fw att control: bugfixes for integrator

6 files changed, 48 insertions, 29 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index e1f4d3eef..5fe55163f 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -116,8 +116,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
-
-	float dt = dt_micros / 1000000;
+	float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
 
 	/* lock integral for long intervals */
 	if (dt_micros > 500000)
@@ -142,11 +141,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 
 	_rate_error = _bodyrate_setpoint - pitch_bodyrate;
 
-	float ilimit_scaled = 0.0f;
-
 	if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-		float id = _rate_error * k_i_rate * dt * scaler;
+		float id = _rate_error * dt;
 
 		/*
 		 * anti-windup: do not allow integrator to increase into the
@@ -164,9 +161,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
+	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 3afda3176..1aac82792 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -45,6 +45,7 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 ECL_RollController::ECL_RollController() :
 	_last_run(0),
@@ -85,7 +86,7 @@ float ECL_RollController::control_bodyrate(float pitch,
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
-	float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
+	float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
 
 	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
 	float k_i_rate = _k_i * _tc;
@@ -108,11 +109,9 @@ float ECL_RollController::control_bodyrate(float pitch,
 	/* Calculate body angular rate error */
 	_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
 
-	float ilimit_scaled = 0.0f;
-
 	if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-		float id = _rate_error * k_i_rate * dt * scaler;
+		float id = _rate_error * dt;
 
 		/*
 		 * anti-windup: do not allow integrator to increase into the
@@ -130,9 +129,11 @@ float ECL_RollController::control_bodyrate(float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
+	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
+	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
+
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index d2cd9cf04..7dfed3379 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -44,6 +44,7 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 ECL_YawController::ECL_YawController() :
 	_last_run(0),
@@ -53,7 +54,8 @@ ECL_YawController::ECL_YawController() :
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f),
-	_max_deflection_rad(math::radians(45.0f))
+	_max_deflection_rad(math::radians(45.0f)),
+	_coordinated(1.0f)
 
 {
 
@@ -63,11 +65,18 @@ float ECL_YawController::control_attitude(float roll, float pitch,
 		float speed_body_u, float speed_body_w,
 		float roll_rate_setpoint, float pitch_rate_setpoint)
 {
+//	static int counter = 0;
 	/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
 	_rate_setpoint = 0.0f;
-	float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
-	if(denumerator != 0.0f) { //XXX: floating point comparison
-		_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
+	if (_coordinated > 0.1) {
+		float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
+		if(denumerator != 0.0f) { //XXX: floating point comparison
+			_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
+		}
+
+//		if(counter % 20 == 0) {
+//			warnx("denumerator: %.4f, speed_body_u: %.4f, speed_body_w: %.4f, cosf(roll): %.4f, cosf(pitch): %.4f, sinf(pitch): %.4f", (double)denumerator, (double)speed_body_u, (double)speed_body_w, (double)cosf(roll), (double)cosf(pitch), (double)sinf(pitch));
+//		}
 	}
 
 	/* limit the rate */ //XXX: move to body angluar rates
@@ -76,6 +85,9 @@ float ECL_YawController::control_attitude(float roll, float pitch,
 	_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
 	}
 
+
+//	counter++;
+
 	return _rate_setpoint;
 }
 
@@ -87,7 +99,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
-	float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
+	float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
 
 	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
 	float k_i_rate = _k_i * _tc;
@@ -110,11 +122,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	/* Calculate body angular rate error */
 	_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
 
-	float ilimit_scaled = 0.0f;
-
 	if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
 
-	float id = _rate_error * k_i_rate * dt * scaler;
+	float id = _rate_error * dt;
 
 	/*
 	 * anti-windup: do not allow integrator to increase into the
@@ -132,9 +142,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	}
 
 	/* integrator limit */
-	_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
+	_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
 	/* store non-limited output */
-	_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
+	_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
 
 	return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
 }
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index d5aaa617f..0250fcb35 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -85,6 +85,9 @@ public:
 	void set_k_roll_ff(float roll_ff) {
 		_roll_ff = roll_ff;
 	}
+	void set_coordinated(float coordinated) {
+		_coordinated = coordinated;
+	}
 
 
 	float get_rate_error() {
@@ -115,6 +118,7 @@ private:
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
 	float _max_deflection_rad;
+	float _coordinated;
 
 };
 
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 7f3e7893e..91981b08a 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -155,6 +155,7 @@ private:
 		float y_d;
 		float y_roll_feedforward;
 		float y_integrator_max;
+		float y_coordinated;
 
 		float airspeed_min;
 		float airspeed_trim;
@@ -181,6 +182,7 @@ private:
 		param_t y_d;
 		param_t y_roll_feedforward;
 		param_t y_integrator_max;
+		param_t y_coordinated;
 
 		param_t airspeed_min;
 		param_t airspeed_trim;
@@ -289,25 +291,27 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.p_i = param_find("FW_P_I");
 	_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
 	_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
-	_parameter_handles.p_integrator_max = param_find("FW_P_integrator_max");
+	_parameter_handles.p_integrator_max = param_find("FW_P_IMAX");
 	_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
 
 	_parameter_handles.r_p = param_find("FW_R_P");
 	_parameter_handles.r_d = param_find("FW_R_D");
 	_parameter_handles.r_i = param_find("FW_R_I");
-	_parameter_handles.r_integrator_max = param_find("FW_R_integrator_max");
+	_parameter_handles.r_integrator_max = param_find("FW_R_IMAX");
 	_parameter_handles.r_rmax = param_find("FW_R_RMAX");
 
 	_parameter_handles.y_p = param_find("FW_Y_P");
 	_parameter_handles.y_i = param_find("FW_Y_I");
 	_parameter_handles.y_d = param_find("FW_Y_D");
 	_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
-	_parameter_handles.y_integrator_max = param_find("FW_Y_integrator_max");
+	_parameter_handles.y_integrator_max = param_find("FW_Y_IMAX");
 
 	_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
 	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
 	_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
 
+	_parameter_handles.y_coordinated = param_find("FW_Y_COORD");
+
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -361,6 +365,7 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.y_d, &(_parameters.y_d));
 	param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward));
 	param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
+	param_get(_parameter_handles.y_coordinated, &(_parameters.y_coordinated));
 
 	param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
 	param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
@@ -390,6 +395,7 @@ FixedwingAttitudeControl::parameters_update()
 	_yaw_ctrl.set_k_d(math::radians(_parameters.y_d));
 	_yaw_ctrl.set_k_roll_ff(math::radians(_parameters.y_roll_feedforward));
 	_yaw_ctrl.set_integrator_max(math::radians(_parameters.y_integrator_max));
+	_yaw_ctrl.set_coordinated(_parameters.y_coordinated);
 
 	return OK;
 }
@@ -709,9 +715,9 @@ FixedwingAttitudeControl::task_main()
 				 * only once available
 				 */
 				vehicle_rates_setpoint_s rates_sp;
-				rates_sp.roll = _roll_ctrl.get_desired_bodyrate();
-				rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate();
-				rates_sp.yaw = _yaw_ctrl.get_desired_bodyrate();
+				rates_sp.roll = _roll_ctrl.get_desired_rate();
+				rates_sp.pitch = _pitch_ctrl.get_desired_rate();
+				rates_sp.yaw = _yaw_ctrl.get_desired_rate();
 
 				rates_sp.timestamp = hrt_absolute_time();
 
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 717608159..efe40b1ef 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -136,3 +136,4 @@ PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);
+PARAM_DEFINE_FLOAT(FW_Y_COORD, 1.0f);