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mecanum: fix PID implementation #23929

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mecanum: fix PID implementation #23929

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31 changes: 17 additions & 14 deletions src/modules/rover_mecanum/RoverMecanumControl/RoverMecanumControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,29 +52,32 @@ void RoverMecanumControl::updateParams()
{
ModuleParams::updateParams();
_max_yaw_rate = _param_rm_max_yaw_rate.get() * M_DEG_TO_RAD_F;

// Update PID

pid_set_parameters(&_pid_yaw_rate,
_param_rm_yaw_rate_p.get(), // Proportional gain
_param_rm_yaw_rate_i.get(), // Integral gain
0.f, // Derivative gain
1.f, // Integral limit
_param_rm_yaw_rate_i.get() > FLT_EPSILON ? 1.f / _param_rm_yaw_rate_i.get() : 0.f, // Integral limit
1.f); // Output limit
pid_set_parameters(&_pid_forward_throttle,
_param_rm_p_gain_speed.get(), // Proportional gain
_param_rm_i_gain_speed.get(), // Integral gain
_param_rm_speed_p.get(), // Proportional gain
_param_rm_speed_i.get(), // Integral gain
0.f, // Derivative gain
1.f, // Integral limit
_param_rm_speed_i.get() > FLT_EPSILON ? 1.f / _param_rm_speed_i.get() : 0.f, // Integral limit
1.f); // Output limit
pid_set_parameters(&_pid_lateral_throttle,
_param_rm_p_gain_speed.get(), // Proportional gain
_param_rm_i_gain_speed.get(), // Integral gain
_param_rm_speed_p.get(), // Proportional gain
_param_rm_speed_i.get(), // Integral gain
0.f, // Derivative gain
1.f, // Integral limit
_param_rm_speed_i.get() > FLT_EPSILON ? 1.f / _param_rm_speed_i.get() : 0.f, // Integral limit
1.f); // Output limit
pid_set_parameters(&_pid_yaw,
_param_rm_p_gain_yaw.get(), // Proportional gain
_param_rm_i_gain_yaw.get(), // Integral gain
_param_rm_yaw_p.get(), // Proportional gain
_param_rm_yaw_i.get(), // Integral gain
0.f, // Derivative gain
_max_yaw_rate, // Integral limit
_param_rm_yaw_i.get() > FLT_EPSILON ? _max_yaw_rate / _param_rm_yaw_i.get() : 0.f, // Integral limit
_max_yaw_rate); // Output limit
}

Expand Down Expand Up @@ -156,10 +159,10 @@ void RoverMecanumControl::computeMotorCommands(const float vehicle_yaw, const fl
rover_mecanum_status.adjusted_yaw_rate_setpoint = _rover_mecanum_setpoint.yaw_rate_setpoint;
rover_mecanum_status.measured_yaw_rate = vehicle_yaw_rate;
rover_mecanum_status.measured_yaw = vehicle_yaw;
rover_mecanum_status.pid_yaw_rate_integral = _pid_yaw_rate.integral;
rover_mecanum_status.pid_yaw_integral = _pid_yaw.integral;
rover_mecanum_status.pid_forward_throttle_integral = _pid_forward_throttle.integral;
rover_mecanum_status.pid_lateral_throttle_integral = _pid_lateral_throttle.integral;
rover_mecanum_status.pid_yaw_rate_integral = _pid_yaw_rate.integral * _param_rm_yaw_rate_i.get();
rover_mecanum_status.pid_yaw_integral = _pid_yaw.integral * _param_rm_yaw_i.get();
rover_mecanum_status.pid_forward_throttle_integral = _pid_forward_throttle.integral * _param_rm_speed_i.get();
rover_mecanum_status.pid_lateral_throttle_integral = _pid_lateral_throttle.integral * _param_rm_speed_i.get();
_rover_mecanum_status_pub.publish(rover_mecanum_status);

// Publish to motors
Expand Down
8 changes: 4 additions & 4 deletions src/modules/rover_mecanum/RoverMecanumControl/RoverMecanumControl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,10 +125,10 @@ class RoverMecanumControl : public ModuleParams
(ParamFloat<px4::params::RM_MAX_YAW_RATE>) _param_rm_max_yaw_rate,
(ParamFloat<px4::params::RM_YAW_RATE_P>) _param_rm_yaw_rate_p,
(ParamFloat<px4::params::RM_YAW_RATE_I>) _param_rm_yaw_rate_i,
(ParamFloat<px4::params::RM_SPEED_P>) _param_rm_p_gain_speed,
(ParamFloat<px4::params::RM_SPEED_I>) _param_rm_i_gain_speed,
(ParamFloat<px4::params::RM_YAW_P>) _param_rm_p_gain_yaw,
(ParamFloat<px4::params::RM_YAW_I>) _param_rm_i_gain_yaw,
(ParamFloat<px4::params::RM_SPEED_P>) _param_rm_speed_p,
(ParamFloat<px4::params::RM_SPEED_I>) _param_rm_speed_i,
(ParamFloat<px4::params::RM_YAW_P>) _param_rm_yaw_p,
(ParamFloat<px4::params::RM_YAW_I>) _param_rm_yaw_i,
(ParamInt<px4::params::CA_R_REV>) _param_r_rev
)
};
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