philip/MDH-UAV-Control-System
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PID added barometer settings to CLI, eeprom and PID

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This commit is contained in:
johan9107 2016-11-09 10:34:03 +01:00
parent 9d1b71fabc
commit c791a9ea3b
4 changed files with 84 additions and 4 deletions
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2
UAV-ControlSystem/inc/config/eeprom.h
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@ -208,6 +208,8 @@ typedef enum {
typedef enum {
EEPROM_PID_GYRO,
EEPROM_PID_ACCELEROMETER,
EEPROM_PID_COMPASS,
EEPROM_PID_BAROMETER,
/* Counts the amount of settings in profile */
EEPROM_PROFILE_COUNT

24
UAV-ControlSystem/src/Flight/pid.c
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@ -27,7 +27,7 @@
#define DTERM_SCALE 0.000529f /*D-term used as a scale value to the PID controller*/
#define RADIO_RANGE 500 /*Radio range input*/
#define BAROMETER_RANGE 2000 /*Determines the range of the maximum height (limits the rc input)*/
#define BAROMETER_RANGE 3 /*Determines the range of the maximum height (limits the rc input)*/
#define ACCELEROMETER_RANGE 60 /*Determines the range of the maximum angle (limits the rc input) & (Accelerometer takes int to max 16 G)*/
#define GYRO_RANGE 720 /*Determines the maximum rotational limit (limits the rc input)*/
#define COMPASS_RANGE 180 /*Determines the maximum compass limit (limits the rc input)*/
@ -60,6 +60,7 @@ gyro_t gyroProfile = {0}; /*Struct profile for input data from senso
pt1Filter_t accelFilter[2] = {0};
float throttleRate = 0;
float accRollFineTune = 0;
float accPitchFineTune = 0;
@ -97,9 +98,22 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
sensorValues[ROLL] = accelProfile.rollAngle + accRollFineTune;
sensorValues[PITCH] = accelProfile.pitchAngle + accPitchFineTune;
/*Checks the biggest angle */
throttleRate = 2 - (ABS_FLOAT(sensorValues[ROLL]) > ABS_FLOAT(sensorValues[PITCH]) )? cos(sensorValues[ROLL]*M_PI/180) : cos(sensorValues[PITCH]*M_PI/180);
break;
case PID_ID_COMPASS:
sensorValues[ROLL] = 0;
sensorValues[PITCH] = 0;
sensorValues[YAW] = 0;
break;
case PID_ID_BAROMETER:
break;
default:
sensorValues[ROLL] = 0;
@ -157,7 +171,9 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
break;
case PID_ID_BAROMETER:
desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle);
//desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle*throttleRate);
desiredCommand[THROTTLE] = 1.9;
break;
default:
@ -324,9 +340,9 @@ void pidRun(uint8_t ID)
break;
case PID_ID_BAROMETER:
if (!PidProfile[PID_ID_BAROMETER].pidEnabled)
if (!PidProfile[PID_ID_BAROMETER].pidEnabled && flags_IsSet_ID(systemFlags_flightmode_barometer_id))
{
PidProfile[PID_ID_BAROMETER].PID_Out[0] = rc_input.Throttle;
PidProfile[PID_ID_BAROMETER].PID_Out[0] = rc_input.Throttle*throttleRate;
}
else
{

52
UAV-ControlSystem/src/config/cli.c
View File

@ -284,9 +284,22 @@ typedef enum
COMMAND_ID_PID_ACCEL_YAW_P_LIMIT,
COMMAND_ID_PID_ACCEL_OUT_LIMIT,
//Barometer
COMMAND_ID_PID_BARO_P_HEIGHT,
COMMAND_ID_PID_BARO_I_HEIGHT,
COMMAND_ID_PID_BARO_D_HEIGHT,
COMMAND_ID_PID_BARO_DTERM_LPF,
COMMAND_ID_PID_BARO_PTERM_YAW_LPF,
COMMAND_ID_PID_BARO_YAW_P_LIMIT,
COMMAND_ID_PID_BARO_OUT_LIMIT,
/* Enable the different pid loops */
COMMAND_ID_PID_GYRO_ISENABLED,
COMMAND_ID_PID_ACCEL_ISENABLED,
COMMAND_ID_PID_BARO_ISENABLED,
/* Counter for the amount of commands */
COMMAND_ID_COUNT,
@ -659,6 +672,41 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
"pid_accel_out_limit", COMMAND_ID_PID_ACCEL_OUT_LIMIT, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 65000}
},
//BARO P
[COMMAND_ID_PID_BARO_P_HEIGHT] =
{
"pid_baro_p_height", COMMAND_ID_PID_BARO_P_HEIGHT, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 5, VAL_UINT_8, .valueRange = {0, 255}
},
//BARO I
[COMMAND_ID_PID_ACCEL_I_PITCH] =
{
"pid_baro_i_height", COMMAND_ID_PID_BARO_I_HEIGHT, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 8, VAL_UINT_8, .valueRange = {0, 255}
},
//BARO D
[COMMAND_ID_PID_ACCEL_D_PITCH] =
{
"pid_baro_d_height", COMMAND_ID_PID_ACCEL_D_PITCH, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 11, VAL_UINT_8, .valueRange = {0, 255}
},
//BARO Filters and limits
[COMMAND_ID_PID_BARO_DTERM_LPF] =
{
"pid_baro_dterm_lpf", COMMAND_ID_PID_BARO_DTERM_LPF, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 14, VAL_UINT_16, .valueRange = {0, 65000}
},
[COMMAND_ID_PID_BARO_PTERM_YAW_LPF] =
{
"pid_baro_pterm_yaw_lpf", COMMAND_ID_PID_BARO_PTERM_YAW_LPF, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 16, VAL_UINT_16, .valueRange = {0, 65000}
},
[COMMAND_ID_PID_BARO_YAW_P_LIMIT] =
{
"pid_baro_yaw_p_limit", COMMAND_ID_PID_BARO_YAW_P_LIMIT, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 18, VAL_UINT_16, .valueRange = {0, 65000}
},
[COMMAND_ID_PID_BARO_OUT_LIMIT] =
{
"pid_baro_out_limit", COMMAND_ID_PID_BARO_OUT_LIMIT, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 20, VAL_UINT_16, .valueRange = {0, 65000}
},
/* Enable pid loops */
[COMMAND_ID_PID_GYRO_ISENABLED] =
{
@ -668,6 +716,10 @@ const cliCommandConfig_t commandTable[COMMAND_ID_COUNT] = {
{
"pid_accel_isenabled", COMMAND_ID_PID_ACCEL_ISENABLED, EEPROM_PID_ACCELEROMETER, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_BOOL, .valueRange = {0, 1}
},
[COMMAND_ID_PID_BARO_ISENABLED] =
{
"pid_baro_isenabled", COMMAND_ID_PID_BARO_ISENABLED, EEPROM_PID_BAROMETER, EEPROM_VALUE_TYPE_PROFILE, 0, VAL_BOOL, .valueRange = {0, 1}
},
};

10
UAV-ControlSystem/src/config/eeprom.c
View File

@ -291,6 +291,16 @@ EEPROM_DATA_t eeprom_profile_Arr[EEPROM_PROFILE_COUNT] = {
.size = sizeof(pidProfile_t),
.dataPtr = &(PidProfile[PID_ID_ACCELEROMETER]),
},
[EEPROM_PID_COMPASS] =
{
.size = sizeof(pidProfile_t),
.dataPtr = &(PidProfile[PID_ID_COMPASS]),
},
[EEPROM_PID_BAROMETER] =
{
.size = sizeof(pidProfile_t),
.dataPtr = &(PidProfile[PID_ID_BAROMETER]),
},
};
/* Data pointers and sizes for footer content */