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px4-firmware
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Checkpoint: Quad is flying after PID lib changes

This commit is contained in:
Julian Oes 2013-06-17 21:03:55 +02:00
parent 52f8565f0b
commit 2daff9ebbf
2 changed files with 7 additions and 9 deletions
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6
src/modules/multirotor_att_control/multirotor_attitude_control.c
View File

@ -183,12 +183,12 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
/* control pitch (forward) output */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
att->pitch, att->pitchspeed, deltaT, &control_debug->roll_p, &control_debug->roll_i, &control_debug->roll_d);
att->pitch, att->pitchspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d);
/* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d);
att->roll, att->rollspeed, deltaT, &control_debug->roll_p, &control_debug->roll_i, &control_debug->roll_d);
// printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT);
if (control_yaw_position) {

10
src/modules/multirotor_att_control/multirotor_rate_control.c
View File

@ -186,10 +186,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,
1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,
1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
}
@ -197,8 +195,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f);
}
/* control pitch (forward) output */