[work in progess] added pos control skeleton

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;
+}
+
+
+