reintroduce feedforward

8 files changed, 59 insertions, 5 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index ccaed14ce..d7dbbebd4 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -53,6 +53,7 @@ ECL_PitchController::ECL_PitchController() :
 	_k_p(0.0f),
 	_k_i(0.0f),
 	_k_d(0.0f),
+	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate_pos(0.0f),
 	_max_rate_neg(0.0f),
@@ -173,7 +174,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = (_bodyrate_setpoint * _k_ff +_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
 //	warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
 //	warnx("roll: _last_output %.4f", (double)_last_output);
 	return math::constrain(_last_output, -1.0f, 1.0f);
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index ba8ed3e6f..2ca0490fd 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -73,21 +73,30 @@ public:
 	void set_k_p(float k_p) {
 		_k_p = k_p;
 	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
+	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
+
 	void set_max_rate_pos(float max_rate_pos) {
 		_max_rate_pos = max_rate_pos;
 	}
+
 	void set_max_rate_neg(float max_rate_neg) {
 		_max_rate_neg = max_rate_neg;
 	}
+
 	void set_roll_ff(float roll_ff) {
 		_roll_ff = roll_ff;
 	}
@@ -111,6 +120,7 @@ private:
 	float _k_p;
 	float _k_i;
 	float _k_d;
+	float _k_ff;
 	float _integrator_max;
 	float _max_rate_pos;
 	float _max_rate_neg;
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 4b0bfc6c4..bd6c9da71 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -53,6 +53,7 @@ ECL_RollController::ECL_RollController() :
 	_k_p(0.0f),
 	_k_i(0.0f),
 	_k_d(0.0f),
+	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),
 	_last_output(0.0f),
@@ -141,7 +142,7 @@ float ECL_RollController::control_bodyrate(float pitch,
 	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
 
 	return math::constrain(_last_output, -1.0f, 1.0f);
 }
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index dd7d1bf53..efc7b8944 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -71,18 +71,27 @@ public:
 			_tc = time_constant;
 		}
 	}
+
 	void set_k_p(float k_p) {
 		_k_p = k_p;
 	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
+
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
+	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
+
 	void set_max_rate(float max_rate) {
 		_max_rate = max_rate;
 	}
@@ -105,6 +114,7 @@ private:
 	float _k_p;
 	float _k_i;
 	float _k_d;
+	float _k_ff;
 	float _integrator_max;
 	float _max_rate;
 	float _last_output;
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index a4ecc48a2..7c366aaf2 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -51,6 +51,7 @@ ECL_YawController::ECL_YawController() :
 	_k_p(0.0f),
 	_k_i(0.0f),
 	_k_d(0.0f),
+	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),
 	_roll_ff(0.0f),
@@ -159,7 +160,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
 
 	/* Apply PI rate controller and store non-limited output */
-	_last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler;  //scaler is proportional to 1/airspeed
 	//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
 
 
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index b5ae1e6af..f15645fcf 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -69,22 +69,32 @@ public:
 
 	void set_k_p(float k_p) {
 			_k_p = k_p;
-		}
+	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
+
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
+	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
+
 	void set_max_rate(float max_rate) {
 		_max_rate = max_rate;
 	}
+
 	void set_k_roll_ff(float roll_ff) {
 		_roll_ff = roll_ff;
 	}
+
 	void set_coordinated_min_speed(float coordinated_min_speed) {
 		_coordinated_min_speed = coordinated_min_speed;
 	}
@@ -107,6 +117,7 @@ private:
 	float _k_p;
 	float _k_i;
 	float _k_d;
+	float _k_ff;
 	float _integrator_max;
 	float _max_rate;
 	float  _roll_ff;
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 a5f3f1d91..53f89c7c4 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -141,6 +141,7 @@ private:
 		float p_p;
 		float p_d;
 		float p_i;
+		float p_ff;
 		float p_rmax_pos;
 		float p_rmax_neg;
 		float p_integrator_max;
@@ -148,11 +149,13 @@ private:
 		float r_p;
 		float r_d;
 		float r_i;
+		float r_ff;
 		float r_integrator_max;
 		float r_rmax;
 		float y_p;
 		float y_i;
 		float y_d;
+		float y_ff;
 		float y_roll_feedforward;
 		float y_integrator_max;
 		float y_coordinated_min_speed;
@@ -169,6 +172,7 @@ private:
 		param_t p_p;
 		param_t p_d;
 		param_t p_i;
+		param_t p_ff;
 		param_t p_rmax_pos;
 		param_t p_rmax_neg;
 		param_t p_integrator_max;
@@ -176,11 +180,13 @@ private:
 		param_t r_p;
 		param_t r_d;
 		param_t r_i;
+		param_t r_ff;
 		param_t r_integrator_max;
 		param_t r_rmax;
 		param_t y_p;
 		param_t y_i;
 		param_t y_d;
+		param_t y_ff;
 		param_t y_roll_feedforward;
 		param_t y_integrator_max;
 		param_t y_coordinated_min_speed;
@@ -302,6 +308,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.p_p = param_find("FW_PR_P");
 	_parameter_handles.p_d = param_find("FW_PR_D");
 	_parameter_handles.p_i = param_find("FW_PR_I");
+	_parameter_handles.p_ff = param_find("FW_PR_FF");
 	_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_PR_IMAX");
@@ -310,12 +317,14 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.r_p = param_find("FW_RR_P");
 	_parameter_handles.r_d = param_find("FW_RR_D");
 	_parameter_handles.r_i = param_find("FW_RR_I");
+	_parameter_handles.r_ff = param_find("FW_RR_FF");
 	_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
 	_parameter_handles.r_rmax = param_find("FW_R_RMAX");
 
 	_parameter_handles.y_p = param_find("FW_YR_P");
 	_parameter_handles.y_i = param_find("FW_YR_I");
 	_parameter_handles.y_d = param_find("FW_YR_D");
+	_parameter_handles.y_ff = param_find("FW_YR_FF");
 	_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
 	_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
 	_parameter_handles.y_rmax = param_find("FW_Y_RMAX");
@@ -363,6 +372,7 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.p_p, &(_parameters.p_p));
 	param_get(_parameter_handles.p_d, &(_parameters.p_d));
 	param_get(_parameter_handles.p_i, &(_parameters.p_i));
+	param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
 	param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
 	param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
 	param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
@@ -371,12 +381,15 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.r_p, &(_parameters.r_p));
 	param_get(_parameter_handles.r_d, &(_parameters.r_d));
 	param_get(_parameter_handles.r_i, &(_parameters.r_i));
+	param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
+
 	param_get(_parameter_handles.r_integrator_max, &(_parameters.r_integrator_max));
 	param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax));
 
 	param_get(_parameter_handles.y_p, &(_parameters.y_p));
 	param_get(_parameter_handles.y_i, &(_parameters.y_i));
 	param_get(_parameter_handles.y_d, &(_parameters.y_d));
+	param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
 	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_min_speed, &(_parameters.y_coordinated_min_speed));
@@ -391,6 +404,7 @@ FixedwingAttitudeControl::parameters_update()
 	_pitch_ctrl.set_k_p(_parameters.p_p);
 	_pitch_ctrl.set_k_i(_parameters.p_i);
 	_pitch_ctrl.set_k_d(_parameters.p_d);
+	_pitch_ctrl.set_k_ff(_parameters.p_ff);
 	_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
 	_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
 	_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
@@ -401,6 +415,7 @@ FixedwingAttitudeControl::parameters_update()
 	_roll_ctrl.set_k_p(_parameters.r_p);
 	_roll_ctrl.set_k_i(_parameters.r_i);
 	_roll_ctrl.set_k_d(_parameters.r_d);
+	_roll_ctrl.set_k_ff(_parameters.r_ff);
 	_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
 	_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
 
@@ -408,6 +423,7 @@ FixedwingAttitudeControl::parameters_update()
 	_yaw_ctrl.set_k_p(_parameters.y_p);
 	_yaw_ctrl.set_k_i(_parameters.y_i);
 	_yaw_ctrl.set_k_d(_parameters.y_d);
+	_yaw_ctrl.set_k_ff(_parameters.y_ff);
 	_yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward);
 	_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
 	_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
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 796ab3f90..240749fed 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+f *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -138,3 +138,7 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);
 PARAM_DEFINE_FLOAT(FW_Y_RMAX, 60);
 PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1.0f);
+
+PARAM_DEFINE_FLOAT(FW_RR_FF, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PR_FF, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YR_FF, 0.0f);