fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 06:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fine tuning of manual control

Browse Source
This commit is contained in:
Tobias Naegeli
2012-11-01 16:50:52 +01:00
parent 6af2ea9fbc
commit 80ac43e21d
5 changed files with 70 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/multirotor_att_control/multirotor_attitude_control.c
+38 -38
View File
@@ -57,50 +57,50 @@
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
struct mc_att_control_params {
float yaw_p;
float yaw_i;
float yaw_d;
float yaw_awu;
float yaw_lim;
//float yaw_awu;
//float yaw_lim;
float att_p;
float att_i;
float att_d;
float att_awu;
float att_lim;
//float att_awu;
//float att_lim;
float att_xoff;
float att_yoff;
//float att_xoff;
//float att_yoff;
};
struct mc_att_control_param_handles {
param_t yaw_p;
param_t yaw_i;
param_t yaw_d;
param_t yaw_awu;
param_t yaw_lim;
//param_t yaw_awu;
//param_t yaw_lim;
param_t att_p;
param_t att_i;
param_t att_d;
param_t att_awu;
param_t att_lim;
//param_t att_awu;
//param_t att_lim;
param_t att_xoff;
param_t att_yoff;
//param_t att_xoff;
//param_t att_yoff;
};
/**
@@ -122,17 +122,17 @@ static int parameters_init(struct mc_att_control_param_handles *h)
h->yaw_p = param_find("MC_YAWPOS_P");
h->yaw_i = param_find("MC_YAWPOS_I");
h->yaw_d = param_find("MC_YAWPOS_D");
h->yaw_awu = param_find("MC_YAWPOS_AWU");
h->yaw_lim = param_find("MC_YAWPOS_LIM");
//h->yaw_awu = param_find("MC_YAWPOS_AWU");
//h->yaw_lim = param_find("MC_YAWPOS_LIM");
h->att_p = param_find("MC_ATT_P");
h->att_i = param_find("MC_ATT_I");
h->att_d = param_find("MC_ATT_D");
h->att_awu = param_find("MC_ATT_AWU");
h->att_lim = param_find("MC_ATT_LIM");
//h->att_awu = param_find("MC_ATT_AWU");
//h->att_lim = param_find("MC_ATT_LIM");
h->att_xoff = param_find("MC_ATT_XOFF");
h->att_yoff = param_find("MC_ATT_YOFF");
//h->att_xoff = param_find("MC_ATT_XOFF");
//h->att_yoff = param_find("MC_ATT_YOFF");
return OK;
}
@@ -142,17 +142,17 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
param_get(h->yaw_p, &(p->yaw_p));
param_get(h->yaw_i, &(p->yaw_i));
param_get(h->yaw_d, &(p->yaw_d));
param_get(h->yaw_awu, &(p->yaw_awu));
param_get(h->yaw_lim, &(p->yaw_lim));
//param_get(h->yaw_awu, &(p->yaw_awu));
//param_get(h->yaw_lim, &(p->yaw_lim));
param_get(h->att_p, &(p->att_p));
param_get(h->att_i, &(p->att_i));
param_get(h->att_d, &(p->att_d));
param_get(h->att_awu, &(p->att_awu));
param_get(h->att_lim, &(p->att_lim));
//param_get(h->att_awu, &(p->att_awu));
//param_get(h->att_lim, &(p->att_lim));
param_get(h->att_xoff, &(p->att_xoff));
param_get(h->att_yoff, &(p->att_yoff));
//param_get(h->att_xoff, &(p->att_xoff));
//param_get(h->att_yoff, &(p->att_yoff));
return OK;
}
@@ -186,10 +186,10 @@ 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, p.att_awu,
p.att_lim, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
p.att_lim, PID_MODE_DERIVATIV_SET);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
1000.0f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
1000.0f, PID_MODE_DERIVATIV_SET);
initialized = true;
}
@@ -202,18 +202,18 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
/* apply parameters */
printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu, p.att_lim);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
}
/* calculate current control outputs */
/* control pitch (forward) output */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
att->pitch, att->pitchspeed, deltaT);
/* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT);
/* control yaw rate */
apps/multirotor_att_control/multirotor_rate_control.c
+20 -20
View File
@@ -58,28 +58,28 @@
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
struct mc_rate_control_params {
float yawrate_p;
float yawrate_d;
float yawrate_i;
float yawrate_awu;
float yawrate_lim;
//float yawrate_awu;
//float yawrate_lim;
float attrate_p;
float attrate_d;
float attrate_i;
float attrate_awu;
float attrate_lim;
//float attrate_awu;
//float attrate_lim;
float rate_lim;
};
@@ -89,14 +89,14 @@ struct mc_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
param_t yawrate_awu;
param_t yawrate_lim;
//param_t yawrate_awu;
//param_t yawrate_lim;
param_t attrate_p;
param_t attrate_i;
param_t attrate_d;
param_t attrate_awu;
param_t attrate_lim;
//param_t attrate_awu;
//param_t attrate_lim;
};
/**
@@ -118,14 +118,14 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
h->yawrate_awu = param_find("MC_YAWRATE_AWU");
h->yawrate_lim = param_find("MC_YAWRATE_LIM");
//h->yawrate_awu = param_find("MC_YAWRATE_AWU");
//h->yawrate_lim = param_find("MC_YAWRATE_LIM");
h->attrate_p = param_find("MC_ATTRATE_P");
h->attrate_i = param_find("MC_ATTRATE_I");
h->attrate_d = param_find("MC_ATTRATE_D");
h->attrate_awu = param_find("MC_ATTRATE_AWU");
h->attrate_lim = param_find("MC_ATTRATE_LIM");
//h->attrate_awu = param_find("MC_ATTRATE_AWU");
//h->attrate_lim = param_find("MC_ATTRATE_LIM");
return OK;
}
@@ -135,14 +135,14 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
param_get(h->yawrate_awu, &(p->yawrate_awu));
param_get(h->yawrate_lim, &(p->yawrate_lim));
//param_get(h->yawrate_awu, &(p->yawrate_awu));
//param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->attrate_p, &(p->attrate_p));
param_get(h->attrate_i, &(p->attrate_i));
param_get(h->attrate_d, &(p->attrate_d));
param_get(h->attrate_awu, &(p->attrate_awu));
param_get(h->attrate_lim, &(p->attrate_lim));
//param_get(h->attrate_awu, &(p->attrate_awu));
//param_get(h->attrate_lim, &(p->attrate_lim));
return OK;
}