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Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests

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This commit is contained in:
Lorenz Meier
2012-08-19 15:52:59 +02:00
parent 85bc4f683a
commit dae0b922f1
22 changed files with 399 additions and 565 deletions
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apps/systemlib/Makefile
+2 -1
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@@ -43,7 +43,8 @@ CSRCS = err.c \
# XXX this really should be a CONFIG_* test
#
ifeq ($(TARGET),px4fmu)
CSRCS += systemlib.c
CSRCS += systemlib.c \
pid/pid.c
endif
include $(APPDIR)/mk/app.mk
apps/systemlib/pid/pid.c
+3 -3
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@@ -41,7 +41,7 @@
#include "pid.h"
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
uint8_t mode, uint8_t plot_i)
{
pid->kp = kp;
@@ -57,7 +57,7 @@ void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
pid->error_previous = 0;
pid->integral = 0;
}
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
{
pid->kp = kp;
pid->ki = ki;
@@ -84,7 +84,7 @@ void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
* @param dt
* @return
*/
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
/* error = setpoint - actual_position
integral = integral + (error*dt)
apps/systemlib/pid/pid.h
+3 -3
View File
@@ -64,10 +64,10 @@ typedef struct {
uint8_t saturated;
} PID_t;
void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);