My PID integral part fixes

4 files changed, 33 insertions, 27 deletions

diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index e94d7c55d..b98736cee 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -197,7 +197,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	}
 
 	/* load new parameters with lower rate */
-	if (motor_skip_counter % 1000 == 0) {
+	if (motor_skip_counter % 500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
@@ -206,6 +206,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 	}
 
+	/* reset integral if on ground */
+	if(att_sp->thrust < 0.1f) {
+		pid_reset_integral(&pitch_controller);
+		pid_reset_integral(&roll_controller);
+	}
+
+
 	/* calculate current control outputs */
 
 	/* control pitch (forward) output */
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index 93f7085ae..edb50a96e 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -150,16 +150,13 @@ 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)
 {
-	static float roll_control_last  = 0;
-	static float pitch_control_last = 0;
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	static uint64_t last_input = 0;
 
-	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
-	if (last_input != rate_sp->timestamp) {
-		last_input = rate_sp->timestamp;
-	}
+	static PID_t pitch_rate_controller;
+	static PID_t roll_rate_controller;
+
 
 	last_run = hrt_absolute_time();
 
@@ -175,37 +172,32 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		initialized = true;
+
+		pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,1000.0f, PID_MODE_DERIVATIV_CALC);
+		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,1000.0f, PID_MODE_DERIVATIV_CALC);
+
 	}
 
 	/* load new parameters with lower rate */
-	if (motor_skip_counter % 2500 == 0) {
+	if (motor_skip_counter % 500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 		// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
 		// 	(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
-	}
 
-	/* calculate current control outputs */
-	
-	/* control pitch (forward) output */
-	float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
-	/* increase resilience to faulty control inputs */
-	if (isfinite(pitch_control)) {
-		pitch_control_last = pitch_control;
-	} else {
-		pitch_control = 0.0f;
-		warnx("rej. NaN ctrl pitch");
+		/* load new parameters with lower rate */
+		parameters_update(&h, &p);
+
+		/* apply parameters */
+		pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f);
+		pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f);
 	}
 
+
 	/* control roll (left/right) output */
-	float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
-	/* increase resilience to faulty control inputs */
-	if (isfinite(roll_control)) {
-		roll_control_last = roll_control;
-	} else {
-		roll_control = 0.0f;
-		warnx("rej. NaN ctrl roll");
-	}
+	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , rates[0], 0.0f, deltaT);
+	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], 0.0f, deltaT);
+
 
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index 0358caa25..49315cdc9 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	return pid->last_output;
 }
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+	pid->integral = 0;
+}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
index b51afef9e..64d668867 100644
--- a/apps/systemlib/pid/pid.h
+++ b/apps/systemlib/pid/pid.h
@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 //void pid_set(PID_t *pid, float sp);
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
 
+__EXPORT void pid_reset_integral(PID_t *pid);
 
 
 #endif /* PID_H_ */