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author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-21 21:36:29 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-21 21:36:29 +0200 |
commit | ab447ac713b010c090d6e2de85fa5d0d0af5cbbe (patch) | |
tree | f813e61089b3e27c7eee4b5a99a30322be50a5b2 | |
parent | 5616f5c4b1a40bab6a48ec95775ed74a03c73273 (diff) | |
download | px4-firmware-ab447ac713b010c090d6e2de85fa5d0d0af5cbbe.tar.gz px4-firmware-ab447ac713b010c090d6e2de85fa5d0d0af5cbbe.tar.bz2 px4-firmware-ab447ac713b010c090d6e2de85fa5d0d0af5cbbe.zip |
[work in progess]roll attitude and roll rate loop works
5 files changed, 196 insertions, 8 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c new file mode 100644 index 000000000..7d648ccfa --- /dev/null +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -0,0 +1,131 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file fixedwing_att_control_rate.c + * Implementation of a fixed wing attitude controller. + */ +#include <fixedwing_att_control_rate.h> + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <poll.h> +#include <time.h> +#include <arch/board/up_hrt.h> +#include <arch/board/board.h> +#include <uORB/uORB.h> + +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <systemlib/param/param.h> +#include <systemlib/pid/pid.h> +#include <systemlib/geo/geo.h> +#include <systemlib/systemlib.h> + + + + +struct fw_att_control_params { + param_t roll_p; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_att_control_params *h); +static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p); + +static int parameters_init(struct fw_att_control_params *h) +{ + /* PID parameters */ + h->roll_p = param_find("FW_ROLL_POS_P"); //TODO define rate params for fixed wing + + +// if(h->attrate_i == PARAM_INVALID) +// printf("FATAL MC_ATTRATE_I does not exist\n"); + + return OK; +} + +static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p) +{ + param_get(h->roll_p, &(p->roll_p)); + + return OK; +} + +int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, + struct vehicle_rates_setpoint_s *rates_sp) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_att_control_params p; + static struct fw_att_control_params h; + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + if(!initialized) + { + parameters_init(&h); + parameters_update(&h, &p); + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 2500 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + } + + /* Roll (P) */ + float roll_error = att_sp->roll_tait_bryan - att->roll; + rates_sp->roll = p.roll_p * roll_error; + + counter++; + + return 0; +} + + + diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h new file mode 100644 index 000000000..f4d3eca7c --- /dev/null +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.h @@ -0,0 +1,49 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file Main system state machine definition */ + +#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ +#define FIXEDWING_ATT_CONTROL_ATT_H_ + +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_attitude.h> + +int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, + struct vehicle_rates_setpoint_s *rates_sp); + +#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 4680147a1..9bf984d1d 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -63,6 +63,7 @@ #include <systemlib/systemlib.h> #include <fixedwing_att_control_rate.h> +#include <fixedwing_att_control_att.h> /* Prototypes */ /** @@ -103,6 +104,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* declare and safely initialize all structs */ struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); + struct vehicle_attitude_setpoint_s att_sp; + memset(&att_sp, 0, sizeof(att_sp)); struct vehicle_rates_setpoint_s rates_sp; memset(&rates_sp, 0, sizeof(rates_sp)); @@ -117,8 +120,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) - /* subscribe to attitude (for attitude rate) and rate septoint */ + /* subscribe */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); /* Setup of loop */ float gyro[3] = {0.0f, 0.0f, 0.0f}; @@ -140,8 +144,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) /* Control */ /* Attitude Control */ - rates_sp.roll = 0.0f; - rates_sp.pitch = 0.0f; + att_sp.roll_tait_bryan = 0.0f; //REMOVEME TODO + att_sp.pitch_tait_bryan = 0.0f; + att_sp.yaw_tait_bryan = 0.0f; + fixedwing_att_control_attitude(&att_sp, + &att, + &rates_sp); + rates_sp.pitch = 0.0f; //REMOVEME TODO rates_sp.yaw = 0.0f; /* Attitude Rate Control */ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index d00909104..48892e4aa 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -155,8 +155,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, } /* Roll Rate (PI) */ - float roll_rate_error = rate_sp->roll - rates[0]; - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);; + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); actuators->control[1] = 0; diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h index 62367cf77..8663846fc 100644 --- a/apps/uORB/topics/vehicle_attitude_setpoint.h +++ b/apps/uORB/topics/vehicle_attitude_setpoint.h @@ -56,9 +56,9 @@ struct vehicle_attitude_setpoint_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - //float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */ - //float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */ - //float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */ + float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */ //float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */ float roll_body; /**< body angle in NED frame */ |