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| author | Julian Oes <julian@oes.ch> | 2013-06-17 21:03:55 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-17 21:03:55 +0200 |
| commit | 2daff9ebbf066c0b14b85364ee056c3d8c7a7734 (patch) | |
| tree | aa56ff277abaf6dbcfcef67cad068c9a613e41d0 /src | |
| parent | 52f8565f0b5326bedb8b8a970c987e6bf10d71f6 (diff) | |
| download | px4-firmware-2daff9ebbf066c0b14b85364ee056c3d8c7a7734.tar.gz px4-firmware-2daff9ebbf066c0b14b85364ee056c3d8c7a7734.tar.bz2 px4-firmware-2daff9ebbf066c0b14b85364ee056c3d8c7a7734.zip | |
Checkpoint: Quad is flying after PID lib changes
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 6 | ||||
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 10 |
2 files changed, 7 insertions, 9 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 6da808da4..88cc65148 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -183,12 +183,12 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control pitch (forward) output */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , - att->pitch, att->pitchspeed, deltaT, &control_debug->roll_p, &control_debug->roll_i, &control_debug->roll_d); + att->pitch, att->pitchspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d); /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , - att->roll, att->rollspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d); - + att->roll, att->rollspeed, deltaT, &control_debug->roll_p, &control_debug->roll_i, &control_debug->roll_d); + // 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) { diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 8cd97d7c1..a39d6f13d 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -186,10 +186,8 @@ 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, 1000.0f, - 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, - 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); } @@ -197,8 +195,8 @@ 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, 1000.0f, 1000.0f, 0.2f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f); + 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); } /* control pitch (forward) output */ |