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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file fixedwing_att_control_rate.c
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Implementation of a fixed wing attitude controller.
*
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
#include <systemlib/systemlib.h>
#include "fixedwing_att_control_rate.h"
/*
* Controller parameters, accessible via MAVLink
*
*/
// Roll control parameters
PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
//Yaw control parameters //XXX TODO this is copy paste, asign correct values
PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec
/* feedforward compensation */
PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */
struct fw_rate_control_params {
float rollrate_p;
float rollrate_i;
float rollrate_awu;
float pitchrate_p;
float pitchrate_i;
float pitchrate_awu;
float yawrate_p;
float yawrate_i;
float yawrate_awu;
float pitch_thr_ff;
};
struct fw_rate_control_param_handles {
param_t rollrate_p;
param_t rollrate_i;
param_t rollrate_awu;
param_t pitchrate_p;
param_t pitchrate_i;
param_t pitchrate_awu;
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_awu;
param_t pitch_thr_ff;
};
/* Internal Prototypes */
static int parameters_init(struct fw_rate_control_param_handles *h);
static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
static int parameters_init(struct fw_rate_control_param_handles *h)
{
/* PID parameters */
h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing
h->rollrate_i = param_find("FW_ROLLR_I");
h->rollrate_awu = param_find("FW_ROLLR_AWU");
h->pitchrate_p = param_find("FW_PITCHR_P");
h->pitchrate_i = param_find("FW_PITCHR_I");
h->pitchrate_awu = param_find("FW_PITCHR_AWU");
h->yawrate_p = param_find("FW_YAWR_P");
h->yawrate_i = param_find("FW_YAWR_I");
h->yawrate_awu = param_find("FW_YAWR_AWU");
h->pitch_thr_ff = param_find("FW_PITCH_THR_P");
return OK;
}
static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
{
param_get(h->rollrate_p, &(p->rollrate_p));
param_get(h->rollrate_i, &(p->rollrate_i));
param_get(h->rollrate_awu, &(p->rollrate_awu));
param_get(h->pitchrate_p, &(p->pitchrate_p));
param_get(h->pitchrate_i, &(p->pitchrate_i));
param_get(h->pitchrate_awu, &(p->pitchrate_awu));
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_awu, &(p->yawrate_awu));
param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
return OK;
}
int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[],
struct actuator_controls_s *actuators)
{
static int counter = 0;
static bool initialized = false;
static struct fw_rate_control_params p;
static struct fw_rate_control_param_handles h;
static PID_t roll_rate_controller;
static PID_t pitch_rate_controller;
static PID_t yaw_rate_controller;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
if (!initialized) {
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
initialized = true;
}
/* load new parameters with lower rate */
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
}
/* roll rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
/* pitch rate (PI) */
actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* yaw rate (PI) */
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
counter++;
return 0;
}
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