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AC_AttitudeControl: use set_desired_rate() on PID controllers 

this sets them up for logging of PIDs
This commit is contained in:
Andrew Tridgell 2015-05-24 15:52:44 +10:00
parent 3ec8857fbc
commit 521dae1c65
3 changed files with 7 additions and 0 deletions
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3
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
View File

@ -576,6 +576,7 @@ float AC_AttitudeControl::rate_bf_to_motor_roll(float rate_target_cds)
// calculate error and call pid controller // calculate error and call pid controller
rate_error = rate_target_cds - current_rate; rate_error = rate_target_cds - current_rate;
_pid_rate_roll.set_input_filter_d(rate_error); _pid_rate_roll.set_input_filter_d(rate_error);
_pid_rate_roll.set_desired_rate(rate_target_cds);
// get p value // get p value
p = _pid_rate_roll.get_p(); p = _pid_rate_roll.get_p();
@ -609,6 +610,7 @@ float AC_AttitudeControl::rate_bf_to_motor_pitch(float rate_target_cds)
// calculate error and call pid controller // calculate error and call pid controller
rate_error = rate_target_cds - current_rate; rate_error = rate_target_cds - current_rate;
_pid_rate_pitch.set_input_filter_d(rate_error); _pid_rate_pitch.set_input_filter_d(rate_error);
_pid_rate_pitch.set_desired_rate(rate_target_cds);
// get p value // get p value
p = _pid_rate_pitch.get_p(); p = _pid_rate_pitch.get_p();
@ -642,6 +644,7 @@ float AC_AttitudeControl::rate_bf_to_motor_yaw(float rate_target_cds)
// calculate error and call pid controller // calculate error and call pid controller
rate_error = rate_target_cds - current_rate; rate_error = rate_target_cds - current_rate;
_pid_rate_yaw.set_input_filter_all(rate_error); _pid_rate_yaw.set_input_filter_all(rate_error);
_pid_rate_yaw.set_desired_rate(rate_target_cds);
// get p value // get p value
p = _pid_rate_yaw.get_p(); p = _pid_rate_yaw.get_p();

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -112,7 +112,9 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
// input to PID controller // input to PID controller
_pid_rate_roll.set_input_filter_all(rate_roll_error); _pid_rate_roll.set_input_filter_all(rate_roll_error);
_pid_rate_roll.set_desired_rate(rate_roll_target_cds);
_pid_rate_pitch.set_input_filter_all(rate_pitch_error); _pid_rate_pitch.set_input_filter_all(rate_pitch_error);
_pid_rate_pitch.set_desired_rate(rate_pitch_target_cds);
// call p and d controllers // call p and d controllers
roll_pd = _pid_rate_roll.get_p() + _pid_rate_roll.get_d(); roll_pd = _pid_rate_roll.get_p() + _pid_rate_roll.get_d();
@ -276,6 +278,7 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds)
// send input to PID controller // send input to PID controller
_pid_rate_yaw.set_input_filter_all(rate_error); _pid_rate_yaw.set_input_filter_all(rate_error);
_pid_rate_yaw.set_desired_rate(rate_target_cds);
// get p and d // get p and d
pd = _pid_rate_yaw.get_p() + _pid_rate_yaw.get_d(); pd = _pid_rate_yaw.get_p() + _pid_rate_yaw.get_d();

1
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -409,6 +409,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
// set input to PID // set input to PID
_pid_accel_z.set_input_filter_d(_accel_error.z); _pid_accel_z.set_input_filter_d(_accel_error.z);
_pid_accel_z.set_desired_rate(accel_target_z);
// separately calculate p, i, d values for logging // separately calculate p, i, d values for logging
p = _pid_accel_z.get_p(); p = _pid_accel_z.get_p();