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Smooth manual flight #130

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merged 2 commits into from
Feb 21, 2024
Merged

Smooth manual flight #130

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d21a6bf
Smooth manual flight to be used with the fox-glove-joy bluetooth cont…
chamdanedu Feb 14, 2024
c5b0f91
formatted
chamdanedu Feb 21, 2024
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6 changes: 3 additions & 3 deletions app/rdd2/src/manual.c
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Original file line number Diff line number Diff line change
Expand Up @@ -80,9 +80,9 @@ static void rdd2_manual_entry_point(void* p0, void* p1, void* p2)
// set normalized inputs
ctx->actuators_manual.normalized_count = 4;
ctx->actuators_manual.normalized[0] = -ctx->joy.axes[JOY_AXES_ROLL];
ctx->actuators_manual.normalized[1] = ctx->joy.axes[JOY_AXES_PITCH];
ctx->actuators_manual.normalized[2] = ctx->joy.axes[JOY_AXES_YAW];
ctx->actuators_manual.normalized[3] = ctx->joy.axes[JOY_AXES_THRUST];
ctx->actuators_manual.normalized[1] = -ctx->joy.axes[JOY_AXES_PITCH];
ctx->actuators_manual.normalized[2] = -ctx->joy.axes[JOY_AXES_YAW];
ctx->actuators_manual.normalized[3] = ctx->joy.axes[JOY_AXES_THRUST] * 0.5 + 0.5;

// saturation
for (int i = 0; i < 4; i++) {
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2 changes: 1 addition & 1 deletion app/rdd2/src/mixing.c
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Expand Up @@ -12,7 +12,7 @@ void rdd2_set_actuators(synapse_msgs_Actuators* msg, double roll, double pitch,
msg->header.seq++;
strncpy(msg->header.frame_id, "odom", sizeof(msg->header.frame_id) - 1);

const float k = 10;
const float k = 1600;

msg->position_count = 0;
msg->velocity_count = 4;
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16 changes: 8 additions & 8 deletions app/rdd2/src/velocity.c
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Expand Up @@ -82,14 +82,14 @@ static void update_cmd_vel(context* ctx)
}
*/

double roll_rate_cmd = ctx->actuators_manual.velocity[0];
double pitch_rate_cmd = ctx->actuators_manual.velocity[1];
double yaw_rate_cmd = ctx->actuators_manual.velocity[2];
double thrust_cmd = ctx->actuators_manual.velocity[3];

double roll = 1.0 * (roll_rate_cmd - ctx->imu.angular_velocity.x);
double pitch = 1.0 * (pitch_rate_cmd - ctx->imu.angular_velocity.y);
double yaw = 1.0 * (yaw_rate_cmd - ctx->imu.angular_velocity.z);
double roll_rate_cmd = ctx->actuators_manual.normalized[0];
double pitch_rate_cmd = ctx->actuators_manual.normalized[1];
double yaw_rate_cmd = ctx->actuators_manual.normalized[2];
double thrust_cmd = ctx->actuators_manual.normalized[3];

double roll = 0.01 * (roll_rate_cmd - ctx->imu.angular_velocity.x);
double pitch = 0.01 * (pitch_rate_cmd + ctx->imu.angular_velocity.y);
double yaw = 0.05 * (yaw_rate_cmd + ctx->imu.angular_velocity.z);

rdd2_set_actuators(&ctx->actuators, roll, pitch, yaw, thrust_cmd);
}
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