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Added altitude control function based on sonar (not activated yet)

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@835 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-11-13 17:51:43 +00:00
parent 069422c086
commit 04b893ea43
1 changed files with 20 additions and 0 deletions
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20
ArducopterNG/Navigation.pde
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@ -125,5 +125,25 @@ int Altitude_control_baro(int altitude, int target_altitude)
return command_altitude;
}
/* Altitude control... (based on sonar) */
/* CONTROL PARAMETERS FOR SONAR ALTITUDE CONTROL (TEMPORATLY HERE) */
#define KP_SONAR_ALTITUDE 0.8
#define KD_SONAR_ALTITUDE 0.7
#define KI_SONAR_ALTITUDE 0.3
int Altitude_control_Sonar(int Sonar_altitude, int target_sonar_altitude)
{
#define ALTITUDE_CONTROL_SONAR_OUTPUT_MIN 60
#define ALTITUDE_CONTROL_SONAR_OUTPUT_MAX 80
int command_altitude;
err_altitude_old = err_altitude;
err_altitude = target_sonar_altitude - Sonar_altitude;
altitude_D = (float)(err_altitude-err_altitude_old)/0.05;
altitude_I += (float)err_altitude*0.05;
altitude_I = constrain(altitude_I,-1000,1000);
command_altitude = KP_SONAR_ALTITUDE*err_altitude + KD_SONAR_ALTITUDE*altitude_D + KI_SONAR_ALTITUDE*altitude_I;
return (Initial_Throttle + constrain(command_altitude,-ALTITUDE_CONTROL_SONAR_OUTPUT_MIN,ALTITUDE_CONTROL_SONAR_OUTPUT_MAX));
}