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WIP on HIL

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This commit is contained in:
Lorenz Meier
2012-09-22 20:55:44 +02:00
parent a9b21886f3
commit 8b951ec417
6 changed files with 78 additions and 51 deletions
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apps/fixedwing_control/fixedwing_control.c
+7 -2
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@@ -223,11 +223,11 @@ int fixedwing_control_thread_main(int argc, char *argv[])
PID_t roll_pos_controller;
pid_init(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu,
PID_MODE_DERIVATIV_SET, 155);
PID_MODE_DERIVATIV_SET);
PID_t heading_controller;
pid_init(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f,
PID_MODE_DERIVATIV_SET, 155);
PID_MODE_DERIVATIV_SET);
while(!thread_should_exit) {
@@ -245,6 +245,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
// FIXME SUBSCRIBE
if (loopcounter % 20 == 0) {
att_parameters_update(&h, &p);
pos_parameters_update(&hpos, &ppos);
pid_set_parameters(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu);
pid_set_parameters(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f);
}
@@ -420,6 +422,9 @@ static int att_parameters_init(struct fw_att_control_param_handles *h)
static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p)
{
param_get(h->roll_pos_p, &(p->roll_pos_p));
param_get(h->roll_pos_i, &(p->roll_pos_i));
param_get(h->roll_pos_lim, &(p->roll_pos_lim));
param_get(h->roll_pos_awu, &(p->roll_pos_awu));
return OK;
}