diff options
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 3 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.h | 10 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 3 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.h | 10 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 3 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 13 |
6 files changed, 38 insertions, 4 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index ccaed14ce..d7dbbebd4 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -53,6 +53,7 @@ ECL_PitchController::ECL_PitchController() : _k_p(0.0f), _k_i(0.0f), _k_d(0.0f), + _k_ff(0.0f), _integrator_max(0.0f), _max_rate_pos(0.0f), _max_rate_neg(0.0f), @@ -173,7 +174,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = (_bodyrate_setpoint * _k_ff +_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed // warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p); // warnx("roll: _last_output %.4f", (double)_last_output); return math::constrain(_last_output, -1.0f, 1.0f); diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h index ba8ed3e6f..2ca0490fd 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h @@ -73,21 +73,30 @@ public: void set_k_p(float k_p) { _k_p = k_p; } + void set_k_i(float k_i) { _k_i = k_i; } void set_k_d(float k_d) { _k_d = k_d; } + + void set_k_ff(float k_ff) { + _k_ff = k_ff; + } + void set_integrator_max(float max) { _integrator_max = max; } + void set_max_rate_pos(float max_rate_pos) { _max_rate_pos = max_rate_pos; } + void set_max_rate_neg(float max_rate_neg) { _max_rate_neg = max_rate_neg; } + void set_roll_ff(float roll_ff) { _roll_ff = roll_ff; } @@ -111,6 +120,7 @@ private: float _k_p; float _k_i; float _k_d; + float _k_ff; float _integrator_max; float _max_rate_pos; float _max_rate_neg; diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 4b0bfc6c4..bd6c9da71 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -53,6 +53,7 @@ ECL_RollController::ECL_RollController() : _k_p(0.0f), _k_i(0.0f), _k_d(0.0f), + _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), _last_output(0.0f), @@ -141,7 +142,7 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed return math::constrain(_last_output, -1.0f, 1.0f); } diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index dd7d1bf53..efc7b8944 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -71,18 +71,27 @@ public: _tc = time_constant; } } + void set_k_p(float k_p) { _k_p = k_p; } + void set_k_i(float k_i) { _k_i = k_i; } + void set_k_d(float k_d) { _k_d = k_d; } + + void set_k_ff(float k_ff) { + _k_ff = k_ff; + } + void set_integrator_max(float max) { _integrator_max = max; } + void set_max_rate(float max_rate) { _max_rate = max_rate; } @@ -105,6 +114,7 @@ private: float _k_p; float _k_i; float _k_d; + float _k_ff; float _integrator_max; float _max_rate; float _last_output; diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index a4ecc48a2..7c366aaf2 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -51,6 +51,7 @@ ECL_YawController::ECL_YawController() : _k_p(0.0f), _k_i(0.0f), _k_d(0.0f), + _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), _roll_ff(0.0f), @@ -159,7 +160,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed //warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p); diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index b5ae1e6af..f15645fcf 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -69,22 +69,32 @@ public: void set_k_p(float k_p) { _k_p = k_p; - } + } + void set_k_i(float k_i) { _k_i = k_i; } + void set_k_d(float k_d) { _k_d = k_d; } + + void set_k_ff(float k_ff) { + _k_ff = k_ff; + } + void set_integrator_max(float max) { _integrator_max = max; } + void set_max_rate(float max_rate) { _max_rate = max_rate; } + void set_k_roll_ff(float roll_ff) { _roll_ff = roll_ff; } + void set_coordinated_min_speed(float coordinated_min_speed) { _coordinated_min_speed = coordinated_min_speed; } @@ -107,6 +117,7 @@ private: float _k_p; float _k_i; float _k_d; + float _k_ff; float _integrator_max; float _max_rate; float _roll_ff; |