zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

PID参数名调整

zr-v5.1
Brown.Z 3 years ago
parent
02a1b504ae
commit
f20f261085
8 changed files with 42 additions and 20 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 29
      ArduCopter/Parameters.cpp
  2. 9
      libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
  3. 10
      libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
  4. 9
      libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
  5. 1
      nohup_sitl.sh
  6. 1
      show_tcp_sitl.sh
  7. 2
      sitl.sh
  8. 1
      tcp_sitl.sh

29
ArduCopter/Parameters.cpp
Unescape View File

@ -1201,15 +1201,26 @@ void Copter::convert_pid_parameters(void) @@ -1201,15 +1201,26 @@ void Copter::convert_pid_parameters(void)
{
// conversion info
const AP_Param::ConversionInfo pid_conversion_info[] = {
{ Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
{ Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
{ Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
{ Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
{ Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
{ Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
{ Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
{ Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
{ Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
// { Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
// { Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
// { Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
// { Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
// { Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
// { Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
// { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
// { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
// { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
{ Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_AA_RLL_P" },
{ Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_AA_RLL_I" },
{ Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_AA_RLL_D" },
{ Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_AA_PIT_P" },
{ Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_AA_PIT_I" },
{ Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_AA_PIT_D" },
{ Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_AA_YAW_P" },
{ Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_AA_YAW_I" },
{ Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_AA_YAW_D" },
#if FRAME_CONFIG == HELI_FRAME
{ Parameters::k_param_pid_rate_roll, 4, AP_PARAM_FLOAT, "ATC_RAT_RLL_VFF" },
{ Parameters::k_param_pid_rate_pitch, 4, AP_PARAM_FLOAT, "ATC_RAT_PIT_VFF" },

9
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
Unescape View File

@ -1069,9 +1069,12 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix, @@ -1069,9 +1069,12 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix,
const char *pid_name;
AC_PID &pid;
} pids[] = {
{ "RAT_RLL", get_rate_roll_pid() },
{ "RAT_PIT", get_rate_pitch_pid() },
{ "RAT_YAW", get_rate_yaw_pid() },
// { "RAT_RLL", get_rate_roll_pid() },
// { "RAT_PIT", get_rate_pitch_pid() },
// { "RAT_YAW", get_rate_yaw_pid() },
{ "AA_RLL", get_rate_roll_pid() },
{ "AA_PIT", get_rate_pitch_pid() },
{ "AA_YAW", get_rate_yaw_pid() },
};
for (uint8_t i=0; i<ARRAY_SIZE(pids); i++) {
// if the PID has a positive FF then we just ensure kP and

10
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
Unescape View File

@ -87,7 +87,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { @@ -87,7 +87,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
// AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
AP_SUBGROUPINFO(_pid_rate_roll, "AA_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
@ -161,8 +162,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { @@ -161,8 +162,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
// AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
AP_SUBGROUPINFO(_pid_rate_pitch, "AA_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_YAW_P
// @DisplayName: Yaw axis rate controller P gain
// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
@ -235,7 +236,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = { @@ -235,7 +236,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
// AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
AP_SUBGROUPINFO(_pid_rate_yaw, "AA_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: PIRO_COMP
// @DisplayName: Piro Comp Enable

9
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
Unescape View File

@ -73,7 +73,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = { @@ -73,7 +73,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
// AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
AP_SUBGROUPINFO(_pid_rate_roll, "AA_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
// @Param: RAT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
@ -141,7 +142,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = { @@ -141,7 +142,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
// AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
AP_SUBGROUPINFO(_pid_rate_pitch, "AA_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
// @Param: RAT_YAW_P
// @DisplayName: Yaw axis rate controller P gain
@ -209,7 +211,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = { @@ -209,7 +211,8 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
// AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
AP_SUBGROUPINFO(_pid_rate_yaw, "AA_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
// @Param: THR_MIX_MIN
// @DisplayName: Throttle Mix Minimum

1
nohup_sitl.sh
Unescape View File

@ -0,0 +1 @@ @@ -0,0 +1 @@
nohup ./tcp_sitl.sh> ./log/sitl.log 2>&1 &

1
show_tcp_sitl.sh
Unescape View File

@ -0,0 +1 @@ @@ -0,0 +1 @@
ps -aux|grep sitl

2
sitl.sh
Unescape View File

@ -1 +1 @@ @@ -1 +1 @@
./Tools/autotest/sim_vehicle.py -j4 -L CYDS --console --out 192.168.10.137:14552 --map -A --serial5=uart:/dev/ttyS1:115200 -v ArduCopter
./Tools/autotest/sim_vehicle.py -j4 -L CYDS --console --out 192.168.0.51:14552 --map -A "--serial5=uart:/dev/pts/1:230400" -v ArduCopter

1
tcp_sitl.sh
Unescape View File

@ -0,0 +1 @@ @@ -0,0 +1 @@
./Tools/autotest/sim_vehicle.py -j4 -L CYDS --console --out 192.168.0.51:14552 --no-mavproxy ArduCopter -A "--serial5=uart:/dev/pts/1:230400" -v ArduCopter
Write Preview
Loading…
Cancel
Save