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the second accel test is just for fun.

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Filtered output for Nav_throttle
This commit is contained in:
Jason Short 2011-12-23 14:22:11 -08:00
parent 6c5f41fe58
commit dc2103d67f
1 changed files with 55 additions and 7 deletions
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62
ArduCopter/Attitude.pde
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@ -119,7 +119,10 @@ get_stabilize_yaw(int32_t target_angle)
static int16_t static int16_t
get_nav_throttle(int32_t z_error) get_nav_throttle(int32_t z_error)
{ {
static int16_t old_output = 0;
int16_t rate_error; int16_t rate_error;
int16_t output;
// XXX HACK, need a better way not to ramp this i term in large altitude changes. // XXX HACK, need a better way not to ramp this i term in large altitude changes.
float dt = (abs(z_error) < 400) ? .1 : 0.0; float dt = (abs(z_error) < 400) ? .1 : 0.0;
@ -137,10 +140,16 @@ get_nav_throttle(int32_t z_error)
rate_error = rate_error - climb_rate; rate_error = rate_error - climb_rate;
// limit the rate // limit the rate
rate_error = constrain((int)g.pi_throttle.get_pi(rate_error, .1), -160, 180); output = constrain((int)g.pi_throttle.get_pi(rate_error, .1), -160, 180);
// light filter of output
output = (old_output * 3 + output) / 4;
// save our output
old_output = output;
// output control: // output control:
return rate_error + iterm; return output + iterm;
} }
static int static int
@ -239,10 +248,46 @@ static int get_angle_boost(int value)
return (int)(temp * value); return (int)(temp * value);
} }
#define NUM_G_SAMPLES 40
#if ACCEL_ALT_HOLD == 2
// z -14.4306 = going up
// z -6.4306 = going down
static int get_z_damping()
{
int output;
Z_integrator += get_world_Z_accel() - Z_offset;
output = Z_integrator * 3;
Z_integrator = Z_integrator * .8;
output = constrain(output, -100, 100);
return output;
}
float get_world_Z_accel()
{
accels_rot = dcm.get_dcm_matrix() * imu.get_accel();
//Serial.printf("z %1.4f\n", accels_rot.z);
return accels_rot.z;
}
static void init_z_damper()
{
Z_offset = 0;
for (int i = 0; i < NUM_G_SAMPLES; i++){
delay(5);
read_AHRS();
Z_offset += get_world_Z_accel();
}
Z_offset /= (float)NUM_G_SAMPLES;
}
// Accelerometer Z dampening by Aurelio R. Ramos // Accelerometer Z dampening by Aurelio R. Ramos
// --------------------------------------------- // ---------------------------------------------
#elif ACCEL_ALT_HOLD == 1
#if ACCEL_ALT_HOLD == 1
// contains G and any other DC offset // contains G and any other DC offset
static float estimatedAccelOffset = 0; static float estimatedAccelOffset = 0;
@ -263,22 +308,22 @@ static float maxVeloCorrection = 5 * dt_50hz;
static float maxSensedVelo = 1; static float maxSensedVelo = 1;
static float synPosFilter = 0.5; static float synPosFilter = 0.5;
#define NUM_G_SAMPLES 200
// Z damping term. // Z damping term.
static float fullDampP = 0.100; static float fullDampP = 0.100;
float get_world_Z_accel() float get_world_Z_accel()
{ {
Vector3f accels_rot = dcm.get_dcm_matrix() * imu.get_accel(); accels_rot = dcm.get_dcm_matrix() * imu.get_accel();
return accels_rot.z; return accels_rot.z;
} }
static void init_z_damper() static void init_z_damper()
{ {
estimatedAccelOffset = 0; estimatedAccelOffset = 0;
for (int i = 0; i < NUM_G_SAMPLES; i++){ for (int i = 0; i < NUM_G_SAMPLES; i++){
delay(5);
read_AHRS();
estimatedAccelOffset += get_world_Z_accel(); estimatedAccelOffset += get_world_Z_accel();
} }
estimatedAccelOffset /= (float)NUM_G_SAMPLES; estimatedAccelOffset /= (float)NUM_G_SAMPLES;
@ -333,4 +378,7 @@ static int get_z_damping()
return 0; return 0;
} }
static void init_z_damper()
{
}
#endif #endif