Wip on inner rate loop

1 files changed, 28 insertions, 13 deletions

diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index 2809c4533..c132665d2 100755..100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
+ *           Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +35,11 @@
 
 /**
  * @file multirotor_rate_control.c
+ *
  * Implementation of rate controller
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include "multirotor_rate_control.h"
@@ -50,10 +54,11 @@
 #include <systemlib/param/param.h>
 #include <arch/board/up_hrt.h>
 
- PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
- PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
- PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
- PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 40.0f);
 
 PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 40.0f); /* 0.15 F405 Flamewheel */
 PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
@@ -144,8 +149,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	const float rates[], struct actuator_controls_s *actuators)
 {
-	static float roll_control_last=0;
-	static float pitch_control_last=0;
+	static float roll_control_last  = 0;
+	static float pitch_control_last = 0;
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	last_run = hrt_absolute_time();
@@ -174,15 +179,25 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-
 	float pitch_control = p.attrate_p * deltaT *((rate_sp->pitch)*p.attrate_lim-rates[1])-p.attrate_d*(pitch_control_last);
-	pitch_control_last=pitch_control;
-	/* control roll (left/right) output */
+	/* increase resilience to faulty control inputs */
+	if (isfinite(pitch_control)) {
+		pitch_control_last = pitch_control;
+	} else {
+		pitch_control = 0.0f;
+	}
 
+	/* control roll (left/right) output */
 	float roll_control = p.attrate_p * deltaT * ((rate_sp->roll)*p.attrate_lim-rates[0])-p.attrate_d*(roll_control_last);
-	roll_control_last=roll_control;
+	/* increase resilience to faulty control inputs */
+	if (isfinite(roll_control)) {
+		roll_control_last = roll_control;
+	} else {
+		roll_control = 0.0f;
+	}
+
 	/* control yaw rate */
-	float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]  );
+	float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]);
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;