mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
d20d1ab295
--- RELEASE-15.05.01 HOTFIX --- Banana Split ---
This release fixes an important bug. All Revolution hardware running 15.05 should upgrade to 15.05.01. Note that this is a hotfix; it can
simply be flashed without an erase settings. Furthermore, please review your vtolpathfollowersettings:HorizontalVelMax; a value of around 4m/s would be more appropriate for preliminary trialing of a new release and will be changed in future.
Release Notes - OP Next Generation - Version OP15.05.01
** Bug
* [NG-55] - 15.05 PositionHold exhibits fly-away behaviour at the vtolpathfollowersettings maxRollPitch and HorizontalVelMax values.
---
WHATSNEW.txt | 13 ++++++++++-
flight/libraries/pid/pidcontroldown.cpp | 26 ++++++++++-----------
flight/libraries/plans.c | 28 +++++++++++++++++++----
flight/modules/PathFollower/inc/pidcontrolne.h | 1 -
flight/modules/PathFollower/pidcontrolne.cpp | 23 +++++++++++++++----
flight/modules/PathFollower/vtolflycontroller.cpp | 16 ++++++++-----
6 files changed, 77 insertions(+), 30 deletions(-)
80 lines
2.9 KiB
C++
80 lines
2.9 KiB
C++
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup PathFollower CONTROL interface class
|
|
* @brief PID Controler for NE Class definition
|
|
* @{
|
|
*
|
|
* @file pidcontrolne.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
|
* @brief Executes pid control loop for NE
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
#ifndef PIDCONTROLNE_H
|
|
#define PIDCONTROLNE_H
|
|
extern "C" {
|
|
#include <pid.h>
|
|
}
|
|
#include "pathfollowerfsm.h"
|
|
|
|
class PIDControlNE {
|
|
public:
|
|
PIDControlNE();
|
|
~PIDControlNE();
|
|
void Deactivate();
|
|
void Activate();
|
|
void UpdateParameters(float kp, float ki, float kd, __attribute__((unused)) float ilimit, float dT, float velocityMax);
|
|
void UpdatePositionalParameters(float kp);
|
|
void UpdatePositionState(float pvNorth, float pvEast);
|
|
void UpdatePositionSetpoint(float setpointNorth, float setpointEast);
|
|
void UpdateVelocitySetpoint(float setpointNorth, float setpointEast);
|
|
// void RateLimit(float *spDesired, float *spCurrent, float rateLimit);
|
|
void UpdateVelocityState(float pvNorth, float pvEast);
|
|
void UpdateCommandParameters(float minCommand, float maxCommand, float velocityFeedforward);
|
|
void ControlPosition();
|
|
void ControlPositionWithPath(struct path_status *progress);
|
|
void GetNECommand(float *northCommand, float *eastCommand);
|
|
void GetVelocityDesired(float *north, float *east);
|
|
void UpdateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
|
|
void UpdateVelocityStateWithBrake(float pvNorth, float pvEast, float path_time, float brakeRate);
|
|
|
|
private:
|
|
struct pid2 PIDvel[2]; // North, East
|
|
float mVelocitySetpointTarget[2];
|
|
float mVelocityState[2];
|
|
struct pid PIDposH[2];
|
|
float mPositionSetpointTarget[2];
|
|
float mPositionState[2];
|
|
|
|
|
|
float deltaTime;
|
|
float mVelocitySetpointCurrent[2];
|
|
float mNECommand;
|
|
float mNeutral;
|
|
float mVelocityMax;
|
|
float mMinCommand;
|
|
float mMaxCommand;
|
|
float mVelocityFeedforward;
|
|
uint8_t mActive;
|
|
};
|
|
|
|
#endif // PIDCONTROLNE_H
|