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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-22 11:25:26 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-22 11:25:26 +0200 |
commit | a3f2114d5427e1e858a9fb35aa418ba015e95636 (patch) | |
tree | 1510930034dc54fe7e6e9f10864812f771ca18f1 /apps/multirotor_att_control | |
parent | df8148033a1f60400693e80c3732a43cc26e0ee2 (diff) | |
download | px4-firmware-a3f2114d5427e1e858a9fb35aa418ba015e95636.tar.gz px4-firmware-a3f2114d5427e1e858a9fb35aa418ba015e95636.tar.bz2 px4-firmware-a3f2114d5427e1e858a9fb35aa418ba015e95636.zip |
Removed bogus time scalings
Diffstat (limited to 'apps/multirotor_att_control')
-rw-r--r-- | apps/multirotor_att_control/multirotor_rate_control.c | 22 |
1 files changed, 10 insertions, 12 deletions
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index 7401ef0f6..75f457fb7 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -55,17 +55,17 @@ #include <systemlib/err.h> #include <arch/board/up_hrt.h> -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 40.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 40.0f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */ PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 10.0f); /**< roughly < 500 deg/s limit */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ struct mc_rate_control_params { @@ -181,36 +181,34 @@ 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); - warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n", + warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz", (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); } /* calculate current control outputs */ /* control pitch (forward) output */ - // XXX fix this line so that deltaT is also applied to the D term - float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last); + float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { pitch_control_last = pitch_control; } else { pitch_control = 0.0f; - warnx("rej. NaN ctrl pitch\n"); + warnx("rej. NaN ctrl pitch"); } /* control roll (left/right) output */ - // XXX fix this line so that deltaT is also applied to the D term - float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last); + float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last); /* increase resilience to faulty control inputs */ if (isfinite(roll_control)) { roll_control_last = roll_control; } else { roll_control = 0.0f; - warnx("rej. NaN ctrl roll\n"); + warnx("rej. NaN ctrl roll"); } /* control yaw rate */ - float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)-rates[2]); + float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); actuators->control[0] = roll_control; actuators->control[1] = pitch_control; |