diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e58d357d5..ee8c37580 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -58,6 +58,9 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> #include <drivers/drv_hrt.h> +#include <uORB/uORB.h> + + PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); @@ -152,7 +155,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) + const float rates[], struct actuator_controls_s *actuators, + const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -172,8 +176,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static struct mc_rate_control_params p; static struct mc_rate_control_param_handles h; + float pitch_control_last = 0.0f; + float roll_control_last = 0.0f; + static bool initialized = false; + float diff_filter_factor = 1.0f; + /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { parameters_init(&h); @@ -201,11 +210,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], 0.0f, deltaT); + rates[1], 0.0f, deltaT, + &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], 0.0f, deltaT); + rates[0], 0.0f, deltaT, + &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); /* control yaw rate */ //XXX use library here float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); |