06407b166f
My PID integral part fixes
12 years ago
5344e89167
work in progress: line following working
12 years ago
be9b58e1b9
re-adding pid limitation
12 years ago
80ac43e21d
Fine tuning of manual control
12 years ago
8dcde7f8cd
prevent double-precision promotion where its not required
12 years ago
2fc1032069
Major formatting/whitespace cleanup
12 years ago
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.
13 years ago
7949ac1ad8
Fixed heading calculation, fixed heading controller
13 years ago
de530d6ba1
General robustness improvements in PID struct, numerically close to bullet-proof, error reporting needs improvements still.
13 years ago
8b951ec417
WIP on HIL
13 years ago
dae0b922f1
Added deamon example, reworked / merged multirotor attitude control. Ready for AR.Drone interface changes and integration tests
13 years ago
85bc4f683a
Cleaned up position control (WIP), moved PID structs (should become classes) to systemlib, added deamon app example
13 years ago
Julian Oes
Thomas Gubler
Tobias Naegeli
Lorenz Meier
px4dev
Doug Weibel