From c8645a7e530e0adcfafb17325ea05fbdd7c61ae2 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 21 Aug 2012 09:02:09 +0200 Subject: [PATCH] Added more params, old read-in code not yet replaced --- apps/fixedwing_control/fixedwing_control.c | 44 +++++++++++-------- .../multirotor_attitude_control.c | 19 ++++++++ apps/sensors/sensors.c | 16 ++++--- 3 files changed, 55 insertions(+), 24 deletions(-) diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c index bad62edcfc..4e3a5eafe2 100644 --- a/apps/fixedwing_control/fixedwing_control.c +++ b/apps/fixedwing_control/fixedwing_control.c @@ -60,10 +60,7 @@ #include #include #include - -#ifndef F_M_PI -#define F_M_PI ((float)M_PI) -#endif +#include __EXPORT int fixedwing_control_main(int argc, char *argv[]); @@ -291,6 +288,18 @@ static float pid(float error, float error_deriv, uint16_t dt, float scale, float return output; } +PARAM_DEFINE_FLOAT(FW_ATT_ROLL_P, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_ROLL_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_ROLL_D, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_ROLL_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_ROLL_LIM, 0.0f); + +PARAM_DEFINE_FLOAT(FW_ATT_PITCH_P, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_PITCH_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_PITCH_D, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_PITCH_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ATT_PITCH_LIM, 0.0f); + /** * Load parameters from global storage. * @@ -299,7 +308,6 @@ static float pid(float error, float error_deriv, uint16_t dt, float scale, float * Fetches the current parameters from the global parameter storage and writes them * to the plane_data structure */ - static void get_parameters(plane_data_t * plane_data) { plane_data->Kp_att = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P]; @@ -395,10 +403,10 @@ static void calc_rotation_matrix(float roll, float pitch, float yaw, float x, fl */ static float calc_bearing() { - float bearing = F_M_PI/2.0f + (float)atan2(-(plane_data.wp_y - plane_data.lat), (plane_data.wp_x - plane_data.lon)); + float bearing = M_PI_F/2.0f + (float)atan2(-(plane_data.wp_y - plane_data.lat), (plane_data.wp_x - plane_data.lon)); if (bearing < 0.0f) { - bearing += 2*F_M_PI; + bearing += 2*M_PI_F; } return bearing; @@ -543,11 +551,11 @@ static float calc_roll_setpoint() } else { setpoint = calc_bearing() - plane_data.yaw; - if (setpoint < (-35.0f/180.0f)*F_M_PI) - return (-35.0f/180.0f)*F_M_PI; + if (setpoint < (-35.0f/180.0f)*M_PI_F) + return (-35.0f/180.0f)*M_PI_F; - if (setpoint > (35/180.0f)*F_M_PI) - return (-35.0f/180.0f)*F_M_PI; + if (setpoint > (35/180.0f)*M_PI_F) + return (-35.0f/180.0f)*M_PI_F; } return setpoint; @@ -568,16 +576,16 @@ static float calc_pitch_setpoint() float setpoint = 0.0f; if (plane_data.mode == TAKEOFF) { - setpoint = ((35/180.0f)*F_M_PI); + setpoint = ((35/180.0f)*M_PI_F); } else { setpoint = atanf((plane_data.wp_z - plane_data.alt) / calc_wp_distance()); - if (setpoint < (-35.0f/180.0f)*F_M_PI) - return (-35.0f/180.0f)*F_M_PI; + if (setpoint < (-35.0f/180.0f)*M_PI_F) + return (-35.0f/180.0f)*M_PI_F; - if (setpoint > (35/180.0f)*F_M_PI) - return (-35.0f/180.0f)*F_M_PI; + if (setpoint > (35/180.0f)*M_PI_F) + return (-35.0f/180.0f)*M_PI_F; } return setpoint; @@ -797,8 +805,8 @@ int fixedwing_control_main(int argc, char *argv[]) // printf("Current Altitude: %i\n\n", (int)plane_data.alt); printf("\nAttitude values: \n R:%i \n P: %i \n Y: %i \n\n RS: %i \n PS: %i \n YS: %i \n ", - (int)(180.0f * plane_data.roll/F_M_PI), (int)(180.0f * plane_data.pitch/F_M_PI), (int)(180.0f * plane_data.yaw/F_M_PI), - (int)(180.0f * plane_data.rollspeed/F_M_PI), (int)(180.0f * plane_data.pitchspeed/F_M_PI), (int)(180.0f * plane_data.yawspeed)/F_M_PI); + (int)(180.0f * plane_data.roll/M_PI_F), (int)(180.0f * plane_data.pitch/M_PI_F), (int)(180.0f * plane_data.yaw/M_PI_F), + (int)(180.0f * plane_data.rollspeed/M_PI_F), (int)(180.0f * plane_data.pitchspeed/M_PI_F), (int)(180.0f * plane_data.yawspeed)/M_PI_F); // printf("\nBody Rates: \n P: %i \n Q: %i \n R: %i \n", // (int)(10000 * plane_data.p), (int)(10000 * plane_data.q), (int)(10000 * plane_data.r)); diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 367a0c3e15..b21a20ad1f 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -51,8 +51,27 @@ #include #include #include +#include #include +PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 0.0f); + +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.0f); + +PARAM_DEFINE_FLOAT(MC_ATT_P, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.0f); + void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose) diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index b802eff342..ae1e8d2020 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -129,13 +129,17 @@ extern uint64_t ppm_last_valid_decode; /* file handle that will be used for publishing sensor data */ static int sensor_pub; -PARAM_DEFINE_FLOAT(sensor_gyro_xoffset, 0.0f); -PARAM_DEFINE_FLOAT(sensor_gyro_yoffset, 0.0f); -PARAM_DEFINE_FLOAT(sensor_gyro_zoffset, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_GYRO_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_GYRO_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_GYRO_ZOFF, 0.0f); -PARAM_DEFINE_FLOAT(sensor_mag_xoff, 0.0f); -PARAM_DEFINE_FLOAT(sensor_mag_yoff, 0.0f); -PARAM_DEFINE_FLOAT(sensor_mag_zoff, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_MAG_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_MAG_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_MAG_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENSOR_ACC_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_ACC_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENSOR_ACC_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);