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author | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-21 21:01:22 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2012-10-21 21:01:22 +0200 |
commit | 5616f5c4b1a40bab6a48ec95775ed74a03c73273 (patch) | |
tree | ea86ad1cd40fe0519b77b94d5a35dde357995dba /apps/fixedwing_att_control/fixedwing_att_control_rate.c | |
parent | 6c8fb8177e1f8fa825814bec0d756d2a429a3546 (diff) | |
download | px4-firmware-5616f5c4b1a40bab6a48ec95775ed74a03c73273.tar.gz px4-firmware-5616f5c4b1a40bab6a48ec95775ed74a03c73273.tar.bz2 px4-firmware-5616f5c4b1a40bab6a48ec95775ed74a03c73273.zip |
[work in progess] added pos control skeleton
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_rate.c')
-rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_rate.c | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c new file mode 100644 index 000000000..d00909104 --- /dev/null +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -0,0 +1,171 @@ +/**************************************************************************** + * + * 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_rate_control_params { + + param_t yawrate_p; + param_t yawrate_i; + param_t yawrate_d; + param_t yawrate_awu; + param_t yawrate_lim; + + param_t attrate_p; + param_t attrate_i; + param_t attrate_d; + param_t attrate_awu; + param_t attrate_lim; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_rate_control_params *h); +static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p); + +static int parameters_init(struct fw_rate_control_params *h) +{ + /* PID parameters */ + h->yawrate_p = param_find("MC_YAWRATE_P"); //TODO define rate params for fixed wing + h->yawrate_i = param_find("MC_YAWRATE_I"); + h->yawrate_d = param_find("MC_YAWRATE_D"); + h->yawrate_awu = param_find("MC_YAWRATE_AWU"); + h->yawrate_lim = param_find("MC_YAWRATE_LIM"); + + h->attrate_p = param_find("MC_ATTRATE_P"); + h->attrate_i = param_find("MC_ATTRATE_I"); + h->attrate_d = param_find("MC_ATTRATE_D"); + h->attrate_awu = param_find("MC_ATTRATE_AWU"); + h->attrate_lim = param_find("MC_ATTRATE_LIM"); + +// if(h->attrate_i == PARAM_INVALID) +// printf("FATAL MC_ATTRATE_I does not exist\n"); + + return OK; +} + +static int parameters_update(const struct fw_rate_control_params *h, struct fw_rate_control_params *p) +{ + param_get(h->yawrate_p, &(p->yawrate_p)); + param_get(h->yawrate_i, &(p->yawrate_i)); + param_get(h->yawrate_d, &(p->yawrate_d)); + param_get(h->yawrate_awu, &(p->yawrate_awu)); + param_get(h->yawrate_lim, &(p->yawrate_lim)); + + param_get(h->attrate_p, &(p->attrate_p)); + param_get(h->attrate_i, &(p->attrate_i)); + param_get(h->attrate_d, &(p->attrate_d)); + param_get(h->attrate_awu, &(p->attrate_awu)); + param_get(h->attrate_lim, &(p->attrate_lim)); + + p->attrate_i = 0.01f; //TODO: as long as the parameter is not implemented + + return OK; +} + +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], + struct actuator_controls_s *actuators) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_rate_control_params p; + static struct fw_rate_control_params h; + + static PID_t roll_rate_controller; + + 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); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu, PID_MODE_DERIVATIV_SET); //D part set to 0 because the controller layout is with a PI rate controller + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 2500 == 0) { + /* update parameters from storage */ + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu); + parameters_update(&h, &p); + } + + /* 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[1] = 0; + actuators->control[2] = 0; + + counter++; + + return 0; +} + + + |