Ported attitude controller to new param interface

1 files changed, 167 insertions, 96 deletions

diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 886ce304e..2fb9ae544 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -54,23 +54,138 @@
 #include <systemlib/param/param.h>
 #include <arch/board/up_hrt.h>
 
-PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f);
+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, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
 
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
 
-PARAM_DEFINE_FLOAT(MC_ATT_P, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_P, 0.3f);
 PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_D, 0.1f);
+PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.3f);
+
+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 att_p;
+	float att_i;
+	float att_d;
+	float att_awu;
+	float att_lim;
+
+	float att_xoff;
+	float att_yoff;
+};
+
+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 att_p;
+	param_t att_i;
+	param_t att_d;
+	param_t att_awu;
+	param_t att_lim;
+
+	param_t att_xoff;
+	param_t att_yoff;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+static int parameters_init(struct mc_att_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p);
+
+
+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->att_p 	= 	param_find("MC_ATT_P");
+	h->att_i 	= 	param_find("MC_ATT_I");
+	h->att_d 	= 	param_find("MC_ATT_D");
+	h->att_awu 	= 	param_find("MC_ATT_AWU");
+	h->att_lim 	= 	param_find("MC_ATT_LIM");
+
+	h->att_xoff 	= 	param_find("MC_ATT_XOFF");
+	h->att_yoff 	= 	param_find("MC_ATT_YOFF");
+
+	return OK;
+}
+
+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->att_p, &(p->att_p));
+	param_get(h->att_i, &(p->att_i));
+	param_get(h->att_d, &(p->att_d));
+	param_get(h->att_awu, &(p->att_awu));
+	param_get(h->att_lim, &(p->att_lim));
+
+	param_get(h->att_xoff, &(p->att_xoff));
+	param_get(h->att_yoff, &(p->att_yoff));
+
+	return OK;
+}
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
 	const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
@@ -87,90 +202,49 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	static PID_t pitch_controller;
 	static PID_t roll_controller;
 
-	static float pid_yawpos_lim;
-	static float pid_yawspeed_lim;
-	static float pid_att_lim;
+	static struct mc_att_control_params p;
+	static struct mc_att_control_param_handles h;
 
 	static bool initialized = false;
 
 	/* initialize the pid controllers when the function is called for the first time */
 	if (initialized == false) {
-
-		pid_init(&yaw_pos_controller,
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU],
-			 PID_MODE_DERIVATIV_CALC, 154);
-
-		pid_init(&yaw_speed_controller,
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU],
-			 PID_MODE_DERIVATIV_CALC, 155);
-
-		pid_init(&pitch_controller,
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
-			 PID_MODE_DERIVATIV_SET, 156);
-
-		pid_init(&roll_controller,
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
-			 global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
-			 PID_MODE_DERIVATIV_SET, 157);
-
-		pid_yawpos_lim = 	global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
-		pid_yawspeed_lim =	global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
-		pid_att_lim =	global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
+		parameters_init(&h);
+		parameters_update(&h, &p);
+
+		pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
+			PID_MODE_DERIVATIV_CALC, 154);
+		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu,
+			PID_MODE_DERIVATIV_CALC, 155);
+		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
+			PID_MODE_DERIVATIV_SET, 156);
+		pid_init(&roll_controller, p.att_d, p.att_i, p.att_d, p.att_awu,
+			PID_MODE_DERIVATIV_SET, 157);
 
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
 	if (motor_skip_counter % 50 == 0) {
-		pid_set_parameters(&yaw_pos_controller,
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU]);
-
-		pid_set_parameters(&yaw_speed_controller,
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU]);
-
-		pid_set_parameters(&pitch_controller,
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
-
-		pid_set_parameters(&roll_controller,
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
-				   global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
-
-		pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
-		pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
-		pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
+		/* 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_d, p.yawrate_i, p.yawrate_awu);
+		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
+		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
 	}
 
-	/*Calculate Controllers*/
-	//control Nick
-	float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_YOFFSET],
+	/* 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);
-	//control Roll
-	float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_XOFFSET],
+	/* control roll (left/right) output */
+	float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
 					att->roll, att->rollspeed, deltaT);
-	//control Yaw Speed
-	float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT); 	//attitude_setpoint_bodyframe.z is yaw speed!
+	/* control yaw rate */
+	float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT);
 
 	/*
 	 * compensate the vertical loss of thrust
@@ -195,43 +269,40 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 
 	float motor_thrust = 0.0f;
 
-	// FLYING MODES
 	motor_thrust = att_sp->thrust;
 
-	//printf("mot0: %3.1f\n", motor_thrust);
-
 	/* compensate thrust vector for roll / pitch contributions */
 	motor_thrust *= zcompensation;
 
 	/* limit yaw rate output */
-	if (yaw_rate_control > pid_yawspeed_lim) {
-		yaw_rate_control = pid_yawspeed_lim;
+	if (yaw_rate_control > p.yawrate_lim) {
+		yaw_rate_control = p.yawrate_lim;
 		yaw_speed_controller.saturated = 1;
 	}
 
-	if (yaw_rate_control < -pid_yawspeed_lim) {
-		yaw_rate_control = -pid_yawspeed_lim;
+	if (yaw_rate_control < -p.yawrate_lim) {
+		yaw_rate_control = -p.yawrate_lim;
 		yaw_speed_controller.saturated = 1;
 	}
 
-	if (pitch_control > pid_att_lim) {
-		pitch_control = pid_att_lim;
+	if (pitch_control > p.att_lim) {
+		pitch_control = p.att_lim;
 		pitch_controller.saturated = 1;
 	}
 
-	if (pitch_control < -pid_att_lim) {
-		pitch_control = -pid_att_lim;
+	if (pitch_control < -p.att_lim) {
+		pitch_control = -p.att_lim;
 		pitch_controller.saturated = 1;
 	}
 
 
-	if (roll_control > pid_att_lim) {
-		roll_control = pid_att_lim;
+	if (roll_control > p.att_lim) {
+		roll_control = p.att_lim;
 		roll_controller.saturated = 1;
 	}
 
-	if (roll_control < -pid_att_lim) {
-		roll_control = -pid_att_lim;
+	if (roll_control < -p.att_lim) {
+		roll_control = -p.att_lim;
 		roll_controller.saturated = 1;
 	}