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author | Julian Oes <joes@student.ethz.ch> | 2013-03-13 18:00:00 -0700 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-16 15:22:20 +0200 |
commit | c189ac1c85a272142f925339879f22563c092725 (patch) | |
tree | 789c50978ea3f46b5e3afefa7cb540b3daaa7118 | |
parent | 303694f5f7b7a03488c6075ff2bd67014badfacb (diff) | |
download | px4-firmware-c189ac1c85a272142f925339879f22563c092725.tar.gz px4-firmware-c189ac1c85a272142f925339879f22563c092725.tar.bz2 px4-firmware-c189ac1c85a272142f925339879f22563c092725.zip |
Added possibility to log pid control values
Conflicts:
apps/multirotor_pos_control/multirotor_pos_control.c
src/drivers/ardrone_interface/ardrone_interface.c
7 files changed, 20 insertions, 16 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c index a226757e0..7009356b7 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -142,7 +142,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att } /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0, NULL, NULL, NULL); /* Pitch (P) */ @@ -152,7 +152,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att /* set pitch plus feedforward roll compensation */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation, - att->pitch, 0, 0); + att->pitch, 0, 0, NULL, NULL, NULL); /* Yaw (from coordinated turn constraint or lateral force) */ rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c index 79194e515..991d5ec5d 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -196,11 +196,11 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* roll rate (PI) */ - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT, NULL, NULL, NULL); /* pitch rate (PI) */ - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT, NULL, NULL, NULL); /* yaw rate (PI) */ - actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); + actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT, NULL, NULL, NULL); counter++; diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c index 48ec3603f..9c19c6786 100644 --- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -319,7 +319,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) // XXX what is xtrack_err.past_end? if (distance_res == OK /*&& !xtrack_err.past_end*/) { - float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance + float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f, NULL, NULL, NULL); //p.xtrack_p * xtrack_err.distance float psi_c = psi_track + delta_psi_c; float psi_e = psi_c - att.yaw; @@ -336,7 +336,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) } /* calculate roll setpoint, do this artificially around zero */ - float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f, NULL, NULL, NULL); float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following float psi_rate_c = delta_psi_rate_c + psi_rate_track; @@ -359,7 +359,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g - attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); + attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT, NULL, NULL, NULL); if (verbose) { printf("psi_rate_c %.4f ", (double)psi_rate_c); @@ -379,7 +379,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) if (pos_updated) { //TODO: take care of relative vs. ab. altitude - attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); + attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f, NULL, NULL, NULL); } diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 4c8f72b8d..51faaa8c0 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -182,11 +182,11 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control pitch (forward) output */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , - att->pitch, att->pitchspeed, deltaT); + att->pitch, att->pitchspeed, deltaT, NULL, NULL, NULL); /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , - att->roll, att->rollspeed, deltaT); + att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 57aea726a..322c5485a 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -197,11 +197,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], 0.0f, deltaT); + rates[1], 0.0f, deltaT, NULL, NULL, NULL); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], 0.0f, deltaT); + rates[0], 0.0f, deltaT, NULL, NULL, NULL); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 0188a51c4..3685b2aeb 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -124,7 +124,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float * @param dt * @return */ -__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt) +__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt, float *ctrl_p, float *ctrl_i, float *ctrl_d) { /* error = setpoint - actual_position integral = integral + (error*dt) @@ -152,7 +152,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo if (pid->mode == PID_MODE_DERIVATIV_CALC) { // d = (error_filtered - pid->error_previous_filtered) / dt; - d = pid->error_previous_filtered - error_filtered; + d = error_filtered - pid->error_previous_filtered ; pid->error_previous_filtered = error_filtered; } else if (pid->mode == PID_MODE_DERIVATIV_SET) { d = -val_dot; @@ -194,6 +194,10 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // pid->error_previous = error; // } + *ctrl_p = (error * pid->kp); + *ctrl_i = (i * pid->ki); + *ctrl_d = (d * pid->kd); + return pid->last_output; } diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index f89c36d75..e3d9038cd 100644 --- a/src/modules/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h @@ -72,7 +72,7 @@ typedef struct { __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor, uint8_t mode); __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor); //void pid_set(PID_t *pid, float sp); -__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); +__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt, float *ctrl_p, float *ctrl_i, float *ctrl_d); __EXPORT void pid_reset_integral(PID_t *pid); |