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C++ ECL_PitchController::set_max_rate_pos方法代码示例

本文整理汇总了C++中ECL_PitchController::set_max_rate_pos方法的典型用法代码示例。如果您正苦于以下问题：C++ ECL_PitchController::set_max_rate_pos方法的具体用法？C++ ECL_PitchController::set_max_rate_pos怎么用？C++ ECL_PitchController::set_max_rate_pos使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ECL_PitchController的用法示例。


在下文中一共展示了ECL_PitchController::set_max_rate_pos方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: 

int
FixedwingAttitudeControl::parameters_update()
{

    param_get(_parameter_handles.tconst, &(_parameters.tconst));
    param_get(_parameter_handles.p_p, &(_parameters.p_p));
    param_get(_parameter_handles.p_i, &(_parameters.p_i));
    param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
    param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
    param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
    param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
    param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));

    param_get(_parameter_handles.r_p, &(_parameters.r_p));
    param_get(_parameter_handles.r_i, &(_parameters.r_i));
    param_get(_parameter_handles.r_ff, &(_parameters.r_ff));

    param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
    param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));

    param_get(_parameter_handles.y_p, &(_parameters.y_p));
    param_get(_parameter_handles.y_i, &(_parameters.y_i));
    param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
    param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
    param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
    param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));

    param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
    param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
    param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));

    param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
    param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
    param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
    param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
    param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
    _parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
    _parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
    param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
    param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
    _parameters.man_roll_max = math::radians(_parameters.man_roll_max);
    _parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);


    /* pitch control parameters */
    _pitch_ctrl.set_time_constant(_parameters.tconst);
    _pitch_ctrl.set_k_p(_parameters.p_p);
    _pitch_ctrl.set_k_i(_parameters.p_i);
    _pitch_ctrl.set_k_ff(_parameters.p_ff);
    _pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
    _pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
    _pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
    _pitch_ctrl.set_roll_ff(_parameters.p_roll_feedforward);

    /* roll control parameters */
    _roll_ctrl.set_time_constant(_parameters.tconst);
    _roll_ctrl.set_k_p(_parameters.r_p);
    _roll_ctrl.set_k_i(_parameters.r_i);
    _roll_ctrl.set_k_ff(_parameters.r_ff);
    _roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
    _roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));

    /* yaw control parameters */
    _yaw_ctrl.set_k_p(_parameters.y_p);
    _yaw_ctrl.set_k_i(_parameters.y_i);
    _yaw_ctrl.set_k_ff(_parameters.y_ff);
    _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
    _yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
    _yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));

    return OK;
}
开发者ID:KjeldJensen，项目名称:Firmware，代码行数:72，代码来源:fw_att_control_main.cpp

示例2: 

int
FixedwingAttitudeControl::parameters_update()
{

	param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
	param_get(_parameter_handles.p_p, &(_parameters.p_p));
	param_get(_parameter_handles.p_i, &(_parameters.p_i));
	param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
	param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
	param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
	param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));

	param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
	param_get(_parameter_handles.r_p, &(_parameters.r_p));
	param_get(_parameter_handles.r_i, &(_parameters.r_i));
	param_get(_parameter_handles.r_ff, &(_parameters.r_ff));

	param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
	param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));

	param_get(_parameter_handles.y_p, &(_parameters.y_p));
	param_get(_parameter_handles.y_i, &(_parameters.y_i));
	param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
	param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
	param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
	param_get(_parameter_handles.roll_to_yaw_ff, &(_parameters.roll_to_yaw_ff));

	int32_t wheel_enabled = 0;
	param_get(_parameter_handles.w_en, &wheel_enabled);
	_parameters.w_en = (wheel_enabled == 1);

	param_get(_parameter_handles.w_p, &(_parameters.w_p));
	param_get(_parameter_handles.w_i, &(_parameters.w_i));
	param_get(_parameter_handles.w_ff, &(_parameters.w_ff));
	param_get(_parameter_handles.w_integrator_max, &(_parameters.w_integrator_max));
	param_get(_parameter_handles.w_rmax, &(_parameters.w_rmax));

	param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
	param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
	param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));

	param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
	param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
	param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
	param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
	param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
	_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
	_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
	param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
	param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
	param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
	param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
	param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));

	param_get(_parameter_handles.acro_max_x_rate, &(_parameters.acro_max_x_rate_rad));
	param_get(_parameter_handles.acro_max_y_rate, &(_parameters.acro_max_y_rate_rad));
	param_get(_parameter_handles.acro_max_z_rate, &(_parameters.acro_max_z_rate_rad));
	_parameters.acro_max_x_rate_rad = math::radians(_parameters.acro_max_x_rate_rad);
	_parameters.acro_max_y_rate_rad = math::radians(_parameters.acro_max_y_rate_rad);
	_parameters.acro_max_z_rate_rad = math::radians(_parameters.acro_max_z_rate_rad);

	param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
	param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);

	param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);

	if (_vehicle_status.is_vtol) {
		param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
	}

	param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);

	/* pitch control parameters */
	_pitch_ctrl.set_time_constant(_parameters.p_tc);
	_pitch_ctrl.set_k_p(_parameters.p_p);
	_pitch_ctrl.set_k_i(_parameters.p_i);
	_pitch_ctrl.set_k_ff(_parameters.p_ff);
	_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
	_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
	_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));

	/* roll control parameters */
	_roll_ctrl.set_time_constant(_parameters.r_tc);
	_roll_ctrl.set_k_p(_parameters.r_p);
	_roll_ctrl.set_k_i(_parameters.r_i);
	_roll_ctrl.set_k_ff(_parameters.r_ff);
	_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
	_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));

	/* yaw control parameters */
	_yaw_ctrl.set_k_p(_parameters.y_p);
	_yaw_ctrl.set_k_i(_parameters.y_i);
	_yaw_ctrl.set_k_ff(_parameters.y_ff);
	_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
	_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));

	/* wheel control parameters */
	_wheel_ctrl.set_k_p(_parameters.w_p);
//.........这里部分代码省略.........
开发者ID:larics，项目名称:Firmware，代码行数:101，代码来源:fw_att_control_main.cpp

示例3: 

int
FixedwingAttitudeControl::parameters_update()
{

	param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
	param_get(_parameter_handles.p_p, &(_parameters.p_p));
	param_get(_parameter_handles.p_i, &(_parameters.p_i));
	param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
	param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
	param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
	param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));

	param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
	param_get(_parameter_handles.r_p, &(_parameters.r_p));
	param_get(_parameter_handles.r_i, &(_parameters.r_i));
	param_get(_parameter_handles.r_ff, &(_parameters.r_ff));

	param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
	param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));

	param_get(_parameter_handles.y_p, &(_parameters.y_p));
	param_get(_parameter_handles.y_i, &(_parameters.y_i));
	param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
	param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
	param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
	param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
	param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));

	param_get(_parameter_handles.w_p, &(_parameters.w_p));
	param_get(_parameter_handles.w_i, &(_parameters.w_i));
	param_get(_parameter_handles.w_ff, &(_parameters.w_ff));
	param_get(_parameter_handles.w_integrator_max, &(_parameters.w_integrator_max));
	param_get(_parameter_handles.w_rmax, &(_parameters.w_rmax));

	param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
	param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
	param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));

	param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
	param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
	param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
	param_get(_parameter_handles.trim_steer, &(_parameters.trim_steer));
	param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
	param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
	_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
	_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
	param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
	param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
	param_get(_parameter_handles.man_roll_scale, &(_parameters.man_roll_scale));
	param_get(_parameter_handles.man_pitch_scale, &(_parameters.man_pitch_scale));
	param_get(_parameter_handles.man_yaw_scale, &(_parameters.man_yaw_scale));

	param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
	param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);

	param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);

	/* pitch control parameters */
	_pitch_ctrl.set_time_constant(_parameters.p_tc);
	_pitch_ctrl.set_k_p(_parameters.p_p);
	_pitch_ctrl.set_k_i(_parameters.p_i);
	_pitch_ctrl.set_k_ff(_parameters.p_ff);
	_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
	_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
	_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));

	/* roll control parameters */
	_roll_ctrl.set_time_constant(_parameters.r_tc);
	_roll_ctrl.set_k_p(_parameters.r_p);
	_roll_ctrl.set_k_i(_parameters.r_i);
	_roll_ctrl.set_k_ff(_parameters.r_ff);
	_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
	_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));

	/* yaw control parameters */
	_yaw_ctrl.set_k_p(_parameters.y_p);
	_yaw_ctrl.set_k_i(_parameters.y_i);
	_yaw_ctrl.set_k_ff(_parameters.y_ff);
	_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
	_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
	_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
	_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));

	/* wheel control parameters */
	_wheel_ctrl.set_k_p(_parameters.w_p);
	_wheel_ctrl.set_k_i(_parameters.w_i);
	_wheel_ctrl.set_k_ff(_parameters.w_ff);
	_wheel_ctrl.set_integrator_max(_parameters.w_integrator_max);
	_wheel_ctrl.set_max_rate(math::radians(_parameters.w_rmax));

	return PX4_OK;
}
开发者ID:KamalGalrani，项目名称:Firmware，代码行数:94，代码来源:fw_att_control_main.cpp


注：本文中的ECL_PitchController::set_max_rate_pos方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。