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fw_controller testing

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This commit is contained in:
Thomas Gubler
2012-11-25 18:20:54 +01:00
parent dd05426002
commit 4366d9e319
5 changed files with 46 additions and 19 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+4 -1
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@@ -146,13 +146,16 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
/* Roll (P) */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
/* Pitch (P) */
float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */
rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
counter++;
apps/fixedwing_att_control/fixedwing_att_control_main.c
+2 -2
View File
@@ -230,8 +230,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
//REMOVEME XXX
actuators.control[3] = 0.7f;
// debug_output.value = rates_sp.pitch;
// orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
debug_output.value = rates_sp.pitch;
orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
/* directly pass through values */
actuators.control[0] = manual_sp.roll;
apps/fixedwing_att_control/fixedwing_att_control_rate.c
+2 -4
View File
@@ -169,10 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* Roll Rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
counter++;