diff options
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 76 | ||||
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 14 |
2 files changed, 53 insertions, 37 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index dc3da0f46..4086a227a 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -148,11 +148,15 @@ private: bool _reset_yaw_sp; /**< reset yaw setpoint flag */ struct { - param_t att_p; + param_t roll_p; + param_t roll_rate_p; + param_t roll_rate_i; + param_t roll_rate_d; + param_t pitch_p; + param_t pitch_rate_p; + param_t pitch_rate_i; + param_t pitch_rate_d; param_t yaw_p; - param_t att_rate_p; - param_t att_rate_i; - param_t att_rate_d; param_t yaw_rate_p; param_t yaw_rate_i; param_t yaw_rate_d; @@ -162,7 +166,7 @@ private: } _params_handles; /**< handles for interesting parameters */ struct { - math::Vector<3> p; /**< P gain for angular error */ + math::Vector<3> att_p; /**< P gain for angular error */ math::Vector<3> rate_p; /**< P gain for angular rate error */ math::Vector<3> rate_i; /**< I gain for angular rate error */ math::Vector<3> rate_d; /**< D gain for angular rate error */ @@ -267,7 +271,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : memset(&_v_control_mode, 0, sizeof(_v_control_mode)); memset(&_armed, 0, sizeof(_armed)); - _params.p.zero(); + _params.att_p.zero(); _params.rate_p.zero(); _params.rate_i.zero(); _params.rate_d.zero(); @@ -282,15 +286,19 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : I.identity(); - _params_handles.att_p = param_find("MC_ATT_P"); - _params_handles.yaw_p = param_find("MC_YAW_P"); - _params_handles.att_rate_p = param_find("MC_ATTRATE_P"); - _params_handles.att_rate_i = param_find("MC_ATTRATE_I"); - _params_handles.att_rate_d = param_find("MC_ATTRATE_D"); - _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); - _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); - _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); - _params_handles.yaw_ff = param_find("MC_YAW_FF"); + _params_handles.roll_p = param_find("MC_ROLL_P"); + _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); + _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); + _params_handles.roll_rate_d = param_find("MC_ROLLRATE_D"); + _params_handles.pitch_p = param_find("MC_PITCH_P"); + _params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P"); + _params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I"); + _params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D"); + _params_handles.yaw_p = param_find("MC_YAW_P"); + _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); + _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); + _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); + _params_handles.yaw_ff = param_find("MC_YAW_FF"); _params_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); @@ -327,27 +335,33 @@ MulticopterAttitudeControl::parameters_update() { float v; - param_get(_params_handles.att_p, &v); - _params.p(0) = v; - _params.p(1) = v; - param_get(_params_handles.yaw_p, &v); - _params.p(2) = v; - - param_get(_params_handles.att_rate_p, &v); + /* roll */ + param_get(_params_handles.roll_p, &v); + _params.att_p(0) = v; + param_get(_params_handles.roll_rate_p, &v); _params.rate_p(0) = v; + param_get(_params_handles.roll_rate_i, &v); + _params.rate_i(0) = v; + param_get(_params_handles.roll_rate_d, &v); + _params.rate_d(0) = v; + + /* pitch */ + param_get(_params_handles.pitch_p, &v); + _params.att_p(1) = v; + param_get(_params_handles.pitch_rate_p, &v); _params.rate_p(1) = v; + param_get(_params_handles.pitch_rate_i, &v); + _params.rate_i(1) = v; + param_get(_params_handles.pitch_rate_d, &v); + _params.rate_d(1) = v; + + /* yaw */ + param_get(_params_handles.yaw_p, &v); + _params.att_p(2) = v; param_get(_params_handles.yaw_rate_p, &v); _params.rate_p(2) = v; - - param_get(_params_handles.att_rate_i, &v); - _params.rate_i(0) = v; - _params.rate_i(1) = v; param_get(_params_handles.yaw_rate_i, &v); _params.rate_i(2) = v; - - param_get(_params_handles.att_rate_d, &v); - _params.rate_d(0) = v; - _params.rate_d(1) = v; param_get(_params_handles.yaw_rate_d, &v); _params.rate_d(2) = v; @@ -609,7 +623,7 @@ MulticopterAttitudeControl::control_attitude(float dt) } /* calculate angular rates setpoint */ - _rates_sp = _params.p.emult(e_R); + _rates_sp = _params.att_p.emult(e_R); /* feed forward yaw setpoint rate */ _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 0a89c3f4e..27a45b6bb 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -41,13 +41,15 @@ #include <systemlib/param/param.h> -PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f); -PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f); +PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f); PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f); -PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); |