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Code Issues Releases Activity

CC-18 Attitude: Change units to proper engineering ones. An accelKp=1 means

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that it will completely follow the accel attitude each cycle and is way too
high.  Ki=1 means the gyro bias wil be correct by accels each cycle (way too
high).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2755 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-08 16:34:35 +00:00 committed by peabody124
parent cfe295377c
commit 9f71f4121c
2 changed files with 11 additions and 11 deletions
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18
flight/Modules/Attitude/attitude.c
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@ -135,9 +135,9 @@ static void AttitudeTask(void *parameters)
if(xTaskGetTickCount() < 10000) { if(xTaskGetTickCount() < 10000) {
// For first 5 seconds use accels to get gyro bias // For first 5 seconds use accels to get gyro bias
accelKp = 1000; accelKp = 1;
// Decrease the rate of gyro learning during init // Decrease the rate of gyro learning during init
accelKi = 100 / (xTaskGetTickCount() / 2000); accelKi = .1 / (xTaskGetTickCount() / 5000);
} else if (init == 0) { } else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle()); settingsUpdatedCb(AttitudeSettingsHandle());
init = 1; init = 1;
@ -178,7 +178,7 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
// Because most crafts wont get enough information from gravity to zero yaw gyro // Because most crafts wont get enough information from gravity to zero yaw gyro
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2]; attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] *
accelKi * UPDATE_RATE / 1000; accelKi;
// Get the accel data // Get the accel data
@ -242,15 +242,15 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
accel_err[1] /= accel_mag; accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag; accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are rad/s // Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi * dT; gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi * dT; gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT; //gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
// Correct rates based on error, integral component dealt with in updateSensors // Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp; gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp; gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp; gyro[2] += accel_err[2] * accelKp / dT;
} }
{ // scoping variables to save memory { // scoping variables to save memory

4
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -2,8 +2,8 @@
<object name="AttitudeSettings" singleinstance="true" settings="true"> <object name="AttitudeSettings" singleinstance="true" settings="true">
<description>Settings for the @ref Attitude module used on CopterControl</description> <description>Settings for the @ref Attitude module used on CopterControl</description>
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/> <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="100"/> <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.01"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="5"/> <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>