C++ (Cpp) VtolSelfTuningStatsGet示例

示例#1

文件： vtolflycontroller.cpp 项目： CodeMining/LibrePilot

void VtolFlyController::SettingsUpdated(void)
{
    const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;

    controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
                               vtolPathFollowerSettings->HorizontalVelPID.Ki,
                               vtolPathFollowerSettings->HorizontalVelPID.Kd,
                               vtolPathFollowerSettings->HorizontalVelPID.Beta,
                               dT,
                               vtolPathFollowerSettings->HorizontalVelMax);
    controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
    controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);

    controlDown.UpdateParameters(vtolPathFollowerSettings->VerticalVelPID.Kp,
                                 vtolPathFollowerSettings->VerticalVelPID.Ki,
                                 vtolPathFollowerSettings->VerticalVelPID.Kd,
                                 vtolPathFollowerSettings->VerticalVelPID.Beta,
                                 dT,
                                 vtolPathFollowerSettings->VerticalVelMax);
    controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);

    VtolSelfTuningStatsData vtolSelfTuningStats;
    VtolSelfTuningStatsGet(&vtolSelfTuningStats);
    controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
    controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);

    // disable neutral thrust calcs which should only be done in a hold mode.
    controlDown.DisableNeutralThrustCalc();
}

示例#2

文件： vtolflycontroller.cpp 项目： MAVProxyUser/NinjaPilot-15.02.ninja

void VtolFlyController::SettingsUpdated(void)
{
    const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;

    controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
                               vtolPathFollowerSettings->HorizontalVelPID.Ki,
                               vtolPathFollowerSettings->HorizontalVelPID.Kd,
                               vtolPathFollowerSettings->HorizontalVelPID.ILimit,
                               dT,
                               vtolPathFollowerSettings->HorizontalVelMax);
    controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
    controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);

    controlDown.UpdateParameters(vtolPathFollowerSettings->VerticalVelPID.Kp,
                                 vtolPathFollowerSettings->VerticalVelPID.Ki,
                                 vtolPathFollowerSettings->VerticalVelPID.Kd,
                                 vtolPathFollowerSettings->VerticalVelPID.ILimit, // TODO Change to BETA
                                 dT,
                                 vtolPathFollowerSettings->VerticalVelMax);
    controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);

    VtolSelfTuningStatsData vtolSelfTuningStats;
    VtolSelfTuningStatsGet(&vtolSelfTuningStats);
    controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
    controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
}