Cherry-picked commit e2ff60b0a6dbcd714d57e781d9fe174b110a6237: use rateacc values

3 files changed, 32 insertions, 20 deletions

diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c
index d94c0a69c..38775ed1f 100644
--- a/src/modules/multirotor_att_control/multirotor_att_control_main.c
+++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c
@@ -63,6 +63,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_control_debug.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/parameter_update.h>
@@ -83,6 +84,7 @@ static int mc_task;
 static bool motor_test_mode = false;
 
 static orb_advert_t actuator_pub;
+static orb_advert_t control_debug_pub;
 
 static struct vehicle_status_s state;
 
@@ -107,6 +109,9 @@ mc_thread_main(int argc, char *argv[])
 	struct actuator_controls_s actuators;
 	memset(&actuators, 0, sizeof(actuators));
 
+	struct vehicle_control_debug_s control_debug;
+	memset(&control_debug, 0, sizeof(control_debug));
+
 	/* subscribe to attitude, motor setpoints and system state */
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int param_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -133,6 +138,8 @@ mc_thread_main(int argc, char *argv[])
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
 		actuators.control[i] = 0.0f;
 	}
+	
+	control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
 
 	actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
@@ -372,7 +379,8 @@ mc_thread_main(int argc, char *argv[])
 				/* measure in what intervals the controller runs */
 				perf_count(mc_interval_perf);
 
-				float gyro[3];
+				float rates[3];
+				float rates_acc[3];
 
 				/* get current rate setpoint */
 				bool rates_sp_valid = false;
@@ -383,13 +391,21 @@ mc_thread_main(int argc, char *argv[])
 				}
 
 				/* apply controller */
-				gyro[0] = att.rollspeed;
-				gyro[1] = att.pitchspeed;
-				gyro[2] = att.yawspeed;
+				rates[0] = att.rollspeed;
+				rates[1] = att.pitchspeed;
+				rates[2] = att.yawspeed;
+
+				rates_acc[0] = att.rollacc;
+				rates_acc[1] = att.pitchacc;
+				rates_acc[2] = att.yawacc;
+
 
-				multirotor_control_rates(&rates_sp, gyro, &actuators);
+
+				multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug);
 				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 
+				orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
+
 				/* update state */
 				flag_control_attitude_enabled = state.flag_control_attitude_enabled;
 				flag_control_manual_enabled = state.flag_control_manual_enabled;
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index 9135a9351..e37ede3e0 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -55,7 +55,7 @@
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
-#include <uORB/topics/vehicle_control_debug.h>
+
 
 
 PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
@@ -151,7 +151,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 }
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-			      const float rates[], struct actuator_controls_s *actuators)
+			      const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
+			      const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
 {
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -178,10 +179,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	static bool initialized = false;
 
-	static struct vehicle_control_debug_s control_debug;
-	static orb_advert_t control_debug_pub;
-	
-
 
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
@@ -189,10 +186,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_update(&h, &p);
 		initialized = true;
 
-		pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
-		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
+		pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
+		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
 
-		control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
 	}
 
 	/* load new parameters with lower rate */
@@ -205,11 +201,11 @@ 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, &control_debug.pitch_rate_p, &control_debug.pitch_rate_i, &control_debug.pitch_rate_d);
+			rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
 
 	/* control roll (left/right) output */
 	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
-			rates[0], 0.0f, deltaT, &control_debug.roll_rate_p, &control_debug.roll_rate_i, &control_debug.roll_rate_d);
+			rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
 
 	/* increase resilience to faulty control inputs */
 	if (isfinite(pitch_control)) {
@@ -229,7 +225,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		warnx("rej. NaN ctrl roll");
 	}
 
-	/* control yaw rate */
+	/* control yaw rate */ //XXX use library here and use rates_acc[2]
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
 
 	/* increase resilience to faulty control inputs */
@@ -244,6 +240,4 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	actuators->control[3] = rate_sp->thrust;
 
 	motor_skip_counter++;
-
-	orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
 }
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h
index 03dec317a..fc741c378 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.h
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.h
@@ -49,8 +49,10 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_control_debug.h>
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-			      const float rates[], struct actuator_controls_s *actuators);
+			      const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
+			      const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
 
 #endif /* MULTIROTOR_RATE_CONTROL_H_ */