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Finishing the servo fix

main
YohanHadji 2022-04-08 15:19:48 +02:00
rodzic aff1205bd6
commit 06edd6e779
2 zmienionych plików z 16 dodań i 9 usunięć
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23
RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/control.hpp
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@ -10,6 +10,8 @@ int SERVO_MAX_C = 0;
double Setpoint, Input, Output; double Setpoint, Input, Output;
PID myPID(&Input, &Output, &Setpoint,NKP, NKI, NKD, DIRECT); PID myPID(&Input, &Output, &Setpoint,NKP, NKI, NKD, DIRECT);
unsigned long time_gain = 0;
void navigation_setup() { void navigation_setup() {
myPID.SetTunings(NKP, NKI, NKD); myPID.SetTunings(NKP, NKI, NKD);
myPID.SetOutputLimits(-180, 180); myPID.SetOutputLimits(-180, 180);
@ -29,7 +31,7 @@ void cmpt_weight_gain() {
int total_weight = SYSTEM_WEIGHT+PAYLOAD_WEIGHT; int total_weight = SYSTEM_WEIGHT+PAYLOAD_WEIGHT;
total_weight = constrain(total_weight, 500, 1500); total_weight = constrain(total_weight, 500, 1500);
SERVO_MAX_M_W = map(total_weight, 500, 1500, 2000, 1500); SERVO_MAX_M_W = map(total_weight, 500, 1500, 2000, 1500);
SERVO_MAX_C_W = map(total_weight, 500, 1500, 1500, 1250); SERVO_MAX_C_W = map(total_weight, 500, 1500, 2000, 1500);
} }
else { else {
SERVO_MAX_M_W = SERVO_MAX_M_DEF; SERVO_MAX_M_W = SERVO_MAX_M_DEF;
@ -38,13 +40,18 @@ void cmpt_weight_gain() {
} }
void cmpt_pressure_gain(float pressure_ratio) { void cmpt_pressure_gain(float pressure_ratio) {
if (AUTO_GAIN_PRESSURE) { if (millis()-time_gain>1000) {
SERVO_MAX_M = map((SERVO_MAX_M_W-1000)/pressure_ratio, 0, 1000, 1000, 2000); time_gain = millis();
SERVO_MAX_C = map((SERVO_MAX_M_W-1000)/pressure_ratio, 0, 1000, 1000, 1500); if (AUTO_GAIN_PRESSURE) {
} SERVO_MAX_M = map((SERVO_MAX_M_W-1000)/pressure_ratio, 0, 1000, 1000, 2000);
else { SERVO_MAX_C = map((SERVO_MAX_M_W-1000)/pressure_ratio, 0, 1000, 1000, 2000);
SERVO_MAX_M = SERVO_MAX_M_W; Serial.print(SERVO_MAX_M_W); Serial.print(","); Serial.print(SERVO_MAX_M); Serial.print(",");
SERVO_MAX_C = SERVO_MAX_C_W; Serial.print(SERVO_MAX_C_W); Serial.print(","); Serial.println(SERVO_MAX_C);
}
else {
SERVO_MAX_M = SERVO_MAX_M_W;
SERVO_MAX_C = SERVO_MAX_C_W;
}
} }
} }

2
RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino
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@ -71,7 +71,7 @@ void getdata() {
void datacmpt() { void datacmpt() {
cmpt_pressure_gain(pressure_baro); cmpt_pressure_gain(pressure_sqrt_ratio());
if (new_cog) { if (new_cog) {
new_cog = false; new_cog = false;