fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-21 00:57:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Adapted flow estimator, position and velocity control to new state machine

Browse Source
This commit is contained in:
Julian Oes
2013-06-24 09:49:46 +02:00
parent a183f3e273
commit 53dec130c4
5 changed files with 50 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/multirotor_att_control/multirotor_att_control_main.c
+1 -1
View File
@@ -331,7 +331,7 @@ mc_thread_main(int argc, char *argv[])
// */
//
/* only move setpoint if manual input is != 0 */
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.1f) {
rates_sp.yaw = manual.yaw;
control_yaw_position = false;
first_time_after_yaw_speed_control = true;
src/modules/multirotor_att_control/multirotor_attitude_control.c
+4 -4
View File
@@ -156,8 +156,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f, PID_MODE_DERIVATIV_SET);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
initialized = true;
}
@@ -168,8 +168,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
parameters_update(&h, &p);
/* apply parameters */
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.2f);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
}
/* reset integral if on ground */