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Cleanup, finished param read, ready for testing

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This commit is contained in:
Lorenz Meier
2013-07-13 20:37:26 +02:00
parent c4e967eb97
commit cbcc124c71
3 changed files with 81 additions and 32 deletions
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src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp
+12 -31
View File
@@ -133,7 +133,7 @@ private:
struct {
float p_tconst;
float tconst;
float p_p;
float p_d;
float p_i;
@@ -141,7 +141,6 @@ private:
float p_rmax_dn;
float p_imax;
float p_rll;
float r_tconst;
float r_p;
float r_d;
float r_i;
@@ -160,7 +159,7 @@ private:
struct {
param_t p_tconst;
param_t tconst;
param_t p_p;
param_t p_d;
param_t p_i;
@@ -168,7 +167,6 @@ private:
param_t p_rmax_dn;
param_t p_imax;
param_t p_rll;
param_t r_tconst;
param_t r_p;
param_t r_d;
param_t r_i;
@@ -274,7 +272,7 @@ FixedwingAttitudeControlVector::FixedwingAttitudeControlVector() :
{
// _parameter_handles.roll_p = param_find("FW_ROLL_P");
// _parameter_handles.pitch_p = param_find("FW_PITCH_P");
_parameter_handles.p_tconst = param_find("FW_P_TCONST");
_parameter_handles.tconst = param_find("FW_TCONST");
_parameter_handles.p_p = param_find("FW_P_P");
_parameter_handles.p_d = param_find("FW_P_D");
_parameter_handles.p_i = param_find("FW_P_I");
@@ -283,7 +281,6 @@ FixedwingAttitudeControlVector::FixedwingAttitudeControlVector() :
_parameter_handles.p_imax = param_find("FW_P_IMAX");
_parameter_handles.p_rll = param_find("FW_P_RLL");
_parameter_handles.r_tconst = param_find("FW_R_TCONST");
_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");
@@ -333,7 +330,7 @@ int
FixedwingAttitudeControlVector::parameters_update()
{
param_get(_parameter_handles.p_tconst, &(_parameters.p_tconst));
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_d, &(_parameters.p_d));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
@@ -342,7 +339,6 @@ FixedwingAttitudeControlVector::parameters_update()
param_get(_parameter_handles.p_imax, &(_parameters.p_imax));
param_get(_parameter_handles.p_rll, &(_parameters.p_rll));
param_get(_parameter_handles.r_tconst, &(_parameters.r_tconst));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_d, &(_parameters.r_d));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
@@ -360,29 +356,14 @@ FixedwingAttitudeControlVector::parameters_update()
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
/* pitch control parameters */
_att_control.set_tconst(_parameters.p_tconst);
// _pitch_ctrl.set_k_p(math::radians(_parameters.p_p));
// _pitch_ctrl.set_k_i(math::radians(_parameters.p_i));
// _pitch_ctrl.set_k_d(math::radians(_parameters.p_d));
// _pitch_ctrl.set_imax(math::radians(_parameters.p_imax));
// _pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_up));
// _pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_dn));
// _pitch_ctrl.set_roll_ff(math::radians(_parameters.p_rll));
// /* roll control parameters */
// _roll_ctrl.set_tau(_parameters.r_tconst);
// _roll_ctrl.set_k_p(math::radians(_parameters.r_p));
// _roll_ctrl.set_k_i(math::radians(_parameters.r_i));
// _roll_ctrl.set_k_d(math::radians(_parameters.r_d));
// _roll_ctrl.set_imax(math::radians(_parameters.r_imax));
// _roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
// /* yaw control parameters */
// _yaw_ctrl.set_k_a(math::radians(_parameters.y_slip));
// _yaw_ctrl.set_k_i(math::radians(_parameters.y_int));
// _yaw_ctrl.set_k_d(math::radians(_parameters.y_damp));
// _yaw_ctrl.set_k_ff(math::radians(_parameters.y_rll));
// _yaw_ctrl.set_imax(math::radians(_parameters.y_imax));
_att_control.set_tconst(_parameters.tconst);
_att_control.set_k_p(math::radians(_parameters.r_p),
math::radians(_parameters.p_p), 0.0f);
_att_control.set_k_d(math::radians(_parameters.r_p),
math::radians(_parameters.p_p), 0.0f);
_att_control.set_k_i(math::radians(_parameters.r_i),
math::radians(_parameters.p_i),
math::radians(_parameters.y_int));
return OK;
}
src/modules/fw_att_control_vector/fw_att_control_vector_params.c
+67
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@@ -0,0 +1,67 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file fw_pos_control_l1_params.c
*
* Parameters defined by the L1 position control task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
PARAM_DEFINE_FLOAT(FW_TCONST, 0.5f);
PARAM_DEFINE_FLOAT(FW_P_P, 40.0f);
PARAM_DEFINE_FLOAT(FW_P_D, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_UP, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_DN, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_P_RLL, 1.0f);
PARAM_DEFINE_FLOAT(FW_R_P, 40.0f);
PARAM_DEFINE_FLOAT(FW_R_D, 0.0f);
PARAM_DEFINE_FLOAT(FW_R_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);
src/modules/fw_att_control_vector/module.mk
+2 -1
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@@ -38,4 +38,5 @@
MODULE_COMMAND = fw_att_control_vector
SRCS = fw_att_control_vector_main.cpp \
ecl_fw_att_control_vector.cpp
ecl_fw_att_control_vector.cpp \
fw_att_control_vector_params.c