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Merge pull request #2 from gsilano/fix/controller
CrazyS improvements and bug fixing into the control architecture
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| Original file line number | Diff line number | Diff line change |
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| <package> | ||
| <name>rotors_comm</name> | ||
| <version>2.1.1</version> | ||
| <version>4.0.3</version> | ||
| <description>RotorS specific messages and services.</description> | ||
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| <maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
| <maintainer email="[email protected]">Luigi Iannelli</maintainer> | ||
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| <author>Fadri Furrer</author> | ||
| <author>Michael Burri</author> | ||
| <author>Mina Kamel</author> | ||
| <author>Janosch Nikolic</author> | ||
| <author>Markus Achtelik</author> | ||
| <author>Giuseppe Silano</author> | ||
| <author>Emanuele Aucone</author> | ||
| <author>Benjamin Rodriguez</author> | ||
| <author>Luigi Iannelli</author> | ||
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| <license>ASL 2.0</license> | ||
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79 changes: 79 additions & 0 deletions
79
rotors_control/include/rotors_control/controller_parameters.h
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| /* | ||
| * Copyright 2018 Giuseppe Silano, University of Sannio in Benevento, Italy | ||
| * Copyright 2018 Emanuele Aucone, University of Sannio in Benevento, Italy | ||
| * Copyright 2018 Benjamin Rodriguez, MIT, USA | ||
| * Copyright 2018 Luigi Iannelli, University of Sannio in Benevento, Italy | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
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| #ifndef CONTROLLER_PARAMETERS_H | ||
| #define CONTROLLER_PARAMETERS_H | ||
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| // Default values for the position controller of the Crazyflie2. XYController [x,y], AttitudeController [phi,theta] | ||
| //RateController [p,q,r], YawController[yaw], HoveringController[z] | ||
| static const Eigen::Vector2f kPDefaultXYController = Eigen::Vector2f(15, -15); | ||
| static const Eigen::Vector2f kIDefaultXYController = Eigen::Vector2f(1, -1); | ||
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| static const Eigen::Vector2f kPDefaultAttitudeController = Eigen::Vector2f(3.5, 3.5); | ||
| static const Eigen::Vector2f kIDefaultAttitudeController = Eigen::Vector2f(2, 2); | ||
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| static const Eigen::Vector3f kPDefaultRateController = Eigen::Vector3f(110, 110, 110); | ||
| static const Eigen::Vector3f kIDefaultRateController = Eigen::Vector3f(0, 0, 16.7); | ||
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| static const double kPDefaultYawController = 3; | ||
| static const double kIDefaultYawController = 1; | ||
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| static const double kPDefaultHoveringController = 14000; | ||
| static const double kIDefaultHoveringController = 15000; | ||
| static const double kDDefaultHoveringController = 20000; | ||
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| namespace rotors_control { | ||
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| class PositionControllerParameters { | ||
| public: | ||
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| PositionControllerParameters() | ||
| : xy_gain_kp_(kPDefaultXYController), | ||
| xy_gain_ki_(kIDefaultXYController), | ||
| attitude_gain_kp_(kPDefaultAttitudeController), | ||
| attitude_gain_ki_(kIDefaultAttitudeController), | ||
| rate_gain_kp_(kPDefaultRateController), | ||
| rate_gain_ki_(kIDefaultRateController), | ||
| yaw_gain_kp_(kPDefaultYawController), | ||
| yaw_gain_ki_(kIDefaultYawController), | ||
| hovering_gain_kp_(kPDefaultHoveringController), | ||
| hovering_gain_ki_(kIDefaultHoveringController), | ||
| hovering_gain_kd_(kDDefaultHoveringController) { | ||
| } | ||
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| Eigen::Vector2f xy_gain_kp_; | ||
| Eigen::Vector2f xy_gain_ki_; | ||
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| Eigen::Vector2f attitude_gain_kp_; | ||
| Eigen::Vector2f attitude_gain_ki_; | ||
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| Eigen::Vector3f rate_gain_kp_; | ||
| Eigen::Vector3f rate_gain_ki_; | ||
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| double yaw_gain_kp_; | ||
| double yaw_gain_ki_; | ||
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| double hovering_gain_kp_; | ||
| double hovering_gain_ki_; | ||
| double hovering_gain_kd_; | ||
| }; | ||
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| } | ||
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| #endif // CONTROLLER_PARAMETERS_H |
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