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Commit bd6c3734 authored by ucart's avatar ucart
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Merge branch 'master' of https://git.ece.iastate.edu/danc/MicroCART_17-18

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quad/src/gen_diagram/network.dot
+ 25
− 16
View file @ bd6c3734
......@@ -12,9 +12,9 @@ label="<f0>Pitch PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4>
"Ts_IMU" -> "Pitch PID":f3 [label="Constant"]
"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]"]
"PSI Sum" -> "Yaw PID":f1 [label="Sum"]
"Yaw" -> "Yaw PID":f1 [label="Constant"]
"Yaw Setpoint" -> "Yaw PID":f2 [label="Constant"]
"Ts_IMU" -> "Yaw PID":f3 [label="Constant"]
"Ts_VRPN" -> "Yaw PID":f3 [label="Constant"]
"Roll Rate PID"[shape=record
label="<f0>Roll Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.030] |<f5> [Ki=0.000] |<f6> [Kd=0.005] |<f7> [alpha=0.880]"]
"Gyro X" -> "Roll Rate PID":f1 [label="Constant"]
......@@ -32,19 +32,19 @@ label="<f0>Yaw Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f
"Ts_IMU" -> "Yaw Rate PID":f3 [label="Constant"]
"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]"]
"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"]
"Ts_IMU" -> "X pos PID":f3 [label="Constant"]
"Ts_VRPN" -> "X pos PID":f3 [label="Constant"]
"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]"]
"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"]
"Ts_IMU" -> "Y pos PID":f3 [label="Constant"]
"Ts_VRPN" -> "Y pos PID":f3 [label="Constant"]
"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]"]
"Lidar" -> "Altitude PID":f1 [label="Constant"]
"VRPN Alt" -> "Altitude PID":f1 [label="Constant"]
"Alt Setpoint" -> "Altitude PID":f2 [label="Constant"]
"Ts_IMU" -> "Altitude PID":f3 [label="Constant"]
"Ts_VRPN" -> "Altitude PID":f3 [label="Constant"]
"X Setpoint"[shape=record
label="<f0>X Setpoint |<f1> [Constant=0.000]"]
"Y Setpoint"[shape=record
......@@ -100,6 +100,9 @@ label="<f0>R PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20
"Y PWM Clamp"[shape=record
label="<f0>Y PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Yaw Rate PID" -> "Y PWM Clamp":f1 [label="Correction"]
"Yaw Rate Clamp"[shape=record
label="<f0>Yaw Rate Clamp |<f1> --\>Bounds in |<f2> [Min=-1.000] |<f3> [Max=1.000]"]
"Yaw PID" -> "Yaw Rate Clamp":f1 [label="Correction"]
"VRPN X"[shape=record
label="<f0>VRPN X |<f1> [Constant=0.000]"]
"VRPN Y"[shape=record
......@@ -120,18 +123,24 @@ label="<f0>RC Yaw |<f1> [Constant=0.000]"]
label="<f0>RC Throttle |<f1> [Constant=0.000]"]
"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]"]
"Flow Vel X Filt" -> "X Vel PID":f1 [label="Constant"]
"X Vel" -> "X Vel PID":f1 [label="Correction"]
"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
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]"]
"Flow Vel Y Filt" -> "Y Vel PID":f1 [label="Constant"]
"Y Vel" -> "Y Vel PID":f1 [label="Correction"]
"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
label="<f0>X Vel |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<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"]
"zero" -> "X Vel":f2 [label="Constant"]
"Ts_VRPN" -> "X Vel":f3 [label="Constant"]
"Y Vel"[shape=record
label="<f0>Y Vel |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.880]"]
label="<f0>Y 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 Y" -> "Y Vel":f1 [label="Constant"]
"zero" -> "Y Vel":f2 [label="Constant"]
"Ts_VRPN" -> "Y Vel":f3 [label="Constant"]
"X Vel Clamp"[shape=record
label="<f0>X Vel Clamp |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]"]
"X pos PID" -> "X Vel Clamp":f1 [label="Correction"]
......@@ -140,12 +149,12 @@ label="<f0>Y vel Clamp |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]
"Y pos PID" -> "Y vel Clamp":f1 [label="Correction"]
"Yaw Correction"[shape=record
label="<f0>Yaw Correction |<f1> --\>Current Yaw |<f2> --\>X Position |<f3> --\>Y Position"]
"PSI Sum" -> "Yaw Correction":f1 [label="Sum"]
"Yaw" -> "Yaw Correction":f1 [label="Constant"]
"X Vel PID" -> "Yaw Correction":f2 [label="Correction"]
"Y Vel PID" -> "Yaw Correction":f3 [label="Correction"]
"OF Offset Angle"[shape=record
label="<f0>OF Offset Angle |<f1> --\>Current Yaw |<f2> --\>X Position |<f3> --\>Y Position"]
"PSI Sum" -> "OF Offset Angle":f1 [label="Sum"]
"Yaw" -> "OF Offset Angle":f1 [label="Constant"]
"Flow Vel X" -> "OF Offset Angle":f2 [label="Constant"]
"Flow Vel Y" -> "OF Offset Angle":f3 [label="Constant"]
"OF Integrate X"[shape=record
......
quad/src/gen_diagram/network.png
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View replaced file @ 6b5ab0b2 View file @ bd6c3734
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
+ 13
− 6
View file @ bd6c3734
......@@ -13,10 +13,10 @@
#include "util.h"
#include "timer.h"
#define USE_LIDAR
#define USE_OF
#define USE_GYRO_YAW
#define NO_VRPN
//#define USE_LIDAR
//#define USE_OF
//#define USE_GYRO_YAW
//#define NO_VRPN
//10 degrees
#define ANGLE_CLAMP (0.1745)
......@@ -33,7 +33,7 @@ void connect_autonomous(parameter_t* ps) {
//graph_set_source(graph, ps->roll_pid, PID_SETPOINT, ps->y_pos_pid, PID_CORRECTION);
graph_set_source(graph, ps->pitch_pid, PID_SETPOINT, ps->yaw_correction, ROT_OUT_X);
graph_set_source(graph, ps->roll_pid, PID_SETPOINT, ps->yaw_correction, ROT_OUT_Y);
graph_set_source(graph, ps->yaw_r_pid, PID_SETPOINT, ps->yaw_pid, PID_CORRECTION);
graph_set_source(graph, ps->yaw_r_pid, PID_SETPOINT, ps->yaw_clamp, BOUNDS_OUT);
#ifdef USE_OF
//graph_set_source(graph, ps->mixer, MIXER_THROTTLE, ps->rc_throttle, ADD_SUM);
graph_set_source(graph, ps->mixer, MIXER_THROTTLE, ps->throttle_trim_add, ADD_SUM);
......@@ -95,6 +95,9 @@ int control_algorithm_init(parameter_t * ps)
ps->clamp_d_pwmR = graph_add_defined_block(graph, BLOCK_BOUNDS, "R PWM Clamp");
ps->clamp_d_pwmY = graph_add_defined_block(graph, BLOCK_BOUNDS, "Y PWM Clamp");
// Yaw clamp
ps->yaw_clamp = graph_add_defined_block(graph, BLOCK_BOUNDS, "Yaw Rate Clamp");
// Create blocks for VRPN data
ps->vrpn_x = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN X");
ps->vrpn_y = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN Y");
......@@ -168,7 +171,7 @@ int control_algorithm_init(parameter_t * ps)
graph_set_source(graph, ps->roll_pid, PID_DT, ps->angle_time, CONST_VAL);
// Connect yaw PID chain
graph_set_source(graph, ps->yaw_r_pid, PID_SETPOINT, ps->rc_yaw, PID_CORRECTION);
graph_set_source(graph, ps->yaw_clamp, BOUNDS_IN, ps->yaw_pid, PID_CORRECTION);
graph_set_source(graph, ps->yaw_r_pid, PID_CUR_POINT, ps->gyro_z, CONST_VAL);
graph_set_source(graph, ps->yaw_r_pid, PID_DT, ps->angle_time, CONST_VAL);
......@@ -362,6 +365,10 @@ int control_algorithm_init(parameter_t * ps)
graph_set_param_val(graph, ps->y_vel_clamp, BOUNDS_MIN, -VEL_CLAMP);
graph_set_param_val(graph, ps->y_vel_clamp, BOUNDS_MAX, VEL_CLAMP);
// Set yaw clamping limits
graph_set_param_val(graph, ps->yaw_clamp, BOUNDS_MIN, -1.5);
graph_set_param_val(graph, ps->yaw_clamp, BOUNDS_MAX, 1.5);
// Set trims
graph_set_param_val(graph, ps->pitch_trim, CONST_SET, PITCH_TRIM);
......
quad/src/quad_app/type_def.h
+ 1
− 0
View file @ bd6c3734
......@@ -392,6 +392,7 @@ typedef struct parameter_t {
int clamp_d_pwmP;
int clamp_d_pwmR;
int clamp_d_pwmY;
int yaw_clamp;
// Loop times
int angle_time;
int pos_time;
......
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