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AC_CustomControl: correct error due to changes in PID interface #24043

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merged 2 commits into from Jun 20, 2023
Merged

AC_CustomControl: correct error due to changes in PID interface #24043

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0a3c5e5
libraries:AC_CustomControl: correct error due to changes in PID inter…
xianglunkai Jun 13, 2023
851732b
AC_CustomControl_PID: set false to avoid hitting limits
xianglunkai Jun 15, 2023
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13 changes: 7 additions & 6 deletions libraries/AC_CustomControl/AC_CustomControl_PID.cpp
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Expand Up @@ -239,10 +239,11 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_V
_p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
_p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
_p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
_pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
_pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
_pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
_pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
_pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
_pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
{
_dt = dt;
AP_Param::setup_object_defaults(this, var_info);
}

Expand Down Expand Up @@ -289,9 +290,9 @@ Vector3f AC_CustomControl_PID::update()
// run rate controller
Vector3f gyro_latest = _ahrs->get_gyro_latest();
Vector3f motor_out;
motor_out.x = _pid_atti_rate_roll.update_all(target_rate[0], gyro_latest[0], 1);
motor_out.y = _pid_atti_rate_pitch.update_all(target_rate[1], gyro_latest[1], 1);
motor_out.z = _pid_atti_rate_yaw.update_all(target_rate[2], gyro_latest[2], 1);
motor_out.x = _pid_atti_rate_roll.update_all(target_rate[0], gyro_latest[0], _dt, false);
motor_out.y = _pid_atti_rate_pitch.update_all(target_rate[1], gyro_latest[1], _dt, false);
motor_out.z = _pid_atti_rate_yaw.update_all(target_rate[2], gyro_latest[2], _dt, false);

return motor_out;
}
Expand Down
1 change: 1 addition & 0 deletions libraries/AC_CustomControl/AC_CustomControl_PID.h
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Expand Up @@ -26,6 +26,7 @@ class AC_CustomControl_PID : public AC_CustomControl_Backend {

protected:
// put controller related variable here
float _dt;

// angle P controller objects
AC_P _p_angle_roll2;
Expand Down