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author | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-05 20:42:43 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-11-05 20:42:43 +0100 |
commit | 5344e891671f75f2c38477f07643052bf6a3a3d3 (patch) | |
tree | 22c36bbab5e07875b43f6bc7811b1e67fbca84f4 | |
parent | 572084f3571173650fad355b366ebfd598afd303 (diff) | |
download | px4-firmware-5344e891671f75f2c38477f07643052bf6a3a3d3.tar.gz px4-firmware-5344e891671f75f2c38477f07643052bf6a3a3d3.tar.bz2 px4-firmware-5344e891671f75f2c38477f07643052bf6a3a3d3.zip |
work in progress: line following working
-rw-r--r-- | apps/fixedwing_pos_control/fixedwing_pos_control_main.c | 75 | ||||
-rw-r--r-- | apps/systemlib/pid/pid.c | 4 |
2 files changed, 53 insertions, 26 deletions
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 9eb34ae44..5f5b70090 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -170,7 +170,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); crosstrack_error_s xtrack_err; - //memset(&xtrack_err, 0, sizeof(xtrack_err)); + memset(&xtrack_err, 0, sizeof(xtrack_err)); /* output structs */ struct vehicle_attitude_setpoint_s attitude_setpoint; @@ -190,8 +190,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Setup of loop */ struct pollfd fds = { .fd = att_sub, .events = POLLIN }; bool global_sp_updated_set_once = false; - bool start_point_set = false; // This is a temporary flag till the - // previous waypoint is available for computations + + float psi_track = 0.0f; while(!thread_should_exit) { @@ -230,12 +230,6 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_check(global_pos_sub, &pos_updated); bool global_sp_updated; orb_check(global_setpoint_sub, &global_sp_updated); - if(global_sp_updated) - global_sp_updated_set_once = true; - if(global_sp_updated_set_once && !start_point_set) { - start_pos = global_pos; - start_point_set = true; - } /* Load local copies */ orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); @@ -244,37 +238,70 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) if (global_sp_updated) orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); + if(global_sp_updated) { + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint) + global_sp_updated_set_once = true; + psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); + printf("psi_track: %0.4f\n", psi_track); + } + /* Control */ /* Simple Horizontal Control */ if(global_sp_updated_set_once) { + if (counter % 100 == 0) + printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); + /* calculate bearing error */ - float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, - global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); +// float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, +// global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); /* calculate crosstrack error */ // Only the case of a straight line track following handled so far - xtrack_err = get_distance_to_line(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, - start_pos.lat / (double)1e7d, start_pos.lon / (double)1e7d, - global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); - - /* shift error to prevent wrapping issues */ - float bearing_error = target_bearing - att.yaw; - if(!(xtrack_err.error || xtrack_err.past_end)) - bearing_error -= p.xtrack_p * xtrack_err.distance; - bearing_error = _wrapPI(bearing_error); - - /* calculate roll setpoint, do this artificially around zero */ - attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f); + xtrack_err = get_distance_to_line((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); + + if(!(xtrack_err.error || xtrack_err.past_end)) { + + float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards + + if(delta_psi_c > 60.0f*M_DEG_TO_RAD) + delta_psi_c = 60.0f*M_DEG_TO_RAD; + + if(delta_psi_c < -60.0f*M_DEG_TO_RAD) + delta_psi_c = -60.0f*M_DEG_TO_RAD; + + float psi_c = psi_track + delta_psi_c; + + + float psi_e = psi_c - att.yaw; + + + /* shift error to prevent wrapping issues */ + psi_e = _wrapPI(psi_e); + + /* calculate roll setpoint, do this artificially around zero */ + attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + + if (counter % 100 == 0) + printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); + } + else { + if (counter % 100 == 0) + printf("error: %d, past_end %d\n", xtrack_err.error, xtrack_err.past_end); + } + } /* Very simple Altitude Control */ if(global_sp_updated_set_once && pos_updated) { - //TODO: take care of relatie vs. ab. altitude + //TODO: take care of relative vs. ab. altitude attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); } diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index dd8b6adc6..0358caa25 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -172,9 +172,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the output. Limit output magnitude to pid->limit float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd); - //if (output > pid->limit) output = pid->limit; + if (output > pid->limit) output = pid->limit; - //if (output < -pid->limit) output = -pid->limit; + if (output < -pid->limit) output = -pid->limit; if (isfinite(output)) { pid->last_output = output; |