void SimplePidStandardForm::updateParameters()
{
// iTime = pGain/iGain
// dTime = dGain/pGain
// Integral time has no effect if integral gain is zero, leave unchanged
if (getIGain() != 0)
iTime = getPGain() / getIGain();
// Derivative time has no effect if proportional gain is zero, leave unchanged
if (getPGain() != 0)
dTime = getDGain() / getPGain();
}
void CommanderCallBack(super_modified_servo::commanderConfig &config, uint32_t level)
{
if (config.command == "search")
{
for (motor_id = 4; motor_id < MaxNumSMS; motor_id++)
{
start(fd, motor_id);
sleep(1);
printf("Start Node ID %d\n", motor_id);
if (getCommunicationSuccess())
printf("ID is %d\n", motor_id);
resetErrors(fd, motor_id);
sleep(1);
stop(fd, motor_id);
printf("Stop Node ID %d\n", motor_id);
}
}
if (config.command == "start")
{
printf("[INFO] Start\n");
start(fd, motor_id);
start_flag = true;
}
if (config.command == "stop")
{
printf("[INFO] Stop\n");
stop(fd, motor_id);
start_flag = false;
}
if (config.command == "reset")
{
printf("[INFO] Reset\n");
stop(fd, motor_id);
sleep(1);
start(fd, motor_id);
}
if (config.command == "setID")
{
printf("[INFO] Set ID: %d\n", new_motor_id);
setNodeId(fd, motor_id, new_motor_id);
printf("[INFO] Disconnect the servo\n");
}
if (config.command == "setBaud")
{
printf("[INFO] Set baud rate: %d\n", baudRate);
setBaudRate(fd, motor_id, baudRate);
printf("[INFO] Disconnect the servo\n");
printf("[INFO] Change the bad rate in serialPortOpen function");
}
if (config.command == "error_reaction")
{
printf("[INFO] Error reaction\n");
uint8_t resp[20];
uint8_t errorReaction[20] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x02,
0x02, 0x01};
setErrorReaction(fd, motor_id, errorReaction);
sleep(3);
if (getCommunicationSuccess() == false)
{
resetErrors(fd, motor_id);;
printf("[ERROR]: %d \n", getWarning());
}
getErrorReaction(fd, motor_id, resp);
for (int i=0; i<20; i++)
printf("D[%d]: %d\n", i, resp[i]);
}
if (config.command == "setGain")
{
printf("[INFO] Set Gain: \n");
setPGain(fd, motor_id, kp);
setIGain(fd, motor_id, ki);
setDGain(fd, motor_id, kd);
printf("[INFO] kp %d \n", getPGain(fd, motor_id));
printf("[INFO] ki %d \n", getIGain(fd, motor_id));
printf("[INFO] kd %d \n", getDGain(fd, motor_id));
}
if (config.command == "getGain")
{
printf("[INFO] kp %d \n", getPGain(fd, motor_id));
printf("[INFO] ki %d \n", getIGain(fd, motor_id));
printf("[INFO] kd %d \n", getDGain(fd, motor_id));
}
motor_id = config.motor_id;
new_motor_id = config.new_motor_id;
baudRate = config.baudRate;
kp = config.p_gain;
ki = config.i_gain;
kd = config.d_gain;
set_point = config.set_point;
}
short processRadioMessages(char *buf, short lenth) {
short cmdIndex = -1;
char cmd[lenth];
char token2[lenth];
short i = 0;
short changeLeve = 0;
short parameter = 0;
float parameterF = 0.0;
float rollSpShift = 0;
float pitchSpShift = 0;
float yawShiftValue = 0;
float throttlePercentage = 0;
static unsigned long radio_last_tv3 = 0;
#if 0
unsigned long tv=millis();
Serial.println(tv-radio_last_tv3);
radio_last_tv3=tv;
// Serial.println(buf);
#endif
resetPacketAccCounter();
memset(cmd, '\0', sizeof(cmd));
for (i = 1; buf[i] != '#'; i++) {
cmd[i - 1] = buf[i];
}
qToken(cmd, token2,lenth, 0);
cmdIndex = atoi(token2);
switch (cmdIndex) {
case ON_OFF_FLY_SYSTEM_MESSAGE:
qToken(cmd, token2,lenth,ON_OFF_FLY);
parameter = atoi(token2);
if (1 == parameter) {
enableFlySystem();
} else {
disenableFlySystem();
}
break;
case PILOT_CONTROL_MESSAGE:
// printf("%s\n",buf);
qToken(cmd, token2,lenth, THROTTLE_LEVEL);
parameter = atoi(token2);
qToken(cmd, token2,lenth, ROLL_SP_SHIFT);
rollSpShift = atof(token2);
qToken(cmd, token2,lenth, PITCH_SP_SHIFT);
pitchSpShift = atof(token2);
qToken(cmd, token2,lenth, YAW_SP_SHIFT);
yawShiftValue = atof(token2);
//printf("factor=%d\n",(int)(((float)(parameter-100)/(float)100)*(float)(MAX_POWER_LEVEL-MIN_POWER_LEVEL)));
//printf("parameter=%d\n",parameter);
throttlePercentage = (float)parameter / 100.f;
parameter = getMinPowerLevel()
+ (int) (throttlePercentage
* (float) (getMaxPowerLeve()
- getMinPowerLevel())); /*(100~200)*10=1000~2000 us*/
//printf("getMaxPowerLeveRange()- getMinPowerLeveRange()=%f\n",getMaxPowerLeve()- getMinPowerLevel());
//printf("parameter=%d\n",parameter);
if (parameter > getMaxPowerLeve()
|| parameter < getMinPowerLevel()) {
printf( "break\n");
break;
}
if (true == flySystemIsEnable()) {
setThrottlePowerLevel(parameter);
if (getMinPowerLevel() == parameter) {
//printf("STOP\n");
resetPidRecord(&rollAttitudePidSettings);
resetPidRecord(&pitchAttitudePidSettings);
resetPidRecord(&yawAttitudePidSettings);
resetPidRecord(&rollRatePidSettings);
resetPidRecord(&pitchRatePidSettings);
resetPidRecord(&yawRatePidSettings);
setYawCenterPoint(0);
setPidSp(&yawAttitudePidSettings, 321.0);
} else {
if (getPidSp(&yawAttitudePidSettings) == 321.0) {
printf( "START Flying\n");
setYawCenterPoint(getYaw());
setPidSp(&yawAttitudePidSettings, 0);
}
setPidSp(&rollAttitudePidSettings,
LIMIT_MIN_MAX_VALUE(rollSpShift, -getAngularLimit(),
getAngularLimit()));
setPidSp(&pitchAttitudePidSettings,
LIMIT_MIN_MAX_VALUE(pitchSpShift, -getAngularLimit(),
getAngularLimit()));
setYawCenterPoint(getYawCenterPoint() + (yawShiftValue * 1.0));
}
}
//printf("throttle=%d roll=%f pitch=%f\n",parameter,rollSpShift,pitchSpShift);
break;
case SYSTEM_SETTING_MESSAGE:
printf( "%s " , buf);
qToken(cmd, token2,lenth, ANAGULAR_VELOVITY_LIMIT);
parameterF = atof(token2);
if (parameterF == 0) {
parameterF = 1;
}
setGyroLimit(parameterF);
printf( "Angular Velocity Limit: %4.3f\n",getGyroLimit());
/***/
qToken(cmd, token2,lenth, ROLL_CALIBRATION);
parameterF = atof(token2);
setPidSpShift(&rollAttitudePidSettings, parameterF);
printf( "Roll Angular Calibration: %4.3f\n",getPidSpShift(&rollAttitudePidSettings));
/***/
qToken(cmd, token2,lenth, PITCH_CALIBRATION);
parameterF = atof(token2);
setPidSpShift(&pitchAttitudePidSettings, parameterF);
printf( "Pitch Angular Calibration: %4.3f\n",getPidSpShift(&pitchAttitudePidSettings));
break;
case PID_SETTING_MESSAGE:
printf("%s\n", buf);
qToken(cmd, token2,lenth, ATTITUDE_ROLL_P);
parameterF = atof(token2);
setPGain(&rollAttitudePidSettings, parameterF);
printf( "Attitude Roll P Gain=%f\n", getPGain(&rollAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_ROLL_I);
parameterF = atof(token2);
setIGain(&rollAttitudePidSettings, parameterF);
printf("Attitude Roll I Gain=%f\n", getIGain(&rollAttitudePidSettings));
qToken(cmd, token2,lenth,ATTITUDE_ROLL_I_LIMIT );
parameterF = atof(token2);
setILimit(&rollAttitudePidSettings, parameterF);
printf( "Attitude Roll I Output Limit=%f\n",
getILimit(&rollAttitudePidSettings));
qToken(cmd, token2,lenth,ATTITUDE_ROLL_D );
parameterF = atof(token2);
setDGain(&rollAttitudePidSettings, parameterF);
printf("Attitude Roll D Gain=%f\n", getDGain(&rollAttitudePidSettings));
qToken(cmd, token2,lenth,ATTITUDE_PITCH_P );
parameterF = atof(token2);
setPGain(&pitchAttitudePidSettings, parameterF);
printf( "Attitude Pitch P Gain=%f\n", getPGain(&pitchAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_PITCH_I);
parameterF = atof(token2);
setIGain(&pitchAttitudePidSettings, parameterF);
printf( "Attitude Pitch I Gain=%f\n", getIGain(&pitchAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_PITCH_I_LIMIT);
parameterF = atof(token2);
setILimit(&pitchAttitudePidSettings, parameterF);
printf( "Attitude Pitch I Output Limit=%f\n",
getILimit(&pitchAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_PITCH_D);
parameterF = atof(token2);
setDGain(&pitchAttitudePidSettings, parameterF);
printf( "Attitude Pitch D Gain=%f\n", getDGain(&pitchAttitudePidSettings));
qToken(cmd, token2,lenth,ATTITUDE_YAW_P );
parameterF = atof(token2);
setPGain(&yawAttitudePidSettings, parameterF);
printf( "Attitude Yaw P Gain=%f\n", getPGain(&yawAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_YAW_I);
parameterF = atof(token2);
setIGain(&yawAttitudePidSettings, parameterF);
printf( "Attitude Yaw I Gain=%f\n", getIGain(&yawAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_YAW_I_LIMIT);
parameterF = atof(token2);
setILimit(&yawAttitudePidSettings, parameterF);
printf( "Attitude Yaw I Output Limit=%f\n", getILimit(&yawAttitudePidSettings));
qToken(cmd, token2,lenth, ATTITUDE_YAW_D);
parameterF = atof(token2);
setDGain(&yawAttitudePidSettings, parameterF);
printf( "Attitude Yaw D Gain=%f\n", getDGain(&yawAttitudePidSettings));
qToken(cmd, token2,lenth, RATE_ROLL_P);
parameterF = atof(token2);
setPGain(&rollRatePidSettings, parameterF);
printf( "Rate Roll P Gain=%f\n", getPGain(&rollRatePidSettings));
qToken(cmd, token2,lenth, RATE_ROLL_I);
parameterF = atof(token2);
setIGain(&rollRatePidSettings, parameterF);
printf( "Rate Roll I Gain=%f\n", getIGain(&rollRatePidSettings));
qToken(cmd, token2,lenth, RATE_ROLL_I_LIMIT);
parameterF = atof(token2);
setILimit(&rollRatePidSettings, parameterF);
printf( "Rate Roll I Output Limit=%f\n",
getILimit(&rollRatePidSettings));
qToken(cmd, token2,lenth,RATE_ROLL_D);
parameterF = atof(token2);
setDGain(&rollRatePidSettings, parameterF);
printf( "Rate Roll D Gain=%f\n", getDGain(&rollRatePidSettings));
qToken(cmd, token2,lenth,RATE_PITCH_P );
parameterF = atof(token2);
setPGain(&pitchRatePidSettings, parameterF);
printf( "Rate Pitch P Gain=%f\n", getPGain(&pitchRatePidSettings));
qToken(cmd, token2,lenth,RATE_PITCH_I );
parameterF = atof(token2);
setIGain(&pitchRatePidSettings, parameterF);
printf( "Rate Pitch I Gain=%f\n", getIGain(&pitchRatePidSettings));
qToken(cmd, token2,lenth,RATE_PITCH_I_LIMIT );
parameterF = atof(token2);
setILimit(&pitchRatePidSettings, parameterF);
printf( "Rate Pitch I Output Limit=%f\n",
getILimit(&pitchRatePidSettings));
qToken(cmd, token2,lenth, RATE_PITCH_D);
parameterF = atof(token2);
setDGain(&pitchRatePidSettings, parameterF);
printf( "Rate Pitch D Gain=%f\n", getDGain(&pitchRatePidSettings));
qToken(cmd, token2,lenth,RATE_YAW_P );
parameterF = atof(token2);
setPGain(&yawRatePidSettings, parameterF);
printf( "Rate Yaw P Gain=%f\n", getPGain(&yawRatePidSettings));
qToken(cmd, token2,lenth, RATE_YAW_I);
parameterF = atof(token2);
setIGain(&yawRatePidSettings, parameterF);
printf( "Rate Yaw I Gain=%f\n", getIGain(&yawRatePidSettings));
qToken(cmd, token2,lenth,RATE_YAW_I_LIMIT );
parameterF = atof(token2);
setILimit(&yawRatePidSettings, parameterF);
printf("Rate Yaw I Output Limit=%f\n",
getILimit(&yawRatePidSettings));
qToken(cmd, token2,lenth, RATE_YAW_D);
parameterF = atof(token2);
setDGain(&yawRatePidSettings, parameterF);
printf( "Rate Yaw D Gain=%f\n", getDGain(&yawRatePidSettings));
break;
default:
printf("unknow message\n");
}
}
