WIP on HIL

6 files changed, 78 insertions, 51 deletions

diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index 1323f2566..bdf797673 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -223,11 +223,11 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 
 	PID_t roll_pos_controller;
 	pid_init(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu,
-			PID_MODE_DERIVATIV_SET, 155);
+			PID_MODE_DERIVATIV_SET);
 
 	PID_t heading_controller;
 	pid_init(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f,
-			PID_MODE_DERIVATIV_SET, 155);
+			PID_MODE_DERIVATIV_SET);
 
 	while(!thread_should_exit) {
 
@@ -245,6 +245,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 
 			// FIXME SUBSCRIBE
 			if (loopcounter % 20 == 0) {
+				att_parameters_update(&h, &p);
+				pos_parameters_update(&hpos, &ppos);
 				pid_set_parameters(&roll_pos_controller, p.roll_pos_p, p.roll_pos_i, 0.0f, p.roll_pos_awu);
 				pid_set_parameters(&heading_controller, ppos.heading_p, 0.0f, 0.0f, 0.0f);
 			}
@@ -420,6 +422,9 @@ static int att_parameters_init(struct fw_att_control_param_handles *h)
 static int att_parameters_update(const struct fw_att_control_param_handles *h, struct fw_att_control_params *p)
 {
 	param_get(h->roll_pos_p, &(p->roll_pos_p));
+	param_get(h->roll_pos_i, &(p->roll_pos_i));
+	param_get(h->roll_pos_lim, &(p->roll_pos_lim));
+	param_get(h->roll_pos_awu, &(p->roll_pos_awu));
 
 	return OK;
 }
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ce0a238dd..1f745baac 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -936,29 +936,6 @@ static void *uorb_receiveloop(void *arg)
 				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs->spa_sub, &buf.att_sp);
 				mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, buf.att_sp.timestamp/1000,
 					buf.att_sp.roll_body, buf.att_sp.pitch_body, buf.att_sp.yaw_body, buf.att_sp.thrust);
-
-				/* Only send in HIL mode */
-				if (mavlink_hil_enabled) {
-
-					/* translate the current syste state to mavlink state and mode */
-					uint8_t mavlink_state = 0;
-					uint8_t mavlink_mode = 0;
-					get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
-
-					/* HIL message as per MAVLink spec */
-					mavlink_msg_hil_controls_send(chan,
-						hrt_absolute_time(),
-						buf.att_sp.roll_body, /* this may be replaced by ctrl0 later */
-						buf.att_sp.pitch_body,
-						buf.att_sp.yaw_body,
-						buf.att_sp.thrust,
-						0,
-						0,
-						0,
-						0,
-						mavlink_mode,
-						0);
-				}
 			}
 
 			/* --- ACTUATOR OUTPUTS 0 --- */
@@ -975,6 +952,7 @@ static void *uorb_receiveloop(void *arg)
 					buf.act_outputs.output[5],
 					buf.act_outputs.output[6],
 					buf.act_outputs.output[7]);
+
 				// if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
 				// 	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
 				// 	1 /* port 1 */,
@@ -1093,6 +1071,29 @@ static void *uorb_receiveloop(void *arg)
 				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl1       ", buf.actuators.control[1]);
 				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl2       ", buf.actuators.control[2]);
 				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl3       ", buf.actuators.control[3]);
+
+												/* Only send in HIL mode */
+				if (mavlink_hil_enabled) {
+
+					/* translate the current syste state to mavlink state and mode */
+					uint8_t mavlink_state = 0;
+					uint8_t mavlink_mode = 0;
+					get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
+
+					/* HIL message as per MAVLink spec */
+					mavlink_msg_hil_controls_send(chan,
+						hrt_absolute_time(),
+						buf.actuators.control[0],
+						buf.actuators.control[1],
+						buf.actuators.control[2],
+						buf.actuators.control[3],
+						0,
+						0,
+						0,
+						0,
+						mavlink_mode,
+						0);
+				}
 			}
 
 			/* --- DEBUG KEY/VALUE --- */
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index d7413913b..6e2a54438 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -214,11 +214,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		// pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
 		// 	PID_MODE_DERIVATIV_SET, 154);
 		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
-			PID_MODE_DERIVATIV_SET, 155);
+			PID_MODE_DERIVATIV_SET);
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
-			PID_MODE_DERIVATIV_SET, 156);
+			PID_MODE_DERIVATIV_SET);
 		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
-			PID_MODE_DERIVATIV_SET, 157);
+			PID_MODE_DERIVATIV_SET);
 
 		initialized = true;
 	}
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index fefd1f767..b4eb3469b 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -157,11 +157,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_update(&h, &p);
 
 		pid_init(&yaw_speed_controller, p.yawrate_p, 0, p.yawrate_i, p.yawrate_awu,
-			PID_MODE_DERIVATIV_SET, 155);
+			PID_MODE_DERIVATIV_SET);
 		pid_init(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
-			PID_MODE_DERIVATIV_SET, 156);
+			PID_MODE_DERIVATIV_SET);
 		pid_init(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
-			PID_MODE_DERIVATIV_SET, 157);
+			PID_MODE_DERIVATIV_SET);
 
 		initialized = true;
 	}
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index 807373c15..fbf3edc33 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -40,18 +40,19 @@
  */
 
 #include "pid.h"
+#include <math.h>
 
 __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
-	      uint8_t mode, uint8_t plot_i)
+	      uint8_t mode)
 {
 	pid->kp = kp;
 	pid->ki = ki;
 	pid->kd = kd;
 	pid->intmax = intmax;
 	pid->mode = mode;
-	pid->plot_i = plot_i;
 	pid->count = 0;
 	pid->saturated = 0;
+	pid->last_output = 0;
 
 	pid->sp = 0;
 	pid->error_previous = 0;
@@ -63,11 +64,7 @@ __EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 	pid->ki = ki;
 	pid->kd = kd;
 	pid->intmax = intmax;
-	//	pid->mode = mode;
-
-	//	pid->sp = 0;
-	//	pid->error_previous = 0;
-	//	pid->integral = 0;
+	// pid->limit = limit;
 }
 
 //void pid_set(PID_t *pid, float sp)
@@ -95,6 +92,11 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 	 goto start
 	 */
 
+	if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt))
+	{
+		return pid->last_output;
+	}
+
 	float i, d;
 	pid->sp = sp;
 	float error = pid->sp - val;
@@ -111,7 +113,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 	}
 
 	// Anti-Windup. Needed if we don't use the saturation above.
-	if (pid->intmax != 0.0) {
+	if (pid->intmax != 0.0f) {
 		if (i > pid->intmax) {
 			pid->integral = pid->intmax;
 
@@ -122,14 +124,6 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 		} else {
 			pid->integral = i;
 		}
-
-		//Send Controller integrals
-		//		Disabled because of new possibilities with debug_vect.
-		//		Now sent in Main Loop at 5 Hz. 26.06.2010 Laurens
-		//		if (pid->plot_i && (pid->count++ % 16 == 0)&&(global_data.param[PARAM_SEND_SLOT_DEBUG_2] == 1))
-		//		{
-		//			mavlink_msg_debug_send(MAVLINK_COMM_1, pid->plot_i, pid->integral);
-		//		}
 	}
 
 	if (pid->mode == PID_MODE_DERIVATIV_CALC) {
@@ -142,7 +136,33 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 		d = 0;
 	}
 
-	pid->error_previous = error;
+	if (pid->kd == 0) {
+		d = 0;
+	}
+
+	if (pid->ki == 0) {
+		i = 0;
+	}
+
+	if (pid->kp == 0) {
+		p = 0;
+	} else {
+		p = error;
+	}
+
+	if (isfinite(error)) {
+		pid->error_previous = error;
+	}
+
+	float val = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
+
+	if (isfinite(val)) {
+		last_output = val;
+	}
+
+	if (!isfinite(pid->integral)) {
+		pid->integral = 0;
+	}
 
-	return (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
+	return pid->last_output;
 }
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
index 83bf09b59..d4bbcaf31 100644
--- a/apps/systemlib/pid/pid.h
+++ b/apps/systemlib/pid/pid.h
@@ -58,13 +58,14 @@ typedef struct {
 	float sp;
 	float integral;
 	float error_previous;
+	float last_output;
+	float limit;
 	uint8_t mode;
-	uint8_t plot_i;
 	uint8_t count;
 	uint8_t saturated;
 } PID_t;
 
-__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
+__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode);
 __EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
 //void pid_set(PID_t *pid, float sp);
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);