From 51eb1b1ebdb7271ca83d343f9c6e90bc570d52e7 Mon Sep 17 00:00:00 2001
From: Radu Raul <raul.radu@skywarder.eu>
Date: Sat, 29 Jul 2023 11:11:05 +0200
Subject: [PATCH] [WingController] PIController constants are now set in the
config file
---
src/boards/Parafoil/Configs/WingConfig.h | 3 +++
src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp | 5 +++--
2 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index 72b5f04fc..93b9ffae0 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -71,6 +71,9 @@ constexpr int WING_ALTITUDE_TRIGGER_CONFIDENCE = 10; // [number of sample]
constexpr int WING_ALTITUDE_TRIGGER_FALL = 50; // [meters]
constexpr int WING_STRAIGHT_FLIGHT_TIMEOUT = 15 * 1000000; // [us]
+constexpr float PI_CONTROLLER_SATURATION_MAX_LIMIT = 0.1;
+constexpr float PI_CONTROLLER_SATURATION_MIN_LIMIT = -0.1;
+
struct WingConfigStruct
{
diff --git a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
index 5e41d446c..796bfb9a4 100644
--- a/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
+++ b/src/boards/Parafoil/Wing/AutomaticWingAlgorithm.cpp
@@ -45,8 +45,9 @@ AutomaticWingAlgorithm::AutomaticWingAlgorithm(float Kp, float Ki,
GuidanceAlgorithm& guidance)
: WingAlgorithm(servo1, servo2), guidance(guidance)
{
- controller =
- new PIController(Kp, Ki, WING_UPDATE_PERIOD / 1000.0f, -0.1, 0.1);
+ controller = new PIController(Kp, Ki, WING_UPDATE_PERIOD / 1000.0f,
+ PI_CONTROLLER_SATURATION_MIN_LIMIT,
+ PI_CONTROLLER_SATURATION_MAX_LIMIT);
}
AutomaticWingAlgorithm::~AutomaticWingAlgorithm() { delete (controller); }
--
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