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Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.c')
-rw-r--r--src/modules/multirotor_att_control/multirotor_rate_control.c100
1 files changed, 33 insertions, 67 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index deba1ac03..86ac0e4ff 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -1,8 +1,10 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
+ * Anton Babushkin <anton.babushkin@me.com>
+ * Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,10 +38,12 @@
/**
* @file multirotor_rate_control.c
*
- * Implementation of rate controller
+ * Implementation of rate controller for multirotors.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Julian Oes <joes@student.ethz.ch>
*/
#include "multirotor_rate_control.h"
@@ -55,31 +59,23 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
-PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
-//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
struct mc_rate_control_params {
float yawrate_p;
float yawrate_d;
float yawrate_i;
- //float yawrate_awu;
- //float yawrate_lim;
float attrate_p;
float attrate_d;
float attrate_i;
- //float attrate_awu;
- //float attrate_lim;
float rate_lim;
};
@@ -89,14 +85,10 @@ struct mc_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
- //param_t yawrate_awu;
- //param_t yawrate_lim;
param_t attrate_p;
param_t attrate_i;
param_t attrate_d;
- //param_t attrate_awu;
- //param_t attrate_lim;
};
/**
@@ -118,14 +110,10 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
- //h->yawrate_awu = param_find("MC_YAWRATE_AWU");
- //h->yawrate_lim = param_find("MC_YAWRATE_LIM");
h->attrate_p = param_find("MC_ATTRATE_P");
h->attrate_i = param_find("MC_ATTRATE_I");
h->attrate_d = param_find("MC_ATTRATE_D");
- //h->attrate_awu = param_find("MC_ATTRATE_AWU");
- //h->attrate_lim = param_find("MC_ATTRATE_LIM");
return OK;
}
@@ -135,29 +123,21 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
- //param_get(h->yawrate_awu, &(p->yawrate_awu));
- //param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->attrate_p, &(p->attrate_p));
param_get(h->attrate_i, &(p->attrate_i));
param_get(h->attrate_d, &(p->attrate_d));
- //param_get(h->attrate_awu, &(p->attrate_awu));
- //param_get(h->attrate_lim, &(p->attrate_lim));
return OK;
}
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
- const float rates[], struct actuator_controls_s *actuators)
+ const float rates[], struct actuator_controls_s *actuators, bool reset_integral)
{
- static float roll_control_last = 0;
- static float pitch_control_last = 0;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
static uint64_t last_input = 0;
- float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
-
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
@@ -166,6 +146,10 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static int motor_skip_counter = 0;
+ static PID_t pitch_rate_controller;
+ static PID_t roll_rate_controller;
+ static PID_t yaw_rate_controller;
+
static struct mc_rate_control_params p;
static struct mc_rate_control_param_handles h;
@@ -176,54 +160,36 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_init(&h);
parameters_update(&h, &p);
initialized = true;
+
+ pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
+ pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
+ pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
}
/* load new parameters with lower rate */
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
- // warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
- // (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
- }
-
- /* calculate current control outputs */
-
- /* control pitch (forward) output */
- float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
-
- /* increase resilience to faulty control inputs */
- if (isfinite(pitch_control)) {
- pitch_control_last = pitch_control;
-
- } else {
- pitch_control = 0.0f;
- warnx("rej. NaN ctrl pitch");
+ pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
+ pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
+ pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f);
}
- /* control roll (left/right) output */
- float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
-
- /* increase resilience to faulty control inputs */
- if (isfinite(roll_control)) {
- roll_control_last = roll_control;
-
- } else {
- roll_control = 0.0f;
- warnx("rej. NaN ctrl roll");
+ /* reset integrals if needed */
+ if (reset_integral) {
+ pid_reset_integral(&pitch_rate_controller);
+ pid_reset_integral(&roll_rate_controller);
+ pid_reset_integral(&yaw_rate_controller);
}
- /* control yaw rate */
- float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
-
- /* increase resilience to faulty control inputs */
- if (!isfinite(yaw_rate_control)) {
- yaw_rate_control = 0.0f;
- warnx("rej. NaN ctrl yaw");
- }
+ /* run pitch, roll and yaw controllers */
+ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
+ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
+ float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
- actuators->control[2] = yaw_rate_control;
+ actuators->control[2] = yaw_control;
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;
generated by cgit v1.2.3 (git 2.39.1) at 2024-06-11 12:18:01 +0000