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fix on fb, still working of ff

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This commit is contained in:
Paul Cox
2010-08-05 15:39:21 +00:00
parent 2429d2bd78
commit 5fbe40f2a7
3 changed files with 2 additions and 7 deletions
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conf/settings/settings_beth.xml
+1 -1
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@@ -6,7 +6,7 @@
<dl_settings NAME="Controller"> <dl_settings NAME="Controller">
<dl_setting var="controller.kp" min="0" step="0.005" max="0.1" module="beth/overo_controller"/> <dl_setting var="controller.kp" min="0" step="0.005" max="0.1" module="beth/overo_controller"/>
<dl_setting var="controller.kd" min="0" step="0.002" max="0.02" module="beth/overo_controller"/> <dl_setting var="controller.kd" min="0" step="0.002" max="0.02" module="beth/overo_controller"/>
<dl_setting var="controller.tilt_sp" min="-400" step="4" max="400" module="beth/overo_controller"/> <dl_setting var="controller.tilt_sp" min="-0.5" step="0.05" max="0.5" module="beth/overo_controller"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
sw/airborne/beth/overo_controller.c
+1 -3
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@@ -27,8 +27,6 @@ void control_init(void) {
controller.cmd_fb1 = 0.; controller.cmd_fb1 = 0.;
controller.cmd_fb2 = 0.; controller.cmd_fb2 = 0.;
controller.cmd = 0.; controller.cmd = 0.;
//printf("omega_ref: %f omega_cl: %f",controller.omega_ref,controller.omega_cl);
//omega_ref: 3.490659 omega_cl: 8.726646
} }
@@ -63,7 +61,7 @@ void control_run(void) {
controller.cmd_fb1 = controller.one_over_J*(2*controller.xi_cl*controller.omega_cl*err_tilt_dot); controller.cmd_fb1 = controller.one_over_J*(2*controller.xi_cl*controller.omega_cl*err_tilt_dot);
controller.cmd_fb2 = controller.one_over_J*(controller.omega_cl*controller.omega_cl*err_tilt); controller.cmd_fb2 = controller.one_over_J*(controller.omega_cl*controller.omega_cl*err_tilt);
controller.cmd = controller.cmd_ff + controller.cmd_fb1+ controller.cmd_fb1; controller.cmd = controller.cmd_ff + controller.cmd_fb1+ controller.cmd_fb2;
if (!(foo%100)) if (!(foo%100))
//printf("ff:%f fb:%f %f (%f)\n",controller.cmd_ff, controller.cmd_fb1, controller.cmd_fb2,estimator.tilt_dot); //printf("ff:%f fb:%f %f (%f)\n",controller.cmd_ff, controller.cmd_fb1, controller.cmd_fb2,estimator.tilt_dot);
printf("%f %f %f\n",controller.tilt_ref,controller.tilt_dot_ref,controller.tilt_ddot_ref); printf("%f %f %f\n",controller.tilt_ref,controller.tilt_dot_ref,controller.tilt_ddot_ref);
sw/airborne/beth/overo_gcs_com.c
-3
View File
@@ -8,8 +8,6 @@
#include "udp_transport2.h" #include "udp_transport2.h"
#include "dl_protocol.h" #include "dl_protocol.h"
#include "settings.h" #include "settings.h"
//#include "downlink.h"
#include "overo_controller.h"
#define GCS_HOST "10.31.4.104" #define GCS_HOST "10.31.4.104"
#define GCS_PORT 4242 #define GCS_PORT 4242
@@ -74,7 +72,6 @@ static void dl_handle_msg(struct DownlinkTransport *tp) {
float var = DL_SETTING_value(gcs_com.my_dl_buffer); float var = DL_SETTING_value(gcs_com.my_dl_buffer);
DlSetting(i, var); DlSetting(i, var);
printf("datalink : %d %f\n",i,var); printf("datalink : %d %f\n",i,var);
printf("controller.tilt_sp : %f \n",controller.tilt_sp);
DOWNLINK_SEND_DL_VALUE(tp, &i, &var); DOWNLINK_SEND_DL_VALUE(tp, &i, &var);
} }
break; break;