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| author | Julian Oes <julian@oes.ch> | 2013-06-16 09:55:28 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-16 09:55:28 +0200 |
| commit | 68fb200f0bc7e995fd604ee9e345f37839d02ced (patch) | |
| tree | d40dac639507e722d8260ca0efe9d18d3cbb142c /src/modules/multirotor_att_control | |
| parent | 263b60c200b80af68fea7a491cb17e9db4f65135 (diff) | |
| download | px4-firmware-68fb200f0bc7e995fd604ee9e345f37839d02ced.tar.gz px4-firmware-68fb200f0bc7e995fd604ee9e345f37839d02ced.tar.bz2 px4-firmware-68fb200f0bc7e995fd604ee9e345f37839d02ced.zip | |
Fixed pid bug, attitude was not controlled
Diffstat (limited to 'src/modules/multirotor_att_control')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index d7e1a3adc..4c8f72b8d 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -155,8 +155,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_init(&h); parameters_update(&h, &p); - pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET); initialized = true; } @@ -167,8 +167,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_update(&h, &p); /* apply parameters */ - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f); + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f); } /* reset integral if on ground */ @@ -188,6 +188,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , att->roll, att->rollspeed, deltaT); + // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); + if (control_yaw_position) { /* control yaw rate */ |