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ACM: TradHeli

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Bringing in Low Pass Filter for Rate Controllers
This commit is contained in:
Robert Lefebvre 2012-11-26 21:50:39 -05:00
parent 5b4321d367
commit 07d7d90882
4 changed files with 10 additions and 11 deletions
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2
ArduCopter/APM_Config.h
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@ -17,7 +17,7 @@
//#define DMP_ENABLED ENABLED //#define DMP_ENABLED ENABLED
//#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes //#define SECONDARY_DMP_ENABLED ENABLED // allows running DMP in parallel with DCM for testing purposes
#define FRAME_CONFIG HELI_FRAME //#define FRAME_CONFIG QUAD_FRAME
/* /*
* options: * options:
* QUAD_FRAME * QUAD_FRAME

7
ArduCopter/ArduCopter.pde
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@ -103,6 +103,7 @@
#include <ModeFilter.h> // Mode Filter from Filter library #include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library #include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_LeadFilter.h> // GPS Lead filter #include <AP_LeadFilter.h> // GPS Lead filter
#include <LowPassFilter.h> // Low Pass Filter library
#include <AP_Relay.h> // APM relay #include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera #include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount #include <AP_Mount.h> // Camera/Antenna mount
@ -613,9 +614,9 @@ int32_t pitch_axis;
AP_LeadFilter xLeadFilter; // Long GPS lag filter AP_LeadFilter xLeadFilter; // Long GPS lag filter
AP_LeadFilter yLeadFilter; // Lat GPS lag filter AP_LeadFilter yLeadFilter; // Lat GPS lag filter
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// LowPassFilterFloat rate_roll_filter; // Rate Roll filter LowPassFilterFloat rate_roll_filter; // Rate Roll filter
// LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter 598 LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter 598 LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
// LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter 599 LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter 599 LowPassFilterFloat rate_yaw_filter; // Rate Yaw filter
#endif // HELI_FRAME #endif // HELI_FRAME
// Barometer filter // Barometer filter

10
ArduCopter/Attitude.pde
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@ -259,9 +259,7 @@ update_rate_contoller_targets()
} }
} }
///////////////////////////////////////////////////////////////////////////////////
// FILTERS DOES NOT BUILD -- NEEDS UPDATED LOWPASS FILTER LIBRARY
/*
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// init_rate_controllers - set-up filters for rate controller inputs // init_rate_controllers - set-up filters for rate controller inputs
void init_rate_controllers() void init_rate_controllers()
@ -274,7 +272,7 @@ void init_rate_controllers()
// other option for initialisation is rate_roll_filter.set_cutoff_frequency(<time_step>,<cutoff_freq>); // other option for initialisation is rate_roll_filter.set_cutoff_frequency(<time_step>,<cutoff_freq>);
} }
#endif // HELI_FRAME #endif // HELI_FRAME
*/
// run roll, pitch and yaw rate controllers and send output to motors // run roll, pitch and yaw rate controllers and send output to motors
// targets for these controllers comes from stabilize controllers // targets for these controllers comes from stabilize controllers
@ -308,7 +306,7 @@ get_heli_rate_roll(int32_t target_rate)
current_rate = (omega.x * DEGX100); current_rate = (omega.x * DEGX100);
// filter input // filter input
// current_rate = rate_roll_filter.apply(current_rate); current_rate = rate_roll_filter.apply(current_rate);
// call pid controller // call pid controller
rate_error = target_rate - (omega.x * DEGX100); rate_error = target_rate - (omega.x * DEGX100);
@ -361,7 +359,7 @@ get_heli_rate_pitch(int32_t target_rate)
current_rate = (omega.y * DEGX100); current_rate = (omega.y * DEGX100);
// filter input // filter input
// current_rate = rate_pitch_filter.apply(current_rate); current_rate = rate_pitch_filter.apply(current_rate);
// call pid controller // call pid controller
rate_error = target_rate - (omega.y * DEGX100); rate_error = target_rate - (omega.y * DEGX100);

2
ArduCopter/system.pde
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@ -291,7 +291,7 @@ static void init_ardupilot()
#if FRAME_CONIG == HELI_FRAME #if FRAME_CONIG == HELI_FRAME
// initialise controller filters // initialise controller filters
// init_rate_controllers(); init_rate_controllers();
#endif // HELI_FRAME #endif // HELI_FRAME
// initialize commands // initialize commands