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

Conflicts:
	src/modules/multirotor_att_control/multirotor_attitude_control.c
This commit is contained in:
Julian Oes 2013-06-17 21:03:55 +02:00
parent e8dbc1fada
commit c874f68108
2 changed files with 5 additions and 7 deletions
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2
src/modules/multirotor_att_control/multirotor_attitude_control.c
View File

@ -187,7 +187,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
/* control roll (left/right) output */ /* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); att->roll, att->rollspeed, deltaT, NULL, NULL, NULL);
// 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); // 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) { if (control_yaw_position) {

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

@ -189,10 +189,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p); parameters_update(&h, &p);
initialized = true; initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
1000.0f, 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);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,
1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
} }
@ -201,8 +199,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) { if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */ /* update parameters from storage */
parameters_update(&h, &p); 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(&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, 1000.0f, 1000.0f, 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 */ /* control pitch (forward) output */