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Rebase of changes to sensor_hil_fixedwing branch.

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This commit is contained in:
James Goppert
2013-01-13 17:25:45 -05:00
parent 0fdf962356
commit 464c5245f2
16 changed files with 618 additions and 256 deletions
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apps/examples/control_demo/control_demo.cpp
+1 -1
View File
@@ -108,7 +108,7 @@ int control_demo_main(int argc, char *argv[])
deamon_task = task_spawn("control_demo",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
4096,
5120,
control_demo_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
apps/examples/control_demo/params.c
+21 -21
View File
@@ -6,31 +6,31 @@
// 16 is max name length
// gyro low pass filter
PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
// yaw washout
PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
// stabilization mode
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.5f); // roll rate 2 aileron
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.5f); // pitch rate 2 elevator
PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.2f); // yaw rate 2 rudder
// psi -> phi -> p
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f); // heading 2 roll
PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f); // roll to roll rate
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f); // roll limit
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll
PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.5f); // roll limit, 28 deg
// velocity -> theta
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.2f);
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);
// theta -> q
@@ -41,15 +41,15 @@ PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
// h -> thr
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f);
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
// crosstrack
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // 90 deg
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f);
// speed command
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
@@ -58,6 +58,6 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
// trim
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f);