From 7dcf3bc56f584741638481d0e2fc0030e9e77724 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Tue, 18 Apr 2023 03:17:31 +0200
Subject: [PATCH] any and all changes for sdmay23 bigquad deck
---
.../src/modules/src/controller_student.c | 7 ++++---
.../src/modules/src/student_attitude_controller.c | 7 ++++---
2 files changed, 8 insertions(+), 6 deletions(-)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/controller_student.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/controller_student.c
index 634bfcc0b..86b26c562 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/controller_student.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/controller_student.c
@@ -118,7 +118,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
}
//set desired thrust
- thrustDesired = setpoint->thrust;
+ thrustDesired = setpoint->thrust/4;
// Run the attitude controller with the measured attitude and desired attitude
@@ -144,6 +144,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
if(tuning_mode == true){
if (setpoint->mode.yaw == modeVelocity) {
rateDesired.yaw = setpoint->attitudeRate.yaw;
+ attitudeDesired.roll = 3;
studentAttitudeControllerResetYawAttitudePID();
}
}
@@ -151,9 +152,9 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
//update the attitude rate PID, given the current angular rate
//read by the gyro and the desired rate
studentAttitudeControllerCorrectRatePID(sensors->gyro.x, -sensors->gyro.y, sensors->gyro.z,
- rateDesired.roll, rateDesired.pitch, rateDesired.yaw,
+ rateDesired.roll, rateDesired.pitch, setpoint->attitudeRate.yaw,
&(control->roll), &(control->pitch), &(control->yaw));
-
+ rateDesired.yaw = setpoint->attitudeRate.yaw;
//invert yaw control
control->yaw = -control->yaw;
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
index 0f4c6b300..6285f129e 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
@@ -134,13 +134,14 @@ void studentAttitudeControllerCorrectRatePID(
)
{
studentPidSetDesired(&pidRollRate, rollRateDesired);
- *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true));
+
+ *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true)/4);
studentPidSetDesired(&pidPitchRate, pitchRateDesired);
- *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true));
+ *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true)/4);
studentPidSetDesired(&pidYawRate, yawRateDesired);
- *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true));
+ *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true)/4);
}
void studentAttitudeControllerResetRollAttitudePID(void)
--
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