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Commit 0c63b44e authored by dawehr's avatar dawehr
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removed of from the calculations. We only want to log it for now

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quad/src/gen_diagram/network.dot
+ 12
− 12
View file @ 0c63b44e
...@@ -3,12 +3,12 @@ rankdir="LR" ...@@ -3,12 +3,12 @@ rankdir="LR"
"Roll PID"[shape=record "Roll PID"[shape=record
label="<f0>Roll PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=35.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.880]"] label="<f0>Roll PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=35.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.880]"]
"Roll" -> "Roll PID":f1 [label="Constant"] "Roll" -> "Roll PID":f1 [label="Constant"]
"RC Roll" -> "Roll PID":f2 [label="Constant"] "Yaw Correction" -> "Roll PID":f2 [label="Rotated Y"]
"Ts_IMU" -> "Roll PID":f3 [label="Constant"] "Ts_IMU" -> "Roll PID":f3 [label="Constant"]
"Pitch PID"[shape=record "Pitch PID"[shape=record
label="<f0>Pitch PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=35.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.880]"] label="<f0>Pitch PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=35.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.880]"]
"Pitch trim add" -> "Pitch PID":f1 [label="Sum"] "Pitch trim add" -> "Pitch PID":f1 [label="Sum"]
"RC Pitch" -> "Pitch PID":f2 [label="Constant"] "Yaw Correction" -> "Pitch PID":f2 [label="Rotated X"]
"Ts_IMU" -> "Pitch PID":f3 [label="Constant"] "Ts_IMU" -> "Pitch PID":f3 [label="Constant"]
"Yaw PID"[shape=record "Yaw PID"[shape=record
label="<f0>Yaw PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=2.600] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"] label="<f0>Yaw PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=2.600] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
...@@ -28,18 +28,18 @@ label="<f0>Pitch Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt | ...@@ -28,18 +28,18 @@ label="<f0>Pitch Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |
"Yaw Rate PID"[shape=record "Yaw Rate PID"[shape=record
label="<f0>Yaw Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.297] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"] label="<f0>Yaw Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.297] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"Gyro Z" -> "Yaw Rate PID":f1 [label="Constant"] "Gyro Z" -> "Yaw Rate PID":f1 [label="Constant"]
"RC Yaw" -> "Yaw Rate PID":f2 [label="Constant"] "Yaw PID" -> "Yaw Rate PID":f2 [label="Correction"]
"Ts_IMU" -> "Yaw Rate PID":f3 [label="Constant"] "Ts_IMU" -> "Yaw Rate PID":f3 [label="Constant"]
"X pos PID"[shape=record "X pos PID"[shape=record
label="<f0>X pos PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.550] |<f5> [Ki=0.007] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"] label="<f0>X pos PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.550] |<f5> [Ki=0.007] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"OF X Trim Add" -> "X pos PID":f1 [label="Sum"] "VRPN X" -> "X pos PID":f1 [label="Constant"]
"X Setpoint" -> "X pos PID":f2 [label="Constant"] "X Setpoint" -> "X pos PID":f2 [label="Constant"]
"Ts_IMU" -> "X pos PID":f3 [label="Constant"] "Ts_VRPN" -> "X pos PID":f3 [label="Constant"]
"Y pos PID"[shape=record "Y pos PID"[shape=record
label="<f0>Y pos PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.550] |<f5> [Ki=0.007] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"] label="<f0>Y pos PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.550] |<f5> [Ki=0.007] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"OF Y Trim Add" -> "Y pos PID":f1 [label="Sum"] "VRPN Y" -> "Y pos PID":f1 [label="Constant"]
"Y Setpoint" -> "Y pos PID":f2 [label="Constant"] "Y Setpoint" -> "Y pos PID":f2 [label="Constant"]
"Ts_IMU" -> "Y pos PID":f3 [label="Constant"] "Ts_VRPN" -> "Y pos PID":f3 [label="Constant"]
"Altitude PID"[shape=record "Altitude PID"[shape=record
label="<f0>Altitude PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.098] |<f5> [Ki=-0.008] |<f6> [Kd=-0.074] |<f7> [alpha=0.880]"] label="<f0>Altitude PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.098] |<f5> [Ki=-0.008] |<f6> [Kd=-0.074] |<f7> [alpha=0.880]"]
"VRPN Alt" -> "Altitude PID":f1 [label="Constant"] "VRPN Alt" -> "Altitude PID":f1 [label="Constant"]
...@@ -116,14 +116,14 @@ label="<f0>RC Yaw |<f1> [Constant=0.000]"] ...@@ -116,14 +116,14 @@ label="<f0>RC Yaw |<f1> [Constant=0.000]"]
label="<f0>RC Throttle |<f1> [Constant=0.000]"] label="<f0>RC Throttle |<f1> [Constant=0.000]"]
"X Vel PID"[shape=record "X Vel PID"[shape=record
label="<f0>X Vel PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.100] |<f5> [Ki=0.000] |<f6> [Kd=-0.020] |<f7> [alpha=0.000]"] label="<f0>X Vel PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.100] |<f5> [Ki=0.000] |<f6> [Kd=-0.020] |<f7> [alpha=0.000]"]
"OF Offset Angle" -> "X Vel PID":f1 [label="Rotated X"] "X Vel" -> "X Vel PID":f1 [label="Correction"]
"X Vel Clamp" -> "X Vel PID":f2 [label="Bounded"] "X Vel Clamp" -> "X Vel PID":f2 [label="Bounded"]
"Ts_IMU" -> "X Vel PID":f3 [label="Constant"] "Ts_VRPN" -> "X Vel PID":f3 [label="Constant"]
"Y Vel PID"[shape=record "Y Vel PID"[shape=record
label="<f0>Y Vel PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.100] |<f5> [Ki=0.000] |<f6> [Kd=0.020] |<f7> [alpha=0.000]"] label="<f0>Y Vel PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.100] |<f5> [Ki=0.000] |<f6> [Kd=0.020] |<f7> [alpha=0.000]"]
"OF Offset Angle" -> "Y Vel PID":f1 [label="Rotated Y"] "Y Vel" -> "Y Vel PID":f1 [label="Correction"]
"Y vel Clamp" -> "Y Vel PID":f2 [label="Bounded"] "Y vel Clamp" -> "Y Vel PID":f2 [label="Bounded"]
"Ts_IMU" -> "Y Vel PID":f3 [label="Constant"] "Ts_VRPN" -> "Y Vel PID":f3 [label="Constant"]
"X Vel"[shape=record "X Vel"[shape=record
label="<f0>X Vel |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=-1.000] |<f7> [alpha=0.880]"] label="<f0>X Vel |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=-1.000] |<f7> [alpha=0.880]"]
"VRPN X" -> "X Vel":f1 [label="Constant"] "VRPN X" -> "X Vel":f1 [label="Constant"]
...@@ -178,7 +178,7 @@ label="<f0>OF Y Trim Add |<f1> --\>Summand 1 |<f2> --\>Summand 2"] ...@@ -178,7 +178,7 @@ label="<f0>OF Y Trim Add |<f1> --\>Summand 1 |<f2> --\>Summand 2"]
"OF Trim Y" -> "OF Y Trim Add":f2 [label="Constant"] "OF Trim Y" -> "OF Y Trim Add":f2 [label="Constant"]
"Signal Mixer"[shape=record "Signal Mixer"[shape=record
label="<f0>Signal Mixer |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"] label="<f0>Signal Mixer |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"]
"RC Throttle" -> "Signal Mixer":f1 [label="Constant"] "T trim add" -> "Signal Mixer":f1 [label="Sum"]
"P PWM Clamp" -> "Signal Mixer":f2 [label="Bounded"] "P PWM Clamp" -> "Signal Mixer":f2 [label="Bounded"]
"R PWM Clamp" -> "Signal Mixer":f3 [label="Bounded"] "R PWM Clamp" -> "Signal Mixer":f3 [label="Bounded"]
"Y PWM Clamp" -> "Signal Mixer":f4 [label="Bounded"] "Y PWM Clamp" -> "Signal Mixer":f4 [label="Bounded"]
......
quad/src/gen_diagram/network.png
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− 0
View replaced file @ b28132f1 View file @ 0c63b44e
quad/src/gen_diagram/network.png

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quad/src/gen_diagram/network.png

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quad/src/gen_diagram/network.png
quad/src/gen_diagram/network.png
quad/src/gen_diagram/network.png
quad/src/gen_diagram/network.png
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quad/src/quad_app/control_algorithm.c
+ 12
− 8
View file @ 0c63b44e
...@@ -159,8 +159,9 @@ int control_algorithm_init(parameter_t * ps) ...@@ -159,8 +159,9 @@ int control_algorithm_init(parameter_t * ps)
graph_set_source(graph, ps->x_vel, PID_CUR_POINT, ps->vrpn_x, CONST_VAL); graph_set_source(graph, ps->x_vel, PID_CUR_POINT, ps->vrpn_x, CONST_VAL);
graph_set_source(graph, ps->x_vel, PID_SETPOINT, zero_block, CONST_VAL); graph_set_source(graph, ps->x_vel, PID_SETPOINT, zero_block, CONST_VAL);
// Connect velocity PID itself // Connect velocity PID itself
graph_set_source(graph, ps->x_vel_pid, PID_DT, ps->angle_time, CONST_VAL); graph_set_source(graph, ps->x_vel_pid, PID_DT, ps->pos_time, CONST_VAL);
graph_set_source(graph, ps->x_vel_pid, PID_CUR_POINT, ps->of_angle_corr, ROT_OUT_X); graph_set_source(graph, ps->x_vel_pid, PID_CUR_POINT, ps->x_vel, PID_CORRECTION);
//graph_set_source(graph, ps->x_vel_pid, PID_CUR_POINT, ps->of_angle_corr, ROT_OUT_X);
graph_set_source(graph, ps->x_vel_pid, PID_SETPOINT, ps->x_vel_clamp, BOUNDS_OUT); graph_set_source(graph, ps->x_vel_pid, PID_SETPOINT, ps->x_vel_clamp, BOUNDS_OUT);
graph_set_source(graph, ps->x_vel_clamp, BOUNDS_IN, ps->x_pos_pid, PID_CORRECTION); graph_set_source(graph, ps->x_vel_clamp, BOUNDS_IN, ps->x_pos_pid, PID_CORRECTION);
...@@ -177,18 +178,21 @@ int control_algorithm_init(parameter_t * ps) ...@@ -177,18 +178,21 @@ int control_algorithm_init(parameter_t * ps)
graph_set_source(graph, ps->y_vel, PID_CUR_POINT, ps->vrpn_y, CONST_VAL); graph_set_source(graph, ps->y_vel, PID_CUR_POINT, ps->vrpn_y, CONST_VAL);
graph_set_source(graph, ps->y_vel, PID_SETPOINT, zero_block, CONST_VAL); graph_set_source(graph, ps->y_vel, PID_SETPOINT, zero_block, CONST_VAL);
// Connect velocity PID itself // Connect velocity PID itself
graph_set_source(graph, ps->y_vel_pid, PID_DT, ps->angle_time, CONST_VAL); graph_set_source(graph, ps->y_vel_pid, PID_DT, ps->pos_time, CONST_VAL);
graph_set_source(graph, ps->y_vel_pid, PID_CUR_POINT, ps->of_angle_corr, ROT_OUT_Y); graph_set_source(graph, ps->y_vel_pid, PID_CUR_POINT, ps->y_vel, PID_CORRECTION);
//graph_set_source(graph, ps->y_vel_pid, PID_CUR_POINT, ps->of_angle_corr, ROT_OUT_Y);
graph_set_source(graph, ps->y_vel_pid, PID_SETPOINT, ps->y_vel_clamp, BOUNDS_OUT); graph_set_source(graph, ps->y_vel_pid, PID_SETPOINT, ps->y_vel_clamp, BOUNDS_OUT);
graph_set_source(graph, ps->y_vel_clamp, BOUNDS_IN, ps->y_pos_pid, PID_CORRECTION); graph_set_source(graph, ps->y_vel_clamp, BOUNDS_IN, ps->y_pos_pid, PID_CORRECTION);
// X position // X position
graph_set_source(graph, ps->x_pos_pid, PID_DT, ps->angle_time, CONST_VAL); graph_set_source(graph, ps->x_pos_pid, PID_DT, ps->pos_time, CONST_VAL);
graph_set_source(graph, ps->x_pos_pid, PID_CUR_POINT, ps->of_trimmed_x, CONST_VAL); graph_set_source(graph, ps->x_pos_pid, PID_CUR_POINT, ps->vrpn_x, CONST_VAL);
//graph_set_source(graph, ps->x_pos_pid, PID_CUR_POINT, ps->of_trimmed_x, CONST_VAL);
graph_set_source(graph, ps->x_pos_pid, PID_SETPOINT, ps->x_set, CONST_VAL); graph_set_source(graph, ps->x_pos_pid, PID_SETPOINT, ps->x_set, CONST_VAL);
// Y position // Y position
graph_set_source(graph, ps->y_pos_pid, PID_DT, ps->angle_time, CONST_VAL); graph_set_source(graph, ps->y_pos_pid, PID_DT, ps->pos_time, CONST_VAL);
graph_set_source(graph, ps->y_pos_pid, PID_CUR_POINT, ps->of_trimmed_y, CONST_VAL); graph_set_source(graph, ps->y_pos_pid, PID_CUR_POINT, ps->vrpn_y, CONST_VAL);
//graph_set_source(graph, ps->y_pos_pid, PID_CUR_POINT, ps->of_trimmed_y, CONST_VAL);
graph_set_source(graph, ps->y_pos_pid, PID_SETPOINT, ps->y_set, CONST_VAL); graph_set_source(graph, ps->y_pos_pid, PID_SETPOINT, ps->y_set, CONST_VAL);
// Alt autonomous // Alt autonomous
......
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