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Bug fix

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This commit is contained in:
Goga Coder
2024-03-09 09:38:21 +07:00
parent 4a85827150
commit 007a3fd16f
3 changed files with 13 additions and 21 deletions
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17
src/Logic/FlightController.cpp
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@@ -173,33 +173,24 @@ void FlightController::stopAllRotors() {
void FlightController::setHeightControllerParams(float p, float i, float d) {
if (_status == DeviceStatus::Idle) {
_heightController->Kp = p;
_heightController->Ki = i;
_heightController->Kd = d;
_heightController->save();
_heightController->setParams({.p = p, .i = i, .d = d});
}
}
void FlightController::setYawControllerParams(float p, float i, float d) {
if (_status == DeviceStatus::Idle) {
_yawController->Kp = p;
_yawController->Ki = i;
_yawController->Kd = d;
_heightController->save();
_heightController->setParams({.p = p, .i = i, .d = d});
}
}
void FlightController::setPitchControllerParams(float p, float i, float d) {
if (_status == DeviceStatus::Idle) {
_tailRotorController->Kp = p;
_tailRotorController->Ki = i;
_tailRotorController->Kd = d;
_heightController->save();
_heightController->setParams({.p = p, .i = i, .d = d});
}
}
PidSettings FlightController::pidSettings() const {
PidSettings settings;
PidSettings settings{};
settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
settings.pitchController = {.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd};

11
src/Logic/SavedPidRegulator.hpp
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@@ -26,13 +26,14 @@ public:
this->Kp = params.p;
this->Ki = params.i;
this->Kd = params.d;
save();
}
std::shared_ptr<PidParams> getParams() {
std::shared_ptr params = std::make_unique<PidParams>();
params->p = Kp;
params->i = Ki;
params->d = Kd;
PidParams getParams() {
PidParams params{};
params.p = Kp;
params.i = Ki;
params.d = Kd;
return params;
}

6
src/main.cpp
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@@ -17,11 +17,11 @@ void setup() {
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightController"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawController"), // yaw
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
new BrushedMotor(1, 2, 3, 4, 1),
new BrushedMotor(1, 2, 3, 4, 1),
new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollController"), // pitch
new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollControl"), // pitch
true)));
}