From 4b1cf027b8bf633a946037e8a375a8a13c079391 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sun, 2 Apr 2017 21:08:02 -0500
Subject: [PATCH] 1. Changed default yaw controller to be stable. 2. Switched
to level 5 IMU filter 3. logging setpoints 4. Logging for up to 5 minutes 5.
Also accounting for time spent during logging when calculating LOOP_TIME 6.
Logging during manual mode now, too.
---
quad/src/quad_app/PID.h | 2 +-
quad/src/quad_app/iic_utils.c | 2 +-
quad/src/quad_app/log_data.c | 3 +++
quad/src/quad_app/log_data.h | 2 +-
quad/src/quad_app/quad_app.c | 12 ++++++------
5 files changed, 12 insertions(+), 9 deletions(-)
diff --git a/quad/src/quad_app/PID.h b/quad/src/quad_app/PID.h
index 4c5e4b81f..5a83225b0 100644
--- a/quad/src/quad_app/PID.h
+++ b/quad/src/quad_app/PID.h
@@ -21,7 +21,7 @@
//#define YAW_ANGLE_KD 0.0f
// when using units of radians
-#define YAW_ANGULAR_VELOCITY_KP 190.0f * 2292.0f//200.0f * 2292.0f
+#define YAW_ANGULAR_VELOCITY_KP 29700//200.0f * 2292.0f
#define YAW_ANGULAR_VELOCITY_KI 0.0f
#define YAW_ANGULAR_VELOCITY_KD 0.0f
#define YAW_ANGLE_KP 2.6f
diff --git a/quad/src/quad_app/iic_utils.c b/quad/src/quad_app/iic_utils.c
index 90cdfb687..a0061e6b0 100644
--- a/quad/src/quad_app/iic_utils.c
+++ b/quad/src/quad_app/iic_utils.c
@@ -30,7 +30,7 @@ int iic0_mpu9150_start(){
// Set clock reference to Z Gyro
iic0_mpu9150_write(0x6B, 0x03);
// Configure Digital Low/High Pass filter
- iic0_mpu9150_write(0x1A,0x06); // Level 6 low pass on gyroscope
+ iic0_mpu9150_write(0x1A,0x05); // Level 5 low pass on gyroscope
// Configure Gyro to 2000dps, Accel. to +/-8G
iic0_mpu9150_write(0x1B, 0x18);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 9448fc10d..3e67c14aa 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -112,6 +112,9 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
addOutputToLog(log_struct, ps->vrpn_alt, CONST_VAL, m);
addOutputToLog(log_struct, ps->vrpn_pitch, CONST_VAL, rad);
addOutputToLog(log_struct, ps->vrpn_roll, CONST_VAL, rad);
+ addOutputToLog(log_struct, ps->x_set, CONST_VAL, m);
+ addOutputToLog(log_struct, ps->y_set, CONST_VAL, m);
+ addOutputToLog(log_struct, ps->alt_set, CONST_VAL, m);
addOutputToLog(log_struct, ps->mixer, MIXER_PWM0, pwm_val);
addOutputToLog(log_struct, ps->mixer, MIXER_PWM1, pwm_val);
addOutputToLog(log_struct, ps->mixer, MIXER_PWM2, pwm_val);
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index 34f1658d0..becc2c2e1 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -9,7 +9,7 @@
#define LOG_DATA_H_
#include "type_def.h"
-#define LOG_STARTING_SIZE 8192 //262144 // 2^18 32768 2^15
+#define LOG_STARTING_SIZE 60000 //262144 // 2^18 32768 2^15
// Maximum number of block outputs you can record, and maximum number of block parameters to record
#define MAX_LOG_NUM 50
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 1e3017328..01eabe901 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -75,15 +75,12 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// update the GUI
update_GUI(&(structs.log_struct));
- // Processing of loop timer at the end of the control loop
- timer_end_loop(&(structs.log_struct));
-
if (!this_kill_condition) {
+ // Log the data collected in this loop
+ log_data(&(structs.log_struct), &(structs.parameter_struct));
+
if(structs.user_defined_struct.flight_mode == AUTO_FLIGHT_MODE)
{
- // Log the data collected in this loop
- log_data(&(structs.log_struct), &(structs.parameter_struct));
-
static int loop_counter = 0;
loop_counter++;
@@ -113,6 +110,9 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
}
last_kill_condition = this_kill_condition;
+
+ // Processing of loop timer at the end of the control loop
+ timer_end_loop(&(structs.log_struct));
}
kill_motors(&(structs.hardware_struct.pwm_outputs));
--
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