Controller and estimator updates

1 files changed, 76 insertions, 141 deletions

diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 458b86057..00b759d73 100755..100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -54,17 +54,13 @@
 #include <systemlib/param/param.h>
 #include <arch/board/up_hrt.h>
 
-// PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
-// PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
-// PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
-// PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
-// PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
-
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.08f); /* same on Flamewheel */
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
+
+
 
 PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); /* 0.15 F405 Flamewheel */
 PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
@@ -76,17 +72,17 @@ PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
 
 struct mc_att_control_params {
-	// float yaw_p;
-	// float yaw_i;
-	// float yaw_d;
-	// float yaw_awu;
-	// float yaw_lim;
-
-	float yawrate_p;
-	float yawrate_i;
-	float yawrate_d;
-	float yawrate_awu;
-	float yawrate_lim;
+	float yaw_p;
+	float yaw_i;
+	float yaw_d;
+	float yaw_awu;
+	float yaw_lim;
+
+	//	float yawrate_p;
+	//	float yawrate_i;
+	//	float yawrate_d;
+	//	float yawrate_awu;
+	//	float yawrate_lim;
 
 	float att_p;
 	float att_i;
@@ -99,17 +95,17 @@ struct mc_att_control_params {
 };
 
 struct mc_att_control_param_handles {
-	// param_t yaw_p;
-	// param_t yaw_i;
-	// param_t yaw_d;
-	// param_t yaw_awu;
-	// param_t yaw_lim;
-
-	param_t yawrate_p;
-	param_t yawrate_i;
-	param_t yawrate_d;
-	param_t yawrate_awu;
-	param_t yawrate_lim;
+	param_t yaw_p;
+	param_t yaw_i;
+	param_t yaw_d;
+	param_t yaw_awu;
+	param_t yaw_lim;
+
+	//	param_t yawrate_p;
+	//	param_t yawrate_i;
+	//	param_t yawrate_d;
+	//	param_t yawrate_awu;
+	//	param_t yawrate_lim;
 
 	param_t att_p;
 	param_t att_i;
@@ -137,17 +133,17 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 static int parameters_init(struct mc_att_control_param_handles *h)
 {
 	/* PID parameters */
-	// h->yaw_p 	=	param_find("MC_YAWPOS_P");
-	// h->yaw_i 	=	param_find("MC_YAWPOS_I");
-	// h->yaw_d 	=	param_find("MC_YAWPOS_D");
-	// h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
-	// h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
-
-	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
-	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->yaw_p 	=	param_find("MC_YAWPOS_P");
+	h->yaw_i 	=	param_find("MC_YAWPOS_I");
+	h->yaw_d 	=	param_find("MC_YAWPOS_D");
+	h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
+	h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
+
+	//	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
+	//	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->att_p 	= 	param_find("MC_ATT_P");
 	h->att_i 	= 	param_find("MC_ATT_I");
@@ -163,17 +159,17 @@ static int parameters_init(struct mc_att_control_param_handles *h)
 
 static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
 {
-	// param_get(h->yaw_p, &(p->yaw_p));
-	// param_get(h->yaw_i, &(p->yaw_i));
-	// param_get(h->yaw_d, &(p->yaw_d));
-	// param_get(h->yaw_awu, &(p->yaw_awu));
-	// param_get(h->yaw_lim, &(p->yaw_lim));
-
-	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->yaw_p, &(p->yaw_p));
+	param_get(h->yaw_i, &(p->yaw_i));
+	param_get(h->yaw_d, &(p->yaw_d));
+	param_get(h->yaw_awu, &(p->yaw_awu));
+	param_get(h->yaw_lim, &(p->yaw_lim));
+
+	//	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->att_p, &(p->att_p));
 	param_get(h->att_i, &(p->att_i));
@@ -188,16 +184,23 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-	const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
+		const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators)
 {
 	static uint64_t last_run = 0;
-	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	static uint64_t last_input = 0;
+	float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
 	last_run = hrt_absolute_time();
+	if (last_input != att_sp->timestamp) {
+		last_input = att_sp->timestamp;
+	}
+	static int sensor_delay;
+	sensor_delay = hrt_absolute_time() - att->timestamp;
 
 	static int motor_skip_counter = 0;
 
 	// static PID_t yaw_pos_controller;
-	static PID_t yaw_speed_controller;
+//	static PID_t yaw_speed_controller;
 	static PID_t pitch_controller;
 	static PID_t roll_controller;
 
@@ -213,112 +216,44 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 		// pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
 		// 	PID_MODE_DERIVATIV_SET, 154);
-		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
-			PID_MODE_DERIVATIV_SET);
+		//		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
+		//			PID_MODE_DERIVATIV_SET);
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
-			PID_MODE_DERIVATIV_SET);
+				PID_MODE_DERIVATIV_SET);
 		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
-			PID_MODE_DERIVATIV_SET);
+				PID_MODE_DERIVATIV_SET);
 
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
-	if (motor_skip_counter % 50 == 0) {
+	if (motor_skip_counter % 1000 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 		/* apply parameters */
 		// pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
-		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu);
+		//		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu);
 		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
+		printf("delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
 	}
 
 	/* calculate current control outputs */
-	
+
 	/* control pitch (forward) output */
-	float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
-					att->pitch, att->pitchspeed, deltaT)*1/10.0f;
+	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
+			att->pitch, att->pitchspeed, deltaT)*1/10.0f;
 	/* control roll (left/right) output */
-	float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
-					att->roll, att->rollspeed, deltaT)*1/10.0f;
+	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
+			att->roll, att->rollspeed, deltaT)*1/10.0f;
 	/* control yaw rate */
-	float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f;
-
-	/*
-	 * compensate the vertical loss of thrust
-	 * when thrust plane has an angle.
-	 * start with a factor of 1.0 (no change)
-	 */
-	float zcompensation = 1.0f;
-
-	if (fabsf(att->roll) > 0.3f) {
-		zcompensation *= 1.04675160154f;
-
-	} else {
-		zcompensation *= 1.0f / cosf(att->roll);
-	}
-
-	if (fabsf(att->pitch) > 0.3f) {
-		zcompensation *= 1.04675160154f;
-
-	} else {
-		zcompensation *= 1.0f / cosf(att->pitch);
-	}
+	//float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f;
+	rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body));
 
-	float motor_thrust = 0.0f;
 
-	motor_thrust = att_sp->thrust;
 
-	/* compensate thrust vector for roll / pitch contributions */
-	motor_thrust *= zcompensation;
+	rates_sp->thrust = att_sp->thrust;
 
-	/* limit yaw rate output */
-	if (yaw_rate_control > p.yawrate_lim) {
-		yaw_rate_control = p.yawrate_lim;
-		yaw_speed_controller.saturated = 1;
-	}
-
-	if (yaw_rate_control < -p.yawrate_lim) {
-		yaw_rate_control = -p.yawrate_lim;
-		yaw_speed_controller.saturated = 1;
-	}
-
-	if (pitch_control > p.att_lim) {
-		pitch_control = p.att_lim;
-		pitch_controller.saturated = 1;
-	}
-
-	if (pitch_control < -p.att_lim) {
-		pitch_control = -p.att_lim;
-		pitch_controller.saturated = 1;
-	}
-
-
-	if (roll_control > p.att_lim) {
-		roll_control = p.att_lim;
-		roll_controller.saturated = 1;
-	}
-
-	if (roll_control < -p.att_lim) {
-		roll_control = -p.att_lim;
-		roll_controller.saturated = 1;
-	}
-
-	if (actuators) {
-		actuators->control[0] = roll_control;
-		actuators->control[1] = pitch_control;
-		actuators->control[2] = yaw_rate_control;
-		actuators->control[3] = motor_thrust;
-	}
-
-	// XXX change yaw rate to yaw pos controller
-	if (rates_sp) {
-		rates_sp->roll = roll_control;
-		rates_sp->pitch = pitch_control;
-		rates_sp->yaw = yaw_rate_control;
-		rates_sp->thrust = motor_thrust;
-	}
 
 	motor_skip_counter++;
 }