diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_attitude_control.c')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 49 |
1 files changed, 6 insertions, 43 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 76dbb36d3..d7e1a3adc 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -57,50 +57,29 @@ 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_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_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 att_p; float att_i; float att_d; - //float att_awu; - //float att_lim; - - //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 att_p; param_t att_i; param_t att_d; - //param_t att_awu; - //param_t att_lim; - - //param_t att_xoff; - //param_t att_yoff; }; /** @@ -122,17 +101,10 @@ 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->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_xoff = param_find("MC_ATT_XOFF"); - //h->att_yoff = param_find("MC_ATT_YOFF"); return OK; } @@ -142,17 +114,10 @@ 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->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_xoff, &(p->att_xoff)); - //param_get(h->att_yoff, &(p->att_yoff)); return OK; } @@ -170,8 +135,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s last_input = att_sp->timestamp; } - static int sensor_delay; - sensor_delay = hrt_absolute_time() - att->timestamp; +// static int sensor_delay; +// sensor_delay = hrt_absolute_time() - att->timestamp; static int motor_skip_counter = 0; @@ -190,10 +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, 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); + 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); initialized = true; } @@ -204,8 +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); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + 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); } /* reset integral if on ground */ |