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Got rid of a bunch of magic numbers, manual controls can now be set up fine-grained

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Lorenz Meier
2012-09-11 23:54:26 +02:00
parent a74a455ab5
commit b573804456
4 changed files with 43 additions and 13 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+3 -3
View File
@@ -140,9 +140,9 @@ mc_thread_main(int argc, char *argv[])
/* get a local copy of attitude setpoint */
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
att_sp.roll_body = -manual.roll * M_PI_F / 8.0f;
att_sp.pitch_body = -manual.pitch * M_PI_F / 8.0f;
att_sp.yaw_rate_body = -manual.yaw * M_PI_F;
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
att_sp.yaw_rate_body = manual.yaw;
att_sp.timestamp = hrt_absolute_time();
if (motor_test_mode) {
apps/multirotor_att_control/multirotor_attitude_control.c
+4 -4
View File
@@ -60,17 +60,17 @@
// PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
// PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.08f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.3f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.1f); /* 0.025 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); /* 0.025 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.3f);
PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);