added most of the requirements needed for the structure of the QP in … #14
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…-firmware into qp-lee-payload
… the QP with the new normals
whoenig
requested changes
Nov 17, 2022
src/modules/src/stabilizer.c
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| @@ -129,6 +134,7 @@ static struct { | |||
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| // for payloads | |||
| static float payload_alpha = 0.9; // between 0...1; 1: no filter | |||
| static float otherID = 2.0; | |||
src/modules/src/stabilizer.c
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| @@ -431,6 +446,8 @@ PARAM_ADD_CORE(PARAM_UINT8, stop, &emergencyStop) | |||
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| PARAM_ADD_CORE(PARAM_FLOAT, pAlpha, &payload_alpha) | |||
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| PARAM_ADD_CORE(PARAM_FLOAT, otherID, &payload_alpha) | |||
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- PARAM_FLOAT -> PARAM_UINT8
- &payload_alpha -> &otherID
src/modules/src/stabilizer.c
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| peerLocalizationOtherPosition_t* otherCF = peerLocalizationGetPositionByID(otherID); | ||
| if (otherCF != NULL) { | ||
| state.position2.x = otherCF->pos.x; | ||
| state.position2.x = otherCF->pos.y; |
src/modules/src/stabilizer.c
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| if (otherCF != NULL) { | ||
| state.position2.x = otherCF->pos.x; | ||
| state.position2.x = otherCF->pos.y; | ||
| state.position2.x = otherCF->pos.z; |
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| PARAM_ADD(PARAM_FLOAT, n1, &g_self.n1.x) | ||
| PARAM_ADD(PARAM_FLOAT, n1, &g_self.n1.y) | ||
| PARAM_ADD(PARAM_FLOAT, n1, &g_self.n1.z) | ||
| PARAM_ADD(PARAM_FLOAT, n2, &g_self.n2.x) | ||
| PARAM_ADD(PARAM_FLOAT, n2, &g_self.n2.y) | ||
| PARAM_ADD(PARAM_FLOAT, n2, &g_self.n2.z) |
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Remove. Also, they would need to have different names for this to work.
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| PARAM_ADD(PARAM_FLOAT, mu1x, &g_self.mu1.x) | ||
| PARAM_ADD(PARAM_FLOAT, mu1y, &g_self.mu1.y) | ||
| PARAM_ADD(PARAM_FLOAT, mu1z, &g_self.mu1.z) | ||
| PARAM_ADD(PARAM_FLOAT, mu2x, &g_self.mu2.x) | ||
| PARAM_ADD(PARAM_FLOAT, mu2y, &g_self.mu2.y) | ||
| PARAM_ADD(PARAM_FLOAT, mu2z, &g_self.mu2.z) |
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Remove. If you want to be able to look at them, you would need to add them to logging, not to params
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| self->desVirtInp.x = (&workspace)->solution->x[0]; | ||
| self->desVirtInp.y = (&workspace)->solution->x[1]; | ||
| self->desVirtInp.z = (&workspace)->solution->x[2]; |
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why did this change? shouldn't you use 3,4,5, like before?
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I added the required matrices and structure needed for formulating the QP. I documented each variable added in comments. The only step left is to actually add the osqp code in the firmware.