Mirrors_Framework/PX4-Autopilot
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brought controller back to last tuned state

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This commit is contained in:
Lorenz Meier
2012-10-18 17:34:06 +02:00
parent c70c626915
commit 5ec5754f26
1 changed files with 9 additions and 6 deletions
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apps/multirotor_att_control/multirotor_rate_control.c
+9 -6
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@@ -52,6 +52,7 @@
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <arch/board/up_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
@@ -180,34 +181,36 @@ 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);
printf("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\n",
(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * deltaT *((rate_sp->pitch)*p.attrate_lim-rates[1])-p.attrate_d*(pitch_control_last);
// 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);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
printf("rej. NaN ctrl pitch\n");
warnx("rej. NaN ctrl pitch\n");
}
/* control roll (left/right) output */
float roll_control = p.attrate_p * deltaT * ((rate_sp->roll)*p.attrate_lim-rates[0])-p.attrate_d*(roll_control_last);
// 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);
/* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
printf("rej. NaN ctrl roll\n");
warnx("rej. NaN ctrl roll\n");
}
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.yawrate_lim-rates[2]);
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)-rates[2]);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;