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[stab] remove feed-forward gain AGAIN, was not really useful

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Gautier Hattenberger
2012-07-12 10:58:44 +02:00
parent 99108cfd0d
commit 81e8d2f75a
3 changed files with 3 additions and 15 deletions
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conf/settings/control/stabilization_att_int.xml
-3
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@@ -8,17 +8,14 @@
<dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
<dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800" module="stabilization/stabilization_attitude" shortname="igain phi" handler="SetKiPhi"param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
<dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
<dl_setting var="stabilization_gains.a.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="again phi" param="STABILIZATION_ATTITUDE_PHI_AGAIN"/>
<dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000" module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
<dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
<dl_setting var="stabilization_gains.i.y" min="0" step="1" max="800" module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
<dl_setting var="stabilization_gains.dd.y" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
<dl_setting var="stabilization_gains.a.y" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="again theta" param="STABILIZATION_ATTITUDE_THETA_AGAIN"/>
<dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
<dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000" module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
<dl_setting var="stabilization_gains.i.z" min="0" step="1" max="400" module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
<dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
<dl_setting var="stabilization_gains.a.z" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="again psi" param="STABILIZATION_ATTITUDE_PSI_AGAIN"/>
</dl_settings>
</dl_settings>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
+3 -11
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@@ -52,11 +52,6 @@ void stabilization_attitude_init(void) {
stabilization_attitude_ref_init();
VECT3_ASSIGN(stabilization_gains.a,
STABILIZATION_ATTITUDE_PHI_AGAIN,
STABILIZATION_ATTITUDE_THETA_AGAIN,
STABILIZATION_ATTITUDE_PSI_AGAIN);
VECT3_ASSIGN(stabilization_gains.p,
STABILIZATION_ATTITUDE_PHI_PGAIN,
STABILIZATION_ATTITUDE_THETA_PGAIN,
@@ -112,14 +107,11 @@ void stabilization_attitude_run(bool_t in_flight) {
/* compute feedforward command */
stabilization_att_ff_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND(stabilization_gains.dd.x * stab_att_ref_accel.p, 5)
+ OFFSET_AND_ROUND(stabilization_gains.a.x * stab_att_ref_euler.phi, 6);
OFFSET_AND_ROUND(stabilization_gains.dd.x * stab_att_ref_accel.p, 5);
stabilization_att_ff_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND(stabilization_gains.dd.y * stab_att_ref_accel.q, 5)
+ OFFSET_AND_ROUND(stabilization_gains.a.y * stab_att_ref_euler.theta, 6);
OFFSET_AND_ROUND(stabilization_gains.dd.y * stab_att_ref_accel.q, 5);
stabilization_att_ff_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5)
+ OFFSET_AND_ROUND(stabilization_gains.a.z * stab_att_ref_euler.psi, 6);
OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5);
/* compute feedback command */
/* attitude error */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
-1
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@@ -29,7 +29,6 @@
#include "generated/airframe.h"
struct Int32AttitudeGains {
struct Int32Vect3 a;
struct Int32Vect3 p;
struct Int32Vect3 d;
struct Int32Vect3 dd;