philip/MDH-UAV-Control-System
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Last flight settings

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This commit is contained in:
Jonas Holmberg 2016-11-18 09:29:10 +01:00
parent 03be1e6b40
commit 2a87aa499e
4 changed files with 18 additions and 10 deletions
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18
UAV-ControlSystem/src/Flight/pid.c
View File

@ -26,7 +26,7 @@
#define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/
#define ITERM_SCALE 0.0012f /*I-term used as a scale value to the PID controller*/
#define DTERM_SCALE 0.000529f /*D-term used as a scale value to the PID controller*/
#define DTERM_SCALE 0.0529f /*D-term used as a scale value to the PID controller*/
#define BAROMETER_SCALE 5
#define RADIO_RANGE 500 /*Radio range input*/
@ -335,15 +335,13 @@ void pidAccelerometer(void)
pidUAV(&PidProfile[PID_ID_ACCELEROMETER], &PidProfileBuff[PID_ID_ACCELEROMETER]);
if (counterAcc > 50)
if (counterAcc < 80)
{
PidProfile[PID_ID_ACCELEROMETER].PID_Out[ROLL] = rc_input.Roll;
PidProfile[PID_ID_ACCELEROMETER].PID_Out[PITCH] = rc_input.Pitch;
}
else
{
counterAcc +=1;
}
}
/**************************************************************************
@ -406,9 +404,11 @@ void pidRun(uint8_t ID)
else
{
pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]);
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -20, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
//PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -15, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -(int)PidProfile[PID_ID_BAROMETER].pid_out_limit, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
//PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -(int)PidProfile[PID_ID_BAROMETER].pid_out_limit, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
}
break;
@ -531,8 +531,8 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
PidProfile[ID].D[PITCH] = 0;
PidProfile[ID].D[YAW] = 0;
PidProfile[ID].PIDweight[ROLL] = 4;
PidProfile[ID].PIDweight[PITCH] = 4;
PidProfile[ID].PIDweight[ROLL] = 100;
PidProfile[ID].PIDweight[PITCH] = 100;
PidProfile[ID].PIDweight[YAW] = 100;
PidProfile[ID].pidEnabled = true;
@ -590,6 +590,8 @@ void pidEproom(void)
{
PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 200;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[ROLL] = 20;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 20;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000; //<2F>NDRA TILL SEKUNDER inte ms

2
UAV-ControlSystem/src/drivers/accel_gyro.c
View File

@ -526,7 +526,7 @@ bool mpu6000_who_am_i()
/* Set the Gyro Weight for Gyro/Acc complementary filter
Increasing this value would reduce and delay Acc influence on the output of the filter*/
#define GYRO_ACC_DIV_FACTOR (2^8) // that means a CMP_FACTOR of 1024 (2^10)
#define GYRO_ACC_DIV_FACTOR (2^4) // that means a CMP_FACTOR of 1024 (2^10)
#define GetMagnitude(x) (x*x)
#define Low_Magnitude (GetMagnitude(0.85))

2
UAV-ControlSystem/src/drivers/motormix.c
View File

@ -103,7 +103,7 @@ void mix()
int16_t RPY_Mix[MOTOR_COUNT]; // Roll Pitch and Yaw variables array
int16_t RPY_Mix_Min = 0; // Stores the minimum desired command for any motor
int16_t RPY_Mix_Max = 0; // Maximum desired command for any motor
int16_t throttle = PidProfile[PID_ID_BAROMETER].PID_Out[THROTTLE]*throttleRate;
int16_t throttle = PidProfile[PID_ID_BAROMETER].PID_Out[THROTTLE]/**throttleRate*/;
if (PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id)) throttle += HoverForce;

6
UAV-ControlSystem/src/tasks_main.c
View File

@ -69,6 +69,8 @@ void systemTaskAccelerometer(void)
//update the accelerometer data
// uint8_t c = 97;
// usart_transmit(&cliUsart, &c, 1, 1000000000);
}
void systemTaskAttitude(void)
@ -254,6 +256,10 @@ void systemTaskSonar(void)
void systemTaskAltitude(void)
{
uint8_t c[50];
sprintf(c, "Roll: %-6f, Pitch %-6f\r", accelProfile.rollAngle, accelProfile.pitchAngle);
usart_transmit(&cliUsart, &c, 50, 1000000000);
//Keep track of the vehicles current altitude, based on some sensor. In this case either barometer or sonar
//double temperature = barometer_GetCurrentTemperature();