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fw att control: bugfixes for integrator

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This commit is contained in:
Thomas Gubler
2013-10-24 17:47:22 +02:00
parent b9ef3636f5
commit 8f74aab468
6 changed files with 48 additions and 29 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+12 -6
View File
@@ -155,6 +155,7 @@ private:
float y_d;
float y_roll_feedforward;
float y_integrator_max;
float y_coordinated;
float airspeed_min;
float airspeed_trim;
@@ -181,6 +182,7 @@ private:
param_t y_d;
param_t y_roll_feedforward;
param_t y_integrator_max;
param_t y_coordinated;
param_t airspeed_min;
param_t airspeed_trim;
@@ -289,25 +291,27 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.p_i = param_find("FW_P_I");
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
_parameter_handles.p_integrator_max = param_find("FW_P_integrator_max");
_parameter_handles.p_integrator_max = param_find("FW_P_IMAX");
_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
_parameter_handles.r_p = param_find("FW_R_P");
_parameter_handles.r_d = param_find("FW_R_D");
_parameter_handles.r_i = param_find("FW_R_I");
_parameter_handles.r_integrator_max = param_find("FW_R_integrator_max");
_parameter_handles.r_integrator_max = param_find("FW_R_IMAX");
_parameter_handles.r_rmax = param_find("FW_R_RMAX");
_parameter_handles.y_p = param_find("FW_Y_P");
_parameter_handles.y_i = param_find("FW_Y_I");
_parameter_handles.y_d = param_find("FW_Y_D");
_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
_parameter_handles.y_integrator_max = param_find("FW_Y_integrator_max");
_parameter_handles.y_integrator_max = param_find("FW_Y_IMAX");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.y_coordinated = param_find("FW_Y_COORD");
/* fetch initial parameter values */
parameters_update();
}
@@ -361,6 +365,7 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.y_d, &(_parameters.y_d));
param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated, &(_parameters.y_coordinated));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
@@ -390,6 +395,7 @@ FixedwingAttitudeControl::parameters_update()
_yaw_ctrl.set_k_d(math::radians(_parameters.y_d));
_yaw_ctrl.set_k_roll_ff(math::radians(_parameters.y_roll_feedforward));
_yaw_ctrl.set_integrator_max(math::radians(_parameters.y_integrator_max));
_yaw_ctrl.set_coordinated(_parameters.y_coordinated);
return OK;
}
@@ -709,9 +715,9 @@ FixedwingAttitudeControl::task_main()
* only once available
*/
vehicle_rates_setpoint_s rates_sp;
rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
rates_sp.roll = _roll_ctrl.get_desired_rate();
rates_sp.pitch = _pitch_ctrl.get_desired_rate();
rates_sp.yaw = _yaw_ctrl.get_desired_rate();
rates_sp.timestamp = hrt_absolute_time();
src/modules/fw_att_control/fw_att_control_params.c
+1
View File
@@ -136,3 +136,4 @@ PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);
PARAM_DEFINE_FLOAT(FW_Y_COORD, 1.0f);