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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-13 11:05:22 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-13 11:05:22 +0100 |
commit | 38172497c116548320c74696d795f9198e0bf4e4 (patch) | |
tree | a3b446c3c503c18d4d4a25be71a90553bd8b737d /src/modules/fw_att_control/fw_att_control_main.cpp | |
parent | 8e92d47de1d29ca3461911483361809697bc236a (diff) | |
download | px4-firmware-38172497c116548320c74696d795f9198e0bf4e4.tar.gz px4-firmware-38172497c116548320c74696d795f9198e0bf4e4.tar.bz2 px4-firmware-38172497c116548320c74696d795f9198e0bf4e4.zip |
reintroduce feedforward
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index a5f3f1d91..53f89c7c4 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -141,6 +141,7 @@ private: float p_p; float p_d; float p_i; + float p_ff; float p_rmax_pos; float p_rmax_neg; float p_integrator_max; @@ -148,11 +149,13 @@ private: float r_p; float r_d; float r_i; + float r_ff; float r_integrator_max; float r_rmax; float y_p; float y_i; float y_d; + float y_ff; float y_roll_feedforward; float y_integrator_max; float y_coordinated_min_speed; @@ -169,6 +172,7 @@ private: param_t p_p; param_t p_d; param_t p_i; + param_t p_ff; param_t p_rmax_pos; param_t p_rmax_neg; param_t p_integrator_max; @@ -176,11 +180,13 @@ private: param_t r_p; param_t r_d; param_t r_i; + param_t r_ff; param_t r_integrator_max; param_t r_rmax; param_t y_p; param_t y_i; param_t y_d; + param_t y_ff; param_t y_roll_feedforward; param_t y_integrator_max; param_t y_coordinated_min_speed; @@ -302,6 +308,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.p_p = param_find("FW_PR_P"); _parameter_handles.p_d = param_find("FW_PR_D"); _parameter_handles.p_i = param_find("FW_PR_I"); + _parameter_handles.p_ff = param_find("FW_PR_FF"); _parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS"); _parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG"); _parameter_handles.p_integrator_max = param_find("FW_PR_IMAX"); @@ -310,12 +317,14 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.r_p = param_find("FW_RR_P"); _parameter_handles.r_d = param_find("FW_RR_D"); _parameter_handles.r_i = param_find("FW_RR_I"); + _parameter_handles.r_ff = param_find("FW_RR_FF"); _parameter_handles.r_integrator_max = param_find("FW_RR_IMAX"); _parameter_handles.r_rmax = param_find("FW_R_RMAX"); _parameter_handles.y_p = param_find("FW_YR_P"); _parameter_handles.y_i = param_find("FW_YR_I"); _parameter_handles.y_d = param_find("FW_YR_D"); + _parameter_handles.y_ff = param_find("FW_YR_FF"); _parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF"); _parameter_handles.y_integrator_max = param_find("FW_YR_IMAX"); _parameter_handles.y_rmax = param_find("FW_Y_RMAX"); @@ -363,6 +372,7 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.p_p, &(_parameters.p_p)); param_get(_parameter_handles.p_d, &(_parameters.p_d)); param_get(_parameter_handles.p_i, &(_parameters.p_i)); + param_get(_parameter_handles.p_ff, &(_parameters.p_ff)); param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos)); param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg)); param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max)); @@ -371,12 +381,15 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.r_p, &(_parameters.r_p)); param_get(_parameter_handles.r_d, &(_parameters.r_d)); param_get(_parameter_handles.r_i, &(_parameters.r_i)); + param_get(_parameter_handles.r_ff, &(_parameters.r_ff)); + param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max)); param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax)); param_get(_parameter_handles.y_p, &(_parameters.y_p)); param_get(_parameter_handles.y_i, &(_parameters.y_i)); param_get(_parameter_handles.y_d, &(_parameters.y_d)); + param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward)); param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max)); param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed)); @@ -391,6 +404,7 @@ FixedwingAttitudeControl::parameters_update() _pitch_ctrl.set_k_p(_parameters.p_p); _pitch_ctrl.set_k_i(_parameters.p_i); _pitch_ctrl.set_k_d(_parameters.p_d); + _pitch_ctrl.set_k_ff(_parameters.p_ff); _pitch_ctrl.set_integrator_max(_parameters.p_integrator_max); _pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos)); _pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg)); @@ -401,6 +415,7 @@ FixedwingAttitudeControl::parameters_update() _roll_ctrl.set_k_p(_parameters.r_p); _roll_ctrl.set_k_i(_parameters.r_i); _roll_ctrl.set_k_d(_parameters.r_d); + _roll_ctrl.set_k_ff(_parameters.r_ff); _roll_ctrl.set_integrator_max(_parameters.r_integrator_max); _roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax)); @@ -408,6 +423,7 @@ FixedwingAttitudeControl::parameters_update() _yaw_ctrl.set_k_p(_parameters.y_p); _yaw_ctrl.set_k_i(_parameters.y_i); _yaw_ctrl.set_k_d(_parameters.y_d); + _yaw_ctrl.set_k_ff(_parameters.y_ff); _yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward); _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max); _yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed); |