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Corrected some bugs, thanks to Doug for spotting them

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This commit is contained in:
Thomas Gubler
2012-10-29 23:09:07 +01:00
parent db8d369c55
commit 9ad9d62f34
3 changed files with 4 additions and 7 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+2 -5
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@@ -66,7 +66,6 @@ struct fw_att_control_params {
float roll_p; float roll_p;
float rollrate_lim; float rollrate_lim;
float pitch_p; float pitch_p;
float pitch_lim;
float pitchrate_lim; float pitchrate_lim;
float yawrate_lim; float yawrate_lim;
float pitch_roll_compensation_p; float pitch_roll_compensation_p;
@@ -76,7 +75,6 @@ struct fw_pos_control_param_handles {
param_t roll_p; param_t roll_p;
param_t rollrate_lim; param_t rollrate_lim;
param_t pitch_p; param_t pitch_p;
param_t pitch_lim;
param_t pitchrate_lim; param_t pitchrate_lim;
param_t yawrate_lim; param_t yawrate_lim;
param_t pitch_roll_compensation_p; param_t pitch_roll_compensation_p;
@@ -94,7 +92,6 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
h->roll_p = param_find("FW_ROLL_P"); h->roll_p = param_find("FW_ROLL_P");
h->rollrate_lim = param_find("FW_ROLLR_LIM"); h->rollrate_lim = param_find("FW_ROLLR_LIM");
h->pitch_p = param_find("FW_PITCH_P"); h->pitch_p = param_find("FW_PITCH_P");
h->pitch_lim = param_find("FW_PITCH_LIM");
h->pitchrate_lim = param_find("FW_PITCHR_LIM"); h->pitchrate_lim = param_find("FW_PITCHR_LIM");
h->yawrate_lim = param_find("FW_YAWR_LIM"); h->yawrate_lim = param_find("FW_YAWR_LIM");
h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
@@ -141,7 +138,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
if (counter % 100 == 0) { if (counter % 100 == 0) {
/* update parameters from storage */ /* update parameters from storage */
parameters_update(&h, &p); parameters_update(&h, &p);
pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.pitchrate_lim); pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
} }
@@ -150,7 +147,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
/* Pitch (P) */ /* Pitch (P) */
float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan; float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_tait_bryan, att->pitch, 0, 0); rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */ /* Yaw (from coordinated turn constraint or lateral force) */
//TODO //TODO
apps/fixedwing_att_control/fixedwing_att_control_att.h
+1 -1
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@@ -33,7 +33,7 @@
* *
****************************************************************************/ ****************************************************************************/
/* @file Main system state machine definition */ /* @file Fixed Wing Attitude Control */
#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ #ifndef FIXEDWING_ATT_CONTROL_ATT_H_
#define FIXEDWING_ATT_CONTROL_ATT_H_ #define FIXEDWING_ATT_CONTROL_ATT_H_
apps/fixedwing_att_control/fixedwing_att_control_rate.h
+1 -1
View File
@@ -33,7 +33,7 @@
* *
****************************************************************************/ ****************************************************************************/
/* @file Main system state machine definition */ /* @file Fixed Wing Attitude Rate Control */
#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ #ifndef FIXEDWING_ATT_CONTROL_RATE_H_
#define FIXEDWING_ATT_CONTROL_RATE_H_ #define FIXEDWING_ATT_CONTROL_RATE_H_