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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-19 14:14:44 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 17:47:22 +0200 |
| commit | 8f74aab468d565101eaa1e0f104b0297343fe2ed (patch) | |
| tree | c0b376656cd1e147c0572db3def03429f0b10703 /src/modules/fw_att_control | |
| parent | b9ef3636f5210588d0aa219a163d3ef5edd6a204 (diff) | |
| download | px4-firmware-8f74aab468d565101eaa1e0f104b0297343fe2ed.tar.gz px4-firmware-8f74aab468d565101eaa1e0f104b0297343fe2ed.tar.bz2 px4-firmware-8f74aab468d565101eaa1e0f104b0297343fe2ed.zip | |
fw att control: bugfixes for integrator
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 18 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 1 |
2 files changed, 13 insertions, 6 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 7f3e7893e..91981b08a 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -155,6 +155,7 @@ private: float y_d; float y_roll_feedforward; float y_integrator_max; + float y_coordinated; float airspeed_min; float airspeed_trim; @@ -181,6 +182,7 @@ private: param_t y_d; param_t y_roll_feedforward; param_t y_integrator_max; + param_t y_coordinated; param_t airspeed_min; param_t airspeed_trim; @@ -289,25 +291,27 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.p_i = param_find("FW_P_I"); _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_P_integrator_max"); + _parameter_handles.p_integrator_max = param_find("FW_P_IMAX"); _parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF"); _parameter_handles.r_p = param_find("FW_R_P"); _parameter_handles.r_d = param_find("FW_R_D"); _parameter_handles.r_i = param_find("FW_R_I"); - _parameter_handles.r_integrator_max = param_find("FW_R_integrator_max"); + _parameter_handles.r_integrator_max = param_find("FW_R_IMAX"); _parameter_handles.r_rmax = param_find("FW_R_RMAX"); _parameter_handles.y_p = param_find("FW_Y_P"); _parameter_handles.y_i = param_find("FW_Y_I"); _parameter_handles.y_d = param_find("FW_Y_D"); _parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF"); - _parameter_handles.y_integrator_max = param_find("FW_Y_integrator_max"); + _parameter_handles.y_integrator_max = param_find("FW_Y_IMAX"); _parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN"); _parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM"); _parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX"); + _parameter_handles.y_coordinated = param_find("FW_Y_COORD"); + /* fetch initial parameter values */ parameters_update(); } @@ -361,6 +365,7 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.y_d, &(_parameters.y_d)); 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, &(_parameters.y_coordinated)); param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min)); param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim)); @@ -390,6 +395,7 @@ FixedwingAttitudeControl::parameters_update() _yaw_ctrl.set_k_d(math::radians(_parameters.y_d)); _yaw_ctrl.set_k_roll_ff(math::radians(_parameters.y_roll_feedforward)); _yaw_ctrl.set_integrator_max(math::radians(_parameters.y_integrator_max)); + _yaw_ctrl.set_coordinated(_parameters.y_coordinated); return OK; } @@ -709,9 +715,9 @@ FixedwingAttitudeControl::task_main() * only once available */ vehicle_rates_setpoint_s rates_sp; - rates_sp.roll = _roll_ctrl.get_desired_bodyrate(); - rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate(); - rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate(); + rates_sp.roll = _roll_ctrl.get_desired_rate(); + rates_sp.pitch = _pitch_ctrl.get_desired_rate(); + rates_sp.yaw = _yaw_ctrl.get_desired_rate(); rates_sp.timestamp = hrt_absolute_time(); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 717608159..efe40b1ef 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -136,3 +136,4 @@ PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f); PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f); PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f); +PARAM_DEFINE_FLOAT(FW_Y_COORD, 1.0f); |