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Make max tilt and max angle rates MAVLink parameters

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Also decrease default max yaw rate to 300 degrees
This commit is contained in:
Oleg Kalachev 2025-01-10 06:00:06 +03:00
parent 0a45614751
commit 95824e3b75
2 changed files with 14 additions and 8 deletions
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18
flix/control.ino
View File

@ -29,8 +29,8 @@
#define YAW_P 3 #define YAW_P 3
#define PITCHRATE_MAX radians(360) #define PITCHRATE_MAX radians(360)
#define ROLLRATE_MAX radians(360) #define ROLLRATE_MAX radians(360)
#define YAWRATE_MAX radians(360) #define YAWRATE_MAX radians(300)
#define MAX_TILT radians(30) #define TILT_MAX radians(30)
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
@ -44,6 +44,8 @@ PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
PID rollPID(ROLL_P, ROLL_I, ROLL_D); PID rollPID(ROLL_P, ROLL_I, ROLL_D);
PID pitchPID(PITCH_P, PITCH_I, PITCH_D); PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
PID yawPID(YAW_P, 0, 0); PID yawPID(YAW_P, 0, 0);
Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
float tiltMax = TILT_MAX;
Quaternion attitudeTarget; Quaternion attitudeTarget;
Vector ratesTarget; Vector ratesTarget;
@ -83,18 +85,18 @@ void interpretRC() {
if (mode == ACRO) { if (mode == ACRO) {
yawMode = YAW_RATE; yawMode = YAW_RATE;
ratesTarget.x = controls[RC_CHANNEL_ROLL] * ROLLRATE_MAX; ratesTarget.x = controls[RC_CHANNEL_ROLL] * maxRate.x;
ratesTarget.y = controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX; ratesTarget.y = controls[RC_CHANNEL_PITCH] * maxRate.y;
ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU ratesTarget.z = -controls[RC_CHANNEL_YAW] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
} else if (mode == STAB) { } else if (mode == STAB) {
yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE; yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
attitudeTarget = Quaternion::fromEulerZYX(Vector( attitudeTarget = Quaternion::fromEulerZYX(Vector(
controls[RC_CHANNEL_ROLL] * MAX_TILT, controls[RC_CHANNEL_ROLL] * tiltMax,
controls[RC_CHANNEL_PITCH] * MAX_TILT, controls[RC_CHANNEL_PITCH] * tiltMax,
attitudeTarget.getYaw())); attitudeTarget.getYaw()));
ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU ratesTarget.z = -controls[RC_CHANNEL_YAW] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
} else if (mode == MANUAL) { } else if (mode == MANUAL) {
// passthrough mode // passthrough mode

4
flix/parameters.ino
View File

@ -36,6 +36,10 @@ Parameter parameters[] = {
{"PITCH_I", &pitchPID.i}, {"PITCH_I", &pitchPID.i},
{"PITCH_D", &pitchPID.d}, {"PITCH_D", &pitchPID.d},
{"YAW_P", &yawPID.p}, {"YAW_P", &yawPID.p},
{"PITCHRATE_MAX", &maxRate.y},
{"ROLLRATE_MAX", &maxRate.x},
{"YAWRATE_MAX", &maxRate.z},
{"TILT_MAX", &tiltMax},
// imu // imu
{"ACC_BIAS_X", &accBias.x}, {"ACC_BIAS_X", &accBias.x},
{"ACC_BIAS_Y", &accBias.y}, {"ACC_BIAS_Y", &accBias.y},