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Раджаб Бисултанов
2026-03-23 12:31:59 +03:00
parent c3a7907e16
commit 8e69ab9cdc
2 changed files with 16 additions and 16 deletions
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26
Source/Control/Src/attitude.c
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@@ -10,13 +10,13 @@ static Vector3 gyro_bias = {};
volatile uint8_t imu_update_flag = 0;
volatile uint8_t pid_update_flag = 0;
float angle_kp_roll = 2.5f;
float angle_kp_pitch = 2.5f;
float angle_kp_roll = 2.5f;
float angle_kp_yaw = 2.0f;
pid_t pid_roll = {.kp = 0.6f, .ki = 0.0f, .kd = 0.025f};
pid_t pid_pitch = {.kp = 0.6f, .ki = 0.0f, .kd = 0.025f};
pid_t pid_yaw = {.kp = 1.8f, .ki = 0.6f, .kd = 0.0f};
pid_t pid_roll = {.kp = 0.6f, .ki = 0.0f, .kd = 0.025f};
pid_t pid_yaw = {.kp = 0.6f, .ki = 0.0f, .kd = 0.0f};
/*int16_t desired_roll = 0;
int16_t desired_pitch = 0;
@@ -51,7 +51,7 @@ void attitude_estimator_update(attitude_t* att, const imu_scaled_t* imu)
float norm = sqrtf(accel.x*accel.x + accel.y*accel.y + accel.z*accel.z);
if (norm > 0.0001f)
if (norm > 0.00000000001f)
{
accel.x /= norm;
accel.y /= norm;
@@ -104,8 +104,8 @@ void attitude_controller_update(control_channels_t* control, const rc_channels*
Vector3 desired_rate =
{
angle_error.x * angle_kp_roll,
angle_error.y * angle_kp_pitch,
angle_error.x * angle_kp_pitch,
angle_error.y * angle_kp_roll,
angle_error.z * angle_kp_yaw
};
@@ -113,24 +113,24 @@ void attitude_controller_update(control_channels_t* control, const rc_channels*
desired_rate.y = constrain(desired_rate.y, -RATE_LIM, RATE_LIM);
desired_rate.z = constrain(desired_rate.z, -RATE_LIM, RATE_LIM);
float roll_error = desired_rate.x - att->gyro.x;
float pitch_error = desired_rate.y - att->gyro.y;
float pitch_error = desired_rate.x - att->gyro.x;
float roll_error = desired_rate.y - att->gyro.y;
float yaw_error = desired_rate.z - att->gyro.z;
control->roll = pid_update(&pid_roll, roll_error, att->gyro.x, IMU_DT);
control->pitch = pid_update(&pid_pitch, pitch_error, att->gyro.y, IMU_DT);
control->pitch = pid_update(&pid_pitch, pitch_error, att->gyro.x, IMU_DT);
control->roll = pid_update(&pid_roll, roll_error, att->gyro.y, IMU_DT);
control->yaw = pid_update(&pid_yaw, yaw_error, att->gyro.z, IMU_DT);
}
Quaternion rx_to_quaternion(const rc_channels* rx)
{
float roll = int_mapping(rx->rc_roll, -500, 500, -45, 45) * DEG2RAD;
float pitch = int_mapping(rx->rc_pitch, -500, 500, -45, 45) * DEG2RAD;
float roll = int_mapping(rx->rc_roll, -500, 500, -45, 45) * DEG2RAD;
float yaw = 0;
Vector3 rpy = {roll, pitch, yaw};
Vector3 pry = {pitch, roll, yaw};
return QuatCreateFromEuler(&rpy);
return QuatCreateFromEuler(&pry);
}
Vector3 gravity_from_quat(const Quaternion* q)