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ArduCopter: allow PID logging of throttle. Make get_angle_boost actually use parameter passed in.

This commit is contained in:
rmackay9 2012-09-18 23:19:23 +09:00
parent 93ae29a3e9
commit 361ff0c08f
1 changed files with 21 additions and 2 deletions
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23
ArduCopter/Attitude.pde
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@ -355,6 +355,7 @@ get_rate_yaw(int32_t target_rate)
static int16_t static int16_t
get_throttle_rate(int16_t z_target_speed) get_throttle_rate(int16_t z_target_speed)
{ {
int32_t p,i,d; // used to capture pid values for logging
int16_t z_rate_error, output; int16_t z_rate_error, output;
// calculate rate error // calculate rate error
@ -370,8 +371,26 @@ get_throttle_rate(int16_t z_target_speed)
output = constrain(tmp, -3200, 3200); output = constrain(tmp, -3200, 3200);
// separately calculate p, i, d values for logging
p = g.pid_throttle.get_p(z_rate_error);
i = g.pid_throttle.get_i(z_rate_error, .02);
d = g.pid_throttle.get_d(z_rate_error, .02);
//
// limit the rate // limit the rate
output += constrain(g.pid_throttle.get_pid(z_rate_error, .02), -80, 120); output += constrain(p+i+d, -80, 120);
#if LOGGING_ENABLED == ENABLED
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_THROTTLE_KP ) {
log_counter++;
if( log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
log_counter = 0;
Log_Write_PID(CH6_THROTTLE_KP, z_rate_error, p, i, d, output, tuning_value);
}
}
#endif
return output; return output;
} }
@ -502,7 +521,7 @@ static int16_t get_angle_boost(int16_t value)
{ {
float temp = cos_pitch_x * cos_roll_x; float temp = cos_pitch_x * cos_roll_x;
temp = constrain(temp, .75, 1.0); temp = constrain(temp, .75, 1.0);
return ((float)(g.throttle_cruise + 80) / temp) - (g.throttle_cruise + 80); return ((float)(value + 80) / temp) - (value + 80);
} }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME