From c34344520f3f695438eaa3e41787c179225e5e3e Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Fri, 2 Dec 2016 16:56:20 -0600
Subject: [PATCH] Support for all coefficients in frontend
---
groundStation/src/cli/cli_setpid.c | 12 ++++++------
groundStation/src/frontend/frontend_setpid.c | 19 ++++++++++++++++++-
groundStation/src/frontend/pid_common.h | 6 +++---
3 files changed, 27 insertions(+), 10 deletions(-)
diff --git a/groundStation/src/cli/cli_setpid.c b/groundStation/src/cli/cli_setpid.c
index b0ed03cf1..2fdc16fdb 100644
--- a/groundStation/src/cli/cli_setpid.c
+++ b/groundStation/src/cli/cli_setpid.c
@@ -63,19 +63,19 @@ int cli_setpid(struct backend_conn * conn, int argc, char **argv) {
} else if (setPitch) {
pid_data.controller = PID_PITCH;
} else if (setRollV) {
- pid_data.controller = PID_ROLL_VELOCITY;
+ pid_data.controller = PID_ROLL_RATE;
} else if (setPitchV) {
- pid_data.controller = PID_PITCH_VELOCITY;
+ pid_data.controller = PID_PITCH_RATE;
} else if (setYawV) {
- pid_data.controller = PID_YAW_VELOCITY;
+ pid_data.controller = PID_YAW_RATE;
} else if (setHeight) {
pid_data.controller = PID_HEIGHT;
} else if (setLong) {
- pid_data.controller = PID_LONG;
- } else if (setLat) {
pid_data.controller = PID_LAT;
+ } else if (setLat) {
+ pid_data.controller = PID_LONG;
}
frontend_setpid(conn, &pid_data, mask);
return 0;
-}
\ No newline at end of file
+}
diff --git a/groundStation/src/frontend/frontend_setpid.c b/groundStation/src/frontend/frontend_setpid.c
index 0a25d8e3c..58bf4109c 100644
--- a/groundStation/src/frontend/frontend_setpid.c
+++ b/groundStation/src/frontend/frontend_setpid.c
@@ -25,7 +25,24 @@ int frontend_setpid(
case PID_YAW:
controller = "yaw";
break;
- /* What is the "throttle" pid constant? */
+ case PID_PITCH_RATE:
+ controller = "pitchrate";
+ break;
+ case PID_ROLL_RATE:
+ controller = "rollrate";
+ break;
+ case PID_YAW_RATE:
+ controller = "yawrate";
+ break;
+ case PID_HEIGHT:
+ controller = "height";
+ break;
+ case PID_LAT:
+ controller = "lat";
+ break;
+ case PID_LONG:
+ controller = "long";
+ break;
default:
warnx("Unsupported PID constant");
return -1;
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index efa24df4a..c40c4fb42 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -5,9 +5,9 @@ enum pid_controller {
PID_PITCH,
PID_ROLL,
PID_YAW,
- PID_PITCH_VELOCITY,
- PID_ROLL_VELOCITY,
- PID_YAW_VELOCITY,
+ PID_PITCH_RATE,
+ PID_ROLL_RATE,
+ PID_YAW_RATE,
PID_HEIGHT, /* Z */
PID_LAT, /* X */
PID_LONG, /* Y */
--
GitLab