)); param_get(h->att_d, &(p->att_d)); @@ -199,8 +173,6 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s static int motor_skip_counter = 0; - // static PID_t yaw_pos_controller; -// static PID_t yaw_speed_controller; static PID_t pitch_controller; static PID_t roll_controller; @@ -214,14 +186,10 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_init(&h); parameters_update(&h, &p); - // pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu, - // PID_MODE_DERIVATIV_SET, 154); - // pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu, - // PID_MODE_DERIVATIV_SET); pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - PID_MODE_DERIVATIV_SET); + p.att_lim, PID_MODE_DERIVATIV_SET); pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - PID_MODE_DERIVATIV_SET); + p.att_lim, PID_MODE_DERIVATIV_SET); initialized = true; } @@ -230,12 +198,12 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s if (motor_skip_counter % 1000 == 0) { /* update parameters from storage */ parameters_update(&h, &p); + /* apply parameters */ - // pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu); - // pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu); - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu); printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); + + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim); } /* calculate current control outputs */ @@ -251,10 +219,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control yaw rate */ rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)); - - rates_sp->thrust = att_sp->thrust; - motor_skip_counter++; } |