diff options
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.c')
-rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 76 |
1 files changed, 38 insertions, 38 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 003180c18..839d56d29 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -57,50 +57,50 @@ PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); -PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); +//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); +//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); -PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); -PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); +//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); -PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); +//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); +//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); struct mc_att_control_params { float yaw_p; float yaw_i; float yaw_d; - float yaw_awu; - float yaw_lim; + //float yaw_awu; + //float yaw_lim; float att_p; float att_i; float att_d; - float att_awu; - float att_lim; + //float att_awu; + //float att_lim; - float att_xoff; - float att_yoff; + //float att_xoff; + //float att_yoff; }; struct mc_att_control_param_handles { param_t yaw_p; param_t yaw_i; param_t yaw_d; - param_t yaw_awu; - param_t yaw_lim; + //param_t yaw_awu; + //param_t yaw_lim; param_t att_p; param_t att_i; param_t att_d; - param_t att_awu; - param_t att_lim; + //param_t att_awu; + //param_t att_lim; - param_t att_xoff; - param_t att_yoff; + //param_t att_xoff; + //param_t att_yoff; }; /** @@ -122,17 +122,17 @@ static int parameters_init(struct mc_att_control_param_handles *h) h->yaw_p = param_find("MC_YAWPOS_P"); h->yaw_i = param_find("MC_YAWPOS_I"); h->yaw_d = param_find("MC_YAWPOS_D"); - h->yaw_awu = param_find("MC_YAWPOS_AWU"); - h->yaw_lim = param_find("MC_YAWPOS_LIM"); + //h->yaw_awu = param_find("MC_YAWPOS_AWU"); + //h->yaw_lim = param_find("MC_YAWPOS_LIM"); h->att_p = param_find("MC_ATT_P"); h->att_i = param_find("MC_ATT_I"); h->att_d = param_find("MC_ATT_D"); - h->att_awu = param_find("MC_ATT_AWU"); - h->att_lim = param_find("MC_ATT_LIM"); + //h->att_awu = param_find("MC_ATT_AWU"); + //h->att_lim = param_find("MC_ATT_LIM"); - h->att_xoff = param_find("MC_ATT_XOFF"); - h->att_yoff = param_find("MC_ATT_YOFF"); + //h->att_xoff = param_find("MC_ATT_XOFF"); + //h->att_yoff = param_find("MC_ATT_YOFF"); return OK; } @@ -142,17 +142,17 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc param_get(h->yaw_p, &(p->yaw_p)); param_get(h->yaw_i, &(p->yaw_i)); param_get(h->yaw_d, &(p->yaw_d)); - param_get(h->yaw_awu, &(p->yaw_awu)); - param_get(h->yaw_lim, &(p->yaw_lim)); + //param_get(h->yaw_awu, &(p->yaw_awu)); + //param_get(h->yaw_lim, &(p->yaw_lim)); param_get(h->att_p, &(p->att_p)); param_get(h->att_i, &(p->att_i)); param_get(h->att_d, &(p->att_d)); - param_get(h->att_awu, &(p->att_awu)); - param_get(h->att_lim, &(p->att_lim)); + //param_get(h->att_awu, &(p->att_awu)); + //param_get(h->att_lim, &(p->att_lim)); - param_get(h->att_xoff, &(p->att_xoff)); - param_get(h->att_yoff, &(p->att_yoff)); + //param_get(h->att_xoff, &(p->att_xoff)); + //param_get(h->att_yoff, &(p->att_yoff)); return OK; } @@ -186,10 +186,10 @@ 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, p.att_awu, - p.att_lim, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, - p.att_lim, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, + 1000.0f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, + 1000.0f, PID_MODE_DERIVATIV_SET); initialized = true; } @@ -202,18 +202,18 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* apply parameters */ printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim); + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } /* calculate current control outputs */ /* control pitch (forward) output */ - rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff, + rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , att->pitch, att->pitchspeed, deltaT); /* control roll (left/right) output */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff, + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , att->roll, att->rollspeed, deltaT); /* control yaw rate */ |