philip/MDH-UAV-Control-System
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Seems to be a working with the barometer in the lab.

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It looks like it could hold the altitude. Testing outside is needed to
verify and tune.
This commit is contained in:
Jonas Holmberg 2016-11-09 16:26:28 +01:00
parent f49548d141
commit 38486e2bd3
3 changed files with 13 additions and 6 deletions
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9
UAV-ControlSystem/src/Flight/pid.c
View File

@ -20,6 +20,7 @@
#include "drivers/failsafe_toggles.h" #include "drivers/failsafe_toggles.h"
#include "drivers/motormix.h" #include "drivers/motormix.h"
#include "utilities.h" #include "utilities.h"
#include "drivers/barometer.h"
#define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/ #define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/
@ -112,7 +113,7 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
break; break;
case PID_ID_BAROMETER: case PID_ID_BAROMETER:
sensorValues[0] = barometer_GetCurrentAveragedtAltitude(); sensorValues[0] = barometer_GetCurrentAveragedtAltitude()*20;
break; break;
default: default:
@ -173,7 +174,7 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate); //desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
desiredCommand[THROTTLE] = 1.9; desiredCommand[THROTTLE] = 1*20;
break; break;
default: default:
@ -496,7 +497,7 @@ void pidUAVInit(pidProfile_t *pidProfile, uint8_t ID)
PidProfile[ID].pidEnabled = false; PidProfile[ID].pidEnabled = false;
PidProfile[ID].dterm_lpf = 90; PidProfile[ID].dterm_lpf = 90;
PidProfile[ID].pid_out_limit = 1000; PidProfile[ID].pid_out_limit = 2000;
break; break;
default: default:
@ -527,7 +528,7 @@ void pidInit()
void pidEproom(void) void pidEproom(void)
{ {
PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 200; PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 254;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100; PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;

3
UAV-ControlSystem/src/drivers/barometer.c
View File

@ -512,7 +512,8 @@ float barometer_GetCurrentAveragedtAltitude()
} }
/* Return the average of the stored values */ /* Return the average of the stored values */
return toReturn/averageAltitudeCount; toReturn = toReturn/averageAltitudeCount;
return toReturn;
} }

7
UAV-ControlSystem/src/drivers/motormix.c
View File

@ -103,7 +103,12 @@ void mix()
int16_t RPY_Mix[MOTOR_COUNT]; // Roll Pitch and Yaw variables array 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_Min = 0; // Stores the minimum desired command for any motor
int16_t RPY_Mix_Max = 0; // Maximum 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]; // Import throttle value from remote int16_t throttle = PidProfile[PID_ID_BAROMETER].PID_Out[THROTTLE];
if (PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id))
{
throttle += 1482;
}
/* Mixer Full Scale enabled */ /* Mixer Full Scale enabled */