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Removed bogus time scalings

This commit is contained in:
Lorenz Meier 2012-10-22 11:25:26 +02:00
parent df8148033a
commit a3f2114d54
1 changed files with 10 additions and 12 deletions
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22
apps/multirotor_att_control/multirotor_rate_control.c
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@ -55,17 +55,17 @@
#include <systemlib/err.h>
#include <arch/board/up_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 40.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 40.0f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 10.0f); /**< roughly < 500 deg/s limit */
PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
struct mc_rate_control_params {
@ -181,36 +181,34 @@ 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);
warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n",
warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
}
/* calculate current control outputs */
/* control pitch (forward) output */
// XXX fix this line so that deltaT is also applied to the D term
float pitch_control = p.attrate_p * deltaT * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
warnx("rej. NaN ctrl pitch\n");
warnx("rej. NaN ctrl pitch");
}
/* control roll (left/right) output */
// XXX fix this line so that deltaT is also applied to the D term
float roll_control = p.attrate_p * deltaT * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
warnx("rej. NaN ctrl roll\n");
warnx("rej. NaN ctrl roll");
}
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)-rates[2]);
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;