6 Commits

Author	SHA1	Message	Date
Doug Weibel	2bb1d17c7e	Changes to the PID controller. Adds "limit" to the parameter set. Implements an output limit where the output magnitude is limited by the parameter value "limit". Also changes the integrator saturation such that the integrator is not updated (added to) if either updating it will cause the integrator values magnitude to exceed "intmax" or if the output magnitude would exceed "limit" with an updated integrator value. ... Arbitrary large limit values were hard coded into multirotor_attitude_control.c. These should be changed to parametric values or something sensible. This commit will temporarily break fixedwing_control.c. A following commit will repair it along with significant changes to the inner loop control. This commit has been tested to compile with fixedwing_control.c temporarily removed. No other testing has been completed.	2012-10-07 14:46:26 -06:00
Lorenz Meier	7949ac1ad8	Fixed heading calculation, fixed heading controller	2012-09-29 18:00:01 +02:00
Lorenz Meier	de530d6ba1	General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still.	2012-09-23 01:20:41 +02:00
Lorenz Meier	8b951ec417	WIP on HIL	2012-09-22 20:55:44 +02:00
Lorenz Meier	dae0b922f1	Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests	2012-08-19 15:52:59 +02:00
Lorenz Meier	85bc4f683a	Cleaned up position control (WIP), moved PID structs (should become classes) to systemlib, added deamon app example	2012-08-19 11:29:07 +02:00