From 53ad43d85a4ad9f41f7b7f4f4a699b166cacf159 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sun, 9 Apr 2017 21:01:01 -0500
Subject: [PATCH] Properly setting sampling time for altitude PID with LiDAR.
Fixed HW impl tests for lidar_t changes.
---
quad/src/quad_app/control_algorithm.c | 2 +-
quad/src/quad_app/log_data.c | 1 +
quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c | 6 +++---
3 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 116401c76..7c1af8196 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -131,7 +131,7 @@ int control_algorithm_init(parameter_t * ps)
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_SETPOINT, ps->y_set, CONST_VAL);
// Alt autonomous
- graph_set_source(graph, ps->alt_pid, PID_DT, ps->pos_time, CONST_VAL);
+ graph_set_source(graph, ps->alt_pid, PID_DT, ps->angle_time, CONST_VAL);
graph_set_source(graph, ps->alt_pid, PID_CUR_POINT, ps->lidar, CONST_VAL);
graph_set_source(graph, ps->alt_pid, PID_SETPOINT, ps->alt_set, CONST_VAL);
graph_set_source(graph, ps->throttle_trim_add, ADD_SUMMAND1, ps->alt_pid, PID_CORRECTION);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index e67a07539..5714d32a2 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -113,6 +113,7 @@ 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->lidar, CONST_VAL, m);
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);
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c
index eb0597de8..2a4a32c80 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c
@@ -59,10 +59,10 @@ int test_zybo_i2c() {
lidar_t lidar = { };
iic_set_globals(&i2c, &sys);
if (iic0_lidarlite_init()) return 0;
- short x;
+ float x;
while (1) {
iic0_lidarlite_read_distance(&lidar);
- x = lidar.distance_cm;
+ x = lidar.distance_m;
}
return 0;
}
@@ -136,7 +136,7 @@ int test_zybo_i2c_all() {
iic0_mpu9150_read_gam(&gam);
iic0_lidarlite_read_distance(&lidar);
- if (lidar.distance_cm > 5000) {
+ if (lidar.distance_m > 50) {
lidarErrors += 1;
}
if (gam.accel_z > -0.8) {
--
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