Commit 7e63efd1 authored by Ian McInerney's avatar Ian McInerney

More LQI controller matrices

parent 846e56be
......@@ -27,12 +27,14 @@ PLATFORM ?= CF2
SENSORS ?= stock
ESTIMATOR ?= complementary
COMPUTATION ?= localization
CONTROLLER ?= pid
#CONTROLLER ?= lqi
#CONTROLLER ?= pid
CONTROLLER ?= lqi
POWER_DISTRIBUTION ?= stock
LPS_TDMA_ENABLE = 1
#CFLAGS += -DTDMA_NSLOTS_BITS=3 -DTDMA_SLOT=3
ifeq ($(PLATFORM), CF1)
OPENOCD_TARGET ?= target/stm32f1x_stlink.cfg
USE_FPU = 0
......
......@@ -105,11 +105,42 @@ float K[4][16] = {
{ 0.000, 0.000, 0.000, 0.000, 0.000, 5654.404, 0.000, 0.000, 0.000, 0.000, 0.000, 10056.385, 0.000, 0.000, 0.000, -100.000 }
};*/
/* Decent Z, but a lot os oscillation on the X & Y and angles
float K[4][16] = {
{ 0.000, 0.000, -8171.783, 0.000, 0.000, 0.000, 0.000, 0.000, -7608.177, 0.000, 0.000, 0.000, 0.000, 0.000, 100.000, 0.000 },
{ 0.000, 3194.482, 0.000, 1390.027, 0.000, 0.000, 0.000, 3555.132, 0.000, 9043.023, 0.000, 0.000, 0.000, -1000.000, 0.000, 0.000 },
{ -3197.213, 0.000, 0.000, 0.000, 1396.188, 0.000, -3555.900, 0.000, 0.000, 0.000, 9066.888, 0.000, 1000.000, 0.000, 0.000, 0.000 },
{ 0.000, 0.000, 0.000, 0.000, 0.000, 5952.081, 0.000, 0.000, 0.000, 0.000, 0.000, 15039.628, 0.000, 0.000, 0.000, -100.000 }
};*/
/* Removed oscillation on angles
float K[4][16] = {
{ 0.000, 0.000, -8171.783, 0.000, 0.000, 0.000, 0.000, 0.000, -7608.177, 0.000, 0.000, 0.000, 0.000, 0.000, 100.000, 0.000 },
{ 0.000, 2648.399, 0.000, 2295.351, 0.000, 0.000, 0.000, 3208.862, 0.000, 6008.080, 0.000, 0.000, 0.000, -1000.000, 0.000, 0.000 },
{ -2650.308, 0.000, 0.000, 0.000, 2297.779, 0.000, -3209.457, 0.000, 0.000, 0.000, 6023.184, 0.000, 1000.000, 0.000, 0.000, 0.000 },
{ 0.000, 0.000, 0.000, 0.000, 0.000, 5952.081, 0.000, 0.000, 0.000, 0.000, 0.000, 15039.628, 0.000, 0.000, 0.000, -100.000 }
};*/
/*
float K[4][16] = {
{ 0.000, 0.000, -8171.783, 0.000, 0.000, 0.000, 0.000, 0.000, -7608.177, 0.000, 0.000, 0.000, 0.000, 0.000, 100.000, 0.000 },
{ 0.000, 4571.021, 0.000, 2328.002, 0.000, 0.000, 0.000, 4259.348, 0.000, 6699.197, 0.000, 0.000, 0.000, -1000.000, 0.000, 0.000 },
{ -4573.488, 0.000, 0.000, 0.000, 2331.100, 0.000, -4259.927, 0.000, 0.000, 0.000, 6724.994, 0.000, 1000.000, 0.000, 0.000, 0.000 },
{ 0.000, 0.000, 0.000, 0.000, 0.000, 5952.081, 0.000, 0.000, 0.000, 0.000, 0.000, 15039.628, 0.000, 0.000, 0.000, -100.000 }
};*/
/*float K[4][16] = {
{ 0.000, 0.000, -8171.783, 0.000, 0.000, 0.000, 0.000, 0.000, -7608.177, 0.000, 0.000, 0.000, 0.000, 0.000, 100.000, 0.000 },
{ 0.000, 6498.151, 0.000, 3249.373, 0.000, 0.000, 0.000, 5098.657, 0.000, 7234.794, 0.000, 0.000, 0.000, -1000.000, 0.000, 0.000 },
{ -4527.843, 0.000, 0.000, 0.000, 3232.260, 0.000, -4249.198, 0.000, 0.000, 0.000, 6686.306, 0.000, 1000.000, 0.000, 0.000, 0.000 },
{ 0.000, 0.000, 0.000, 0.000, 0.000, 5952.081, 0.000, 0.000, 0.000, 0.000, 0.000, 15039.628, 0.000, 0.000, 0.000, -100.000 }
};*/
float K[4][16] = {
{ 0.000, 0.000, -8345.105, 0.000, 0.000, 0.000, 0.000, 0.000, -8037.108, 0.000, 0.000, 0.000, 0.000, 0.000, 500.000, 0.000 },
{ 0.000, 6604.037, 0.000, 2400.728, 0.000, 0.000, 0.000, 5119.382, 0.000, 8173.638, 0.000, 0.000, 0.000, -1000.000, 0.000, 0.000 },
{ -4585.428, 0.000, 0.000, 0.000, 2340.517, 0.000, -4262.729, 0.000, 0.000, 0.000, 6825.156, 0.000, 1000.000, 0.000, 0.000, 0.000 },
{ 0.000, 0.000, 0.000, 0.000, 0.000, 5952.081, 0.000, 0.000, 0.000, 0.000, 0.000, 15039.628, 0.000, 0.000, 0.000, -100.000 }
};
static float integrators[4];
......
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