Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-22 20:36:06 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

Removed the counterweight and found the resonance amplitude much reducedand frequency increased as expected. Added print of thrust average.flying pretty well with +/-15 degree sinusoidal tilt setpoint.

Browse Source
This commit is contained in:
Paul Cox
2010-09-05 19:17:09 +00:00
parent 823d7598c2
commit b5022c14bb
1 changed files with 23 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/beth/overo_twist_controller.c
+23 -7
View File
@@ -101,7 +101,7 @@ void control_run(void) {
const float thrust_constant = 40.;
//make setpoint a cosine ; for testing
float new_sp = controller.tilt_sp * cos(6.28/10.*foo/512.);
float new_sp = controller.tilt_sp * cos(6.28/5.*foo/512.);
controller.tilt_ref = controller.tilt_ref + controller.tilt_dot_ref * dt_ctl;
controller.tilt_dot_ref = controller.tilt_dot_ref + controller.tilt_ddot_ref * dt_ctl;
@@ -165,8 +165,8 @@ void control_run(void) {
controller.cmd_thrust = get_U_twt2();
// controller.cmd_thrust = controller.cmd_thrust_ff + controller.cmd_thrust_fb + thrust_constant;
controller.cmd_thrust = controller.cmd_thrust*(1/cos(estimator.elevation));
//not needed as twisting doesn't care about this nonlinearity
// controller.cmd_thrust = controller.cmd_thrust*(1/cos(estimator.elevation));
//if (controller.cmd_thrust<0.) controller.cmd_thrust = 0;
Bound(controller.cmd_thrust,0,100);
@@ -176,7 +176,7 @@ void control_run(void) {
//printf("pitch : ff:%f fb:%f (%f)\n",controller.cmd_pitch_ff, controller.cmd_pitch_fb,estimator.tilt_dot);
//printf("thrust: ff:%f fb:%f (%f %f)\n",controller.cmd_thrust_ff, controller.cmd_thrust_fb,estimator.elevation,estimator.elevation_dot);
//printf("%f %f %f\n",controller.tilt_ref,controller.tilt_dot_ref,controller.tilt_ddot_ref);
printf("t: %f\n",controller.cmd_thrust);
//printf("t: %f\n",controller.cmd_thrust);
}
foo++;
@@ -189,7 +189,7 @@ float get_U_twt()
{
/**Definition des constantes du modèle**/
const float Gain = -45;
const float Gain = -65;
const float Te = 1/512.;
/**Variables utilisés par la loi de commande**/
@@ -272,7 +272,7 @@ float get_U_twt2()
{
/**Definition des constantes du modèle**/
const float Gain = 600.;
const float Gain = 800.;
const float Te = 1/512.;
/**Variables utilisés par la loi de commande**/
@@ -349,7 +349,23 @@ float get_U_twt2()
y2[0] = y2[1];
S2[0] = S2[1];
#define NUMSAMPS (1000)
float retval = Gain * U2_twt[1];
return Gain * U2_twt[1];
static int sum = 0;
static int i = 0;
sum = sum + retval;
if (i == (NUMSAMPS-1)) {
i = 0;
printf("avg: %f\n",sum/(float)NUMSAMPS);
sum = 0;
} else {
i++;
}
return retval;
}