Anson/Lander-Embedded
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Adding back PID gains since they didn't survive the merge for some reason

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bpmcgeeney
2021-10-14 18:25:33 -07:00
parent 14d68f852c
commit 59345992db
2 changed files with 7 additions and 5 deletions
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3
matlabHelpers/simPlot.m
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@@ -51,7 +51,6 @@ title('Altitude vs Time')
xlabel('Time (s)') xlabel('Time (s)')
ylabel('Altitude (m)') ylabel('Altitude (m)')
ylim([0 z(1)+5]) ylim([0 z(1)+5])
saveas(gcf,'outputs/Accel-Vel-Alt vs Time.png')
figure(2) figure(2)
@@ -75,7 +74,6 @@ plot(t, rolldot)
title('Angular Velocity vs Time') title('Angular Velocity vs Time')
xlabel('Time (ms)') xlabel('Time (ms)')
ylabel('Angular Velocity (deg/s)') ylabel('Angular Velocity (deg/s)')
saveas(gcf,'outputs/Euler Angles vs Time.png')
legend("yawdot", "pitchdot", "rolldot") legend("yawdot", "pitchdot", "rolldot")
figure(3) figure(3)
@@ -93,4 +91,3 @@ plot(t, Servo2)
title('Servo 2 Position vs Time') title('Servo 2 Position vs Time')
xlabel('Time (ms)') xlabel('Time (ms)')
ylabel('Servo 2 Position (rad)') ylabel('Servo 2 Position (rad)')
saveas(gcf,'outputs/Servo Position vs Time.png')

9
src/main.cpp
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@@ -17,14 +17,19 @@ int main() {
Vehicle State; Vehicle State;
Vehicle PrevState; Vehicle PrevState;
// PID Gains
State.Kp = -6.8699;
State.Ki = 0;
State.Kd = -0.775;
// Initial Velocity // Initial Velocity
State.vx = 0; // [m/s] State.vx = 0; // [m/s]
State.vy = 0; // [m/s] State.vy = 0; // [m/s]
State.vz = 0; // [m/s] State.vz = 0; // [m/s]
// Initial YPR // Initial YPR
State.yaw = 10 * M_PI / 180; // [rad] State.yaw = 75 * M_PI / 180; // [rad]
State.pitch = 5 * M_PI / 180; // [rad] State.pitch = 35 * M_PI / 180; // [rad]
State.roll = 0 * M_PI / 180; // [rad] State.roll = 0 * M_PI / 180; // [rad]
// Initial YPRdot // Initial YPRdot