diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 11:30:10 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 11:38:19 +0400 |
| commit | 3bfc4ed5174c60de7eb98efbbf3c7729fcaa231e (patch) | |
| tree | a4a8137df379fd33cd3decbda630e14628052972 /src/modules/multirotor_att_control | |
| parent | c1049483a82857bebb012607578add9492446321 (diff) | |
| download | px4-firmware-3bfc4ed5174c60de7eb98efbbf3c7729fcaa231e.tar.gz px4-firmware-3bfc4ed5174c60de7eb98efbbf3c7729fcaa231e.tar.bz2 px4-firmware-3bfc4ed5174c60de7eb98efbbf3c7729fcaa231e.zip | |
Att rate PID fix
Diffstat (limited to 'src/modules/multirotor_att_control')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index a0266e1b3..8f26a2014 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -179,6 +179,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static bool initialized = false; + float diff_filter_factor = 1.0f; /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { @@ -186,8 +187,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); initialized = true; - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP); } @@ -195,8 +196,8 @@ 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); - pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); + pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor); + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor); } /* reset integral if on ground */ |