dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

multirotor_pos_control: PID ontroller derivative mode fixed

This commit is contained in:
Anton Babushkin 2013-07-15 09:11:52 +04:00
parent 8778230050
commit b174a60515
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/multirotor_pos_control/multirotor_pos_control.c
View File

@ -234,11 +234,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
parameters_update(&params_h, &params);
for (int i = 0; i < 2; i++) {
pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.slope_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
}
pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f);
thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
int paramcheck_counter = 0;
@ -401,7 +401,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
sp_move_rate[1] = sinf(xy_sp_ctl_dir) * xy_sp_ctl_speed;
local_pos_sp.x += sp_move_rate[0] * dt;
local_pos_sp.y += sp_move_rate[1] * dt;
/* limit maximum setpoint from position offset and preserve direction */
/* limit maximum setpoint from position offset and preserve direction
* fail safe, should not happen in normal operation */
float pos_vec_x = local_pos_sp.x - local_pos.x;
float pos_vec_y = local_pos_sp.y - local_pos.y;
float pos_vec_norm = norm(pos_vec_x, pos_vec_y) / xy_sp_offs_max;