C++ (Cpp) setPIDController 예제들

예제 #1

파일: config.c 프로젝트: Linjieqiang/Nev_MultirotorControl

void readEEPROM(void)
{
    uint8_t i;

    // Sanity check
    if (!validEEPROM())
        failureMode(10);

    // Read flash
    memcpy(&mcfg, (char *)FLASH_WRITE_ADDR, sizeof(master_t));
    // Copy current profile
    if (mcfg.current_profile > 2) // sanity check
        mcfg.current_profile = 0;
    memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));

    for (i = 0; i < 6; i++)
        lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;

    for (i = 0; i < 11; i++) {
        int16_t tmp = 10 * i - cfg.thrMid8;
        uint8_t y = 1;
        if (tmp > 0)
            y = 100 - cfg.thrMid8;
        if (tmp < 0)
            y = cfg.thrMid8;
        lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;      // [0;1000]
        lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000;     // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
    }

    cfg.tri_yaw_middle = constrain(cfg.tri_yaw_middle, cfg.tri_yaw_min, cfg.tri_yaw_max);       //REAR
		setPIDController(cfg.pidController);
}

예제 #2

파일: config.c 프로젝트: bennyh88/cleanflight

void activateConfig(void)
{
    static imuRuntimeConfig_t imuRuntimeConfig;

    activateControlRateConfig();

    useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);

    useGyroConfig(&masterConfig.gyroConfig);
#ifdef TELEMETRY
    useTelemetryConfig(&masterConfig.telemetryConfig);
#endif
    setPIDController(currentProfile->pidController);
#ifdef GPS
    gpsUseProfile(&currentProfile->gpsProfile);
    gpsUsePIDs(&currentProfile->pidProfile);
#endif
    useFailsafeConfig(&currentProfile->failsafeConfig);
    setAccelerationTrims(&masterConfig.accZero);
    mixerUseConfigs(
            currentProfile->servoConf,
            &masterConfig.flight3DConfig,
            &masterConfig.escAndServoConfig,
            &currentProfile->mixerConfig,
            &masterConfig.airplaneConfig,
            &masterConfig.rxConfig,
            &currentProfile->gimbalConfig
            );

    imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
    imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
    imuRuntimeConfig.acc_lpf_factor = currentProfile->acc_lpf_factor;
    imuRuntimeConfig.acc_unarmedcal = currentProfile->acc_unarmedcal;;
    imuRuntimeConfig.small_angle = masterConfig.small_angle;

    configureImu(&imuRuntimeConfig, &currentProfile->pidProfile, &currentProfile->accDeadband);
    configureAltitudeHold(&currentProfile->pidProfile, &currentProfile->barometerConfig, &currentProfile->rcControlsConfig, &masterConfig.escAndServoConfig);

    calculateThrottleAngleScale(currentProfile->throttle_correction_angle);
    calculateAccZLowPassFilterRCTimeConstant(currentProfile->accz_lpf_cutoff);

#ifdef BARO
    useBarometerConfig(&currentProfile->barometerConfig);
#endif
}

예제 #3

파일: config.c 프로젝트: stormin13/cleanflight

void activateConfig(void)
{
    static imuRuntimeConfig_t imuRuntimeConfig;

    generatePitchCurve(&currentProfile.controlRateConfig);
    generateThrottleCurve(&currentProfile.controlRateConfig, &masterConfig.escAndServoConfig);

    useGyroConfig(&masterConfig.gyroConfig);
    useTelemetryConfig(&masterConfig.telemetryConfig);
    setPIDController(currentProfile.pidController);
#ifdef GPS
    gpsUseProfile(&currentProfile.gpsProfile);
    gpsUsePIDs(&currentProfile.pidProfile);
#endif
    useFailsafeConfig(&currentProfile.failsafeConfig);
    setAccelerationTrims(&masterConfig.accZero);
    mixerUseConfigs(
            currentProfile.servoConf,
            &masterConfig.flight3DConfig,
            &masterConfig.escAndServoConfig,
            &currentProfile.mixerConfig,
            &masterConfig.airplaneConfig,
            &masterConfig.rxConfig,
            &currentProfile.gimbalConfig
            );

    imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;
    imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
    imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
    imuRuntimeConfig.acc_unarmedcal = currentProfile.acc_unarmedcal;;
    imuRuntimeConfig.small_angle = masterConfig.small_angle;

    configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);

    calculateThrottleAngleScale(currentProfile.throttle_correction_angle);

#ifdef BARO
    useBarometerConfig(&currentProfile.barometerConfig);
#endif
}

예제 #4

파일: config.c 프로젝트: fandelxin/baseflight

void activateConfig(void)
{
    uint8_t i;
    for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
        lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t)cfg.rcRate8 / 2500;

    for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
        int16_t tmp = 10 * i - cfg.thrMid8;
        uint8_t y = 1;
        if (tmp > 0)
            y = 100 - cfg.thrMid8;
        if (tmp < 0)
            y = cfg.thrMid8;
        lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t)cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;
        lookupThrottleRC[i] = mcfg.minthrottle + (int32_t)(mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
    }

    setPIDController(cfg.pidController);
#ifdef GPS
    gpsSetPIDs();
#endif
}