Mirrors_Framework/PX4-Autopilot
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roll compensation and default paramter values, pitch value has a sign error

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This commit is contained in:
Thomas Gubler
2012-10-28 16:15:51 +01:00
parent 2f4cb6ca84
commit 8fff4e19d6
2 changed files with 16 additions and 11 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+7 -3
View File
@@ -69,6 +69,7 @@ struct fw_att_control_params {
float pitch_lim; float pitch_lim;
float pitchrate_lim; float pitchrate_lim;
float yawrate_lim; float yawrate_lim;
float pitch_roll_compensation_p;
}; };
struct fw_pos_control_params_handle { struct fw_pos_control_params_handle {
@@ -78,6 +79,7 @@ struct fw_pos_control_params_handle {
float pitch_lim; float pitch_lim;
float pitchrate_lim; float pitchrate_lim;
float yawrate_lim; float yawrate_lim;
float pitch_roll_compensation_p;
}; };
@@ -95,6 +97,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h)
h->pitch_lim = param_find("FW_PITCH_LIM"); h->pitch_lim = param_find("FW_PITCH_LIM");
h->pitchrate_lim = param_find("FW_PITCHR_LIM"); h->pitchrate_lim = param_find("FW_PITCHR_LIM");
h->yawrate_lim = param_find("FW_YAWR_LIM"); h->yawrate_lim = param_find("FW_YAWR_LIM");
h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
return OK; return OK;
} }
@@ -106,6 +109,7 @@ static int parameters_update(const struct fw_pos_control_params_handle *h, struc
param_get(h->pitch_p, &(p->pitch_p)); param_get(h->pitch_p, &(p->pitch_p));
param_get(h->pitchrate_lim, &(p->pitchrate_lim)); param_get(h->pitchrate_lim, &(p->pitchrate_lim));
param_get(h->yawrate_lim, &(p->yawrate_lim)); param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
return OK; return OK;
} }
@@ -142,11 +146,11 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
} }
/* Roll (P) */ /* Roll (P) */
rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0); rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0);
/* Pitch (P) */ /* Pitch (P) */
float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0); rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */ /* Yaw (from coordinated turn constraint or lateral force) */
//TODO //TODO
apps/fixedwing_att_control/fixedwing_att_control_main.c
+9 -8
View File
@@ -72,18 +72,19 @@
* *
*/ */
// Roll control parameters // Roll control parameters
PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.3f); PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.0f); PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.0f); PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f); PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters //Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.3f); PARAM_DEFINE_FLOAT(FW_PITCHR_P, -0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.0f); PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.0f); PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f); PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
//Yaw control parameters //XXX TODO this is copy paste, asign correct values //Yaw control parameters //XXX TODO this is copy paste, asign correct values
PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);