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Added a filter parameter to the pid function

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Conflicts:
	apps/multirotor_pos_control/multirotor_pos_control.c
This commit is contained in:
Julian Oes
2013-06-15 20:06:13 +02:00
committed by Julian Oes
parent 2b9fa731ef
commit 8559315f4f
7 changed files with 40 additions and 31 deletions
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src/modules/multirotor_att_control/multirotor_attitude_control.c
+4 -4
View File
@@ -155,8 +155,8 @@ 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, 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);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET);
initialized = true;
}
@@ -167,8 +167,8 @@ 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);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f);
}
/* reset integral if on ground */
src/modules/multirotor_att_control/multirotor_rate_control.c
+4 -4
View File
@@ -182,17 +182,17 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,
1000.0f, PID_MODE_DERIVATIV_CALC);
1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,
1000.0f, PID_MODE_DERIVATIV_CALC);
1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
}
/* load new parameters with lower rate */
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f);
}
/* control pitch (forward) output */