Merge remote-tracking branch 'drton/pid_fixes_drton_debug' into new_state_machine

Conflicts:
	src/modules/multirotor_att_control/multirotor_att_control_main.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.h
	src/modules/sdlog2/sdlog2.c

8 files changed, 30 insertions, 22 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 dd38242d3..41a9f1df5 100644
--- a/src/modules/multirotor_att_control/multirotor_att_control_main.c
+++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c
@@ -410,13 +410,7 @@ mc_thread_main(int argc, char *argv[])
 				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, rates, rates_acc, &actuators, &control_debug_pub, &control_debug);
+				multirotor_control_rates(&rates_sp, rates, &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);
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c
index 88cc65148..752f292e3 100644
--- a/src/modules/multirotor_att_control/multirotor_attitude_control.c
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c
@@ -187,7 +187,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	/* control roll (left/right) output */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
-				       att->roll, att->rollspeed, deltaT, &control_debug->roll_p, &control_debug->roll_i, &control_debug->roll_d);
+				       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 a0266e1b3..641d833f0 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -151,7 +151,7 @@ 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[], const float rates_acc[], struct actuator_controls_s *actuators,
+			      const float rates[], 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;
@@ -179,6 +179,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	static bool initialized = false;
 
+	float diff_filter_factor = 1.0f;
 
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
@@ -186,8 +187,8 @@ 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_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);
+		pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP);
+		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP);
 
 	}
 
@@ -195,8 +196,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (motor_skip_counter % 2500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f);
-		pid_set_parameters(&roll_rate_controller,  p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f);
+		pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor);
+		pid_set_parameters(&roll_rate_controller,  p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor);
 	}
 
 	/* reset integral if on ground */
@@ -207,11 +208,11 @@ 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], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
+			rates[1], 0.0f, 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], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
+			rates[0], 0.0f, 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)) {
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h
index fc741c378..465549540 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.h
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.h
@@ -52,7 +52,7 @@
 #include <uORB/topics/vehicle_control_debug.h>
 
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-			      const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
+			      const float rates[], struct actuator_controls_s *actuators,
 			      const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
 
 #endif /* MULTIROTOR_RATE_CONTROL_H_ */
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index f967638c3..edcba4e7d 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1013,6 +1013,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
 				log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
 				log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
+				log_msg.body.log_ATT.roll_acc = buf.att.rollacc;
+				log_msg.body.log_ATT.pitch_acc = buf.att.pitchacc;
+				log_msg.body.log_ATT.yaw_acc = buf.att.yawacc;
 				LOGBUFFER_WRITE_AND_COUNT(ATT);
 			}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index b6537b2cd..04eae40b0 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -63,6 +63,9 @@ struct log_ATT_s {
 	float roll_rate;
 	float pitch_rate;
 	float yaw_rate;
+	float roll_acc;
+	float pitch_acc;
+	float yaw_acc;
 };
 
 /* --- ATSP - ATTITUDE SET POINT --- */
@@ -209,7 +212,7 @@ struct log_ARSP_s {
 
 static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TIME, "Q", "StartTime"),
-	LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
+	LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollR,PitchR,YawR,RollA,PitchA,YawA"),
 	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
index 3685b2aeb..2aafe0636 100644
--- a/src/modules/systemlib/pid/pid.c
+++ b/src/modules/systemlib/pid/pid.c
@@ -144,15 +144,19 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	// Calculated current error value
 	float error = pid->sp - val;
-
-	float error_filtered = pid->diff_filter_factor*error + (1.0f-pid->diff_filter_factor)*pid->error_previous_filtered;
+	float error_filtered;
 
 	// Calculate or measured current error derivative
 
 	if (pid->mode == PID_MODE_DERIVATIV_CALC) {
 
-//		d = (error_filtered - pid->error_previous_filtered) / dt;
-		d = error_filtered - pid->error_previous_filtered ;
+		error_filtered = pid->error_previous_filtered + (error - pid->error_previous_filtered) * pid->diff_filter_factor;
+		d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f);		// fail-safe for too low dt
+		pid->error_previous_filtered = error_filtered;
+	} else if (pid->mode == PID_MODE_DERIVATIV_CALC_NO_SP) {
+
+		error_filtered = pid->error_previous_filtered + (- val - pid->error_previous_filtered) * pid->diff_filter_factor;
+		d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f);		// fail-safe for too low dt
 		pid->error_previous_filtered = error_filtered;
 	} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
 		d = -val_dot;
diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h
index e3d9038cd..eb9df96cc 100644
--- a/src/modules/systemlib/pid/pid.h
+++ b/src/modules/systemlib/pid/pid.h
@@ -47,8 +47,11 @@
 /* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
  * val_dot in pid_calculate() will be ignored */
 #define PID_MODE_DERIVATIV_CALC	0
+/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored
+ * val_dot in pid_calculate() will be ignored */
+#define PID_MODE_DERIVATIV_CALC_NO_SP	1
 /* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
-#define PID_MODE_DERIVATIV_SET	1
+#define PID_MODE_DERIVATIV_SET	2
 // Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
 #define PID_MODE_DERIVATIV_NONE 9