Various fixes to attitude control, flyable, needs parameter tuning

3 files changed, 19 insertions, 8 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index cb82036fe..82d4c0f25 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -195,7 +195,7 @@ mc_thread_main(int argc, char *argv[])
 				rates_sp.roll = manual.roll;
 
 				rates_sp.pitch = manual.pitch;
-				rates_sp.yaw = manual.yaw;
+				rates_sp.yaw = att.yaw + manual.yaw * 2.0f;
 				rates_sp.thrust = manual.throttle;
 				//printf("rates\n");
 				rates_sp.timestamp = hrt_absolute_time();
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 33cab5cc9..c3da85c5c 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -235,20 +235,21 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		//		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));
+		printf("att ctrl: 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 */
 	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
-			att->pitch, att->pitchspeed, deltaT)*1/10.0f;
+			att->pitch, att->pitchspeed, deltaT);
+
 	/* control roll (left/right) output */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
-			att->roll, att->rollspeed, deltaT)*1/10.0f;
+			att->roll, att->rollspeed, deltaT);
+
 	/* control yaw rate */
-	//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));
+	rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body));
 
 
 
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index c132665d2..db3f1a0a6 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -153,6 +153,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	static float pitch_control_last = 0;
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	static uint64_t last_input = 0;
+
+	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+	if (last_input != rate_sp->timestamp) {
+		last_input = rate_sp->timestamp;
+	}
+
 	last_run = hrt_absolute_time();
 
 	static int motor_skip_counter = 0;
@@ -173,7 +180,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	if (motor_skip_counter % 2500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
-		printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
+		printf("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n",
+			(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
 	}
 
 	/* calculate current control outputs */
@@ -185,6 +193,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		pitch_control_last = pitch_control;
 	} else {
 		pitch_control = 0.0f;
+		printf("rej. NaN ctrl pitch\n");
 	}
 
 	/* control roll (left/right) output */
@@ -194,10 +203,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		roll_control_last = roll_control;
 	} else {
 		roll_control = 0.0f;
+		printf("rej. NaN ctrl roll\n");
 	}
 
 	/* 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.yawrate_lim-rates[2]);
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;