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ardrone in the air again (workaround: rate controller disabled)

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This commit is contained in:
Julian Oes
2012-09-25 21:35:02 +02:00
parent 0eae48d480
commit abbe998506
4 changed files with 35 additions and 8 deletions
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apps/ardrone_interface/ardrone_interface.c
+9 -2
View File
@@ -239,14 +239,15 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
//memset(&state, 0, sizeof(state));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
//memset(&actuator_controls, 0, sizeof(actuator_controls));
struct actuator_armed_s armed;
armed.armed = false;
/* subscribe to attitude, motor setpoints and system state */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
@@ -328,7 +329,13 @@ int ardrone_interface_thread_main(int argc, char *argv[])
* if in failsafe
*/
if (armed.armed && !armed.lockdown) {
//printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]);
ardrone_mixing_and_output(ardrone_write, &actuator_controls);
} else {
/* Silently lock down motor speeds to zero */
ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
apps/ardrone_interface/ardrone_motor_control.c
+6 -3
View File
@@ -368,6 +368,8 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
float yaw_control = actuators->control[2];
float motor_thrust = actuators->control[3];
//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
const float min_thrust = 0.02f; /**< 2% minimum thrust */
const float max_thrust = 1.0f; /**< 100% max thrust */
const float scaling = 512.0f; /**< 100% thrust equals a value of 512 */
@@ -387,15 +389,16 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
if (motor_thrust <= min_thrust) {
motor_thrust = min_thrust;
output_band = 0.0f;
//printf("0 silent\n");
} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
output_band = band_factor * (motor_thrust - min_thrust);
//printf("1 starting\n");
} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * startpoint_full_control;
//printf("2 working\n");
} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
output_band = band_factor * (max_thrust - motor_thrust);
//printf("3 full\n");
}
//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer