Reworking control infrastructure for inner rate loop, preparing offboard interface

4 files changed, 355 insertions, 20 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index a9f27197d..530033701 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -32,7 +32,7 @@
  *
  ****************************************************************************/
 
-/*
+/**
  * @file multirotor_att_control_main.c
  *
  * Implementation of multirotor attitude control main loop.
@@ -103,6 +103,8 @@ mc_thread_main(int argc, char *argv[])
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	int setpoint_sub = orb_subscribe(ORB_ID(ardrone_motors_setpoint));
 
 	/* 
 	 * Do not rate-limit the loop to prevent aliasing
@@ -143,28 +145,49 @@ mc_thread_main(int argc, char *argv[])
 		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 		/* get a local copy of attitude setpoint */
 		orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp);
+		/* get a local copy of the current sensor values */
+		orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
 
-		att_sp.roll_body = manual.roll;
-		att_sp.pitch_body = manual.pitch;
-		att_sp.yaw_rate_body = manual.yaw;
-		att_sp.timestamp = hrt_absolute_time();
-		
-		if (motor_test_mode) {
-			att_sp.roll_body = 0.0f;
-			att_sp.pitch_body = 0.0f;
-			att_sp.yaw_body = 0.0f;
-			att_sp.roll_rate_body = 0.0f;
-			att_sp.pitch_rate_body = 0.0f;
-			att_sp.yaw_rate_body = 0.0f;
-			att_sp.thrust = 0.1f;
-		} else {
-			att_sp.thrust = manual.throttle;
+
+		/** STEP 1: Define which input is the dominating control input */
+
+		if (state.flag_control_manual_enabled) {
+			/* manual inputs, from RC control or joystick */
+			att_sp.roll_body = manual.roll;
+			att_sp.pitch_body = manual.pitch;
+			att_sp.yaw_rate_body = manual.yaw;
+			att_sp.timestamp = hrt_absolute_time();
 			
+			if (motor_test_mode) {
+				att_sp.roll_body = 0.0f;
+				att_sp.pitch_body = 0.0f;
+				att_sp.yaw_body = 0.0f;
+				att_sp.roll_rate_body = 0.0f;
+				att_sp.pitch_rate_body = 0.0f;
+				att_sp.yaw_rate_body = 0.0f;
+				att_sp.thrust = 0.1f;
+			} else {
+				att_sp.thrust = manual.throttle;
+			}
+		} else if (state.flag_control_offboard_enabled) {
+			/* offboard inputs */
+
+			/* decide wether we want rate or position input */
 		}
 
-		multirotor_control_attitude(&att_sp, &att, &actuators);
+		/** STEP 2: Identify the controller setup to run and set up the inputs correctly */
+
+		/* run attitude controller */
+		if (state.flag_control_attitude_enabled) {
+			multirotor_control_attitude(&att_sp, &att, &actuators);
+		}
+
+		/* XXX could be also run in an independent loop */
+		if (state.flag_control_rates_enabled) {
+			multirotor_control_rates(&att_sp, &raw.gyro_rad_s, &actuators);
+		}
 
-		/* publish the result */
+		/* STEP 3: publish the result to the vehicle actuators */
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 2e8c61fd2..997aa0c10 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -213,7 +213,7 @@ 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_d, p.yawrate_i, p.yawrate_awu,
+		pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu,
 			PID_MODE_DERIVATIV_SET, 155);
 		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
 			PID_MODE_DERIVATIV_SET, 156);
@@ -229,7 +229,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		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(&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);
 	}
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
new file mode 100644
index 000000000..8a3ac78cd
--- /dev/null
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -0,0 +1,256 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author 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
+ * 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 multirotor_rate_control.c
+ * Implementation of rate controller
+ */
+
+#include "multirotor_rate_control.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <float.h>
+#include <math.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/param/param.h>
+#include <arch/board/up_hrt.h>
+
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.08f); /* same on Flamewheel */
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
+// PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
+
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 8.0f);	/**< roughly < 500 deg/s limit */
+
+struct mc_rate_control_params {
+
+	float yawrate_p;
+	float yawrate_i;
+	float yawrate_awu;
+	float yawrate_lim;
+
+	float attrate_p;
+	float attrate_i;
+	float attrate_awu;
+	float attrate_lim;
+
+	float rate_lim;
+};
+
+struct mc_rate_control_param_handles {
+
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_awu;
+	param_t yawrate_lim;
+
+	param_t attrate_p;
+	param_t attrate_i;
+	param_t attrate_awu;
+	param_t attrate_lim;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+static int parameters_init(struct mc_rate_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p);
+
+
+static int parameters_init(struct mc_rate_control_param_handles *h)
+{
+	/* PID parameters */
+	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
+	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
+	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_awu 	= 	param_find("MC_ATTRATE_AWU");
+	h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
+
+	return OK;
+}
+
+static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p)
+{
+	param_get(h->yawrate_p, &(p->yawrate_p));
+	param_get(h->yawrate_i, &(p->yawrate_i));
+	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_awu, &(p->attrate_awu));
+	param_get(h->attrate_lim, &(p->attrate_lim));
+
+	return OK;
+}
+
+void multirotor_control_rates(const struct vehicle_attitude_setpoint_s *rate_sp,
+	const float rates[], struct actuator_controls_s *actuators)
+{
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	static int motor_skip_counter = 0;
+
+	// static PID_t yaw_pos_controller;
+	static PID_t yaw_speed_controller;
+	static PID_t pitch_controller;
+	static PID_t roll_controller;
+
+	static struct mc_rate_control_params p;
+	static struct mc_rate_control_param_handles h;
+
+	static bool initialized = false;
+
+	/* initialize the pid controllers when the function is called for the first time */
+	if (initialized == false) {
+		parameters_init(&h);
+		parameters_update(&h, &p);
+
+		pid_init(&yaw_speed_controller, p.yawrate_p, 0, p.yawrate_i, p.yawrate_awu,
+			PID_MODE_DERIVATIV_SET, 155);
+		pid_init(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
+			PID_MODE_DERIVATIV_SET, 156);
+		pid_init(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu,
+			PID_MODE_DERIVATIV_SET, 157);
+
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (motor_skip_counter % 250 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+		/* apply parameters */
+		pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu);
+		pid_set_parameters(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
+		pid_set_parameters(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
+	}
+
+	/* calculate current control outputs */
+	
+	/* control pitch (forward) output */
+	float pitch_control = pid_calculate(&pitch_controller, rate_sp->pitch_rate_body,
+					rates[1], 0.0f, deltaT);
+	/* control roll (left/right) output */
+	float roll_control = pid_calculate(&roll_controller, rate_sp->roll_rate_body,
+					rates[0], 0.0f, deltaT);
+	/* control yaw rate */
+	float yaw_rate_control = pid_calculate(&yaw_speed_controller, rate_sp->yaw_rate_body, rates[2], 0.0f, deltaT);
+
+	/*
+	 * 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 motor_thrust = 0.0f;
+
+	motor_thrust = rate_sp->thrust;
+
+	/* compensate thrust vector for roll / pitch contributions */
+	motor_thrust *= zcompensation;
+
+	/* 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.attrate_lim) {
+		pitch_control = p.attrate_lim;
+		pitch_controller.saturated = 1;
+	}
+
+	if (pitch_control < -p.attrate_lim) {
+		pitch_control = -p.attrate_lim;
+		pitch_controller.saturated = 1;
+	}
+
+
+	if (roll_control > p.attrate_lim) {
+		roll_control = p.attrate_lim;
+		roll_controller.saturated = 1;
+	}
+
+	if (roll_control < -p.attrate_lim) {
+		roll_control = -p.attrate_lim;
+		roll_controller.saturated = 1;
+	}
+
+	actuators->control[0] = roll_control;
+	actuators->control[1] = pitch_control;
+	actuators->control[2] = yaw_rate_control;
+	actuators->control[3] = motor_thrust;
+
+	motor_skip_counter++;
+}
diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/apps/multirotor_att_control/multirotor_rate_control.h
new file mode 100644
index 000000000..6f34d99e7
--- /dev/null
+++ b/apps/multirotor_att_control/multirotor_rate_control.h
@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *           @author 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
+ * 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 multirotor_attitude_control.h
+ * Attitude control for multi rotors.
+ */
+
+#ifndef MULTIROTOR_RATE_CONTROL_H_
+#define MULTIROTOR_RATE_CONTROL_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
+
+void multirotor_control_rates(const struct vehicle_attitude_setpoint_s *rate_sp,
+	const float rates[], struct actuator_controls_s *actuators);
+
+#endif /* MULTIROTOR_RATE_CONTROL_H_ */