Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 22:17:01 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

remove scaling from rate feedback (#1601)

Browse Source 
Currently gains from rate control do not carry over to attitude stabilization, because there is a factor 2 in the rate control and prescaler values (factor 3 for rate) in the attitude control. I searched through the airframes, and there are not many that use rate control. I doubled all the gains and removed rate control for bebop, as rate control over datalink is very difficult due to lag.

The prescaler values should also be default 1 for stabilization quat_int, as they already are for float_quat. However, this will mean updating a large amount of airframes, which will require some scripting. I might have time for this later.
This commit is contained in:
Ewoud Smeur
2016-04-20 17:35:48 +02:00
committed by Felix Ruess
parent b7b9edecf9
commit d29c83aab9
5 changed files with 15 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml
-19
View File
@@ -137,25 +137,6 @@
<define name="DEADBAND_R" value="50"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="140" unit="deg/s"/>
<define name="SP_MAX_Q" value="140" unit="deg/s"/>
<define name="SP_MAX_R" value="140" unit="deg/s"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
conf/airframes/TUDELFT/tudelft_heli450.xml
+6 -6
View File
@@ -126,13 +126,13 @@
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="GAIN_P" value="800"/>
<define name="GAIN_Q" value="800"/>
<define name="GAIN_R" value="700"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<define name="IGAIN_P" value="150"/>
<define name="IGAIN_Q" value="150"/>
<define name="IGAIN_R" value="100"/>
</section>
conf/airframes/examples/course_bebop_colorfilter.xml
-20
View File
@@ -128,26 +128,6 @@
<define name="DEADBAND_R" value="50"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="140" unit="deg/s"/>
<define name="SP_MAX_Q" value="140" unit="deg/s"/>
<define name="SP_MAX_R" value="140" unit="deg/s"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
</section>
<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
conf/airframes/examples/quadrotor_lisa_mx.xml
+6 -6
View File
@@ -117,13 +117,13 @@
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="GAIN_P" value="800"/>
<define name="GAIN_Q" value="800"/>
<define name="GAIN_R" value="700"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<define name="IGAIN_P" value="150"/>
<define name="IGAIN_Q" value="150"/>
<define name="IGAIN_R" value="100"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+3 -3
View File
@@ -211,9 +211,9 @@ void stabilization_rate_run(bool in_flight)
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 6);
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 11;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 11;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 11;
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 12;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 12;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 12;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);