Cleaned up position control (WIP), moved PID structs (should become classes) to systemlib, added deamon app example

2 files changed, 222 insertions, 0 deletions

diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
new file mode 100644
index 000000000..a24657a41
--- /dev/null
+++ b/apps/systemlib/pid/pid.c
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.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 pid.c
+ * Implementation of generic PID control interface
+ */
+
+#include "pid.h"
+
+void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
+	      uint8_t mode, uint8_t plot_i)
+{
+	pid->kp = kp;
+	pid->ki = ki;
+	pid->kd = kd;
+	pid->intmax = intmax;
+	pid->mode = mode;
+	pid->plot_i = plot_i;
+	pid->count = 0;
+	pid->saturated = 0;
+
+	pid->sp = 0;
+	pid->error_previous = 0;
+	pid->integral = 0;
+}
+void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
+{
+	pid->kp = kp;
+	pid->ki = ki;
+	pid->kd = kd;
+	pid->intmax = intmax;
+	//	pid->mode = mode;
+
+	//	pid->sp = 0;
+	//	pid->error_previous = 0;
+	//	pid->integral = 0;
+}
+
+//void pid_set(PID_t *pid, float sp)
+//{
+//	pid->sp = sp;
+//	pid->error_previous = 0;
+//	pid->integral = 0;
+//}
+
+/**
+ *
+ * @param pid
+ * @param val
+ * @param dt
+ * @return
+ */
+float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
+{
+	/*  error = setpoint - actual_position
+	 integral = integral + (error*dt)
+	 derivative = (error - previous_error)/dt
+	 output = (Kp*error) + (Ki*integral) + (Kd*derivative)
+	 previous_error = error
+	 wait(dt)
+	 goto start
+	 */
+
+	float i, d;
+	pid->sp = sp;
+	float error = pid->sp - val;
+
+	if (pid->saturated && (pid->integral * error > 0)) {
+		//Output is saturated and the integral would get bigger (positive or negative)
+		i = pid->integral;
+
+		//Reset saturation. If we are still saturated this will be set again at output limit check.
+		pid->saturated = 0;
+
+	} else {
+		i = pid->integral + (error * dt);
+	}
+
+	// Anti-Windup. Needed if we don't use the saturation above.
+	if (pid->intmax != 0.0) {
+		if (i > pid->intmax) {
+			pid->integral = pid->intmax;
+
+		} else if (i < -pid->intmax) {
+
+			pid->integral = -pid->intmax;
+
+		} else {
+			pid->integral = i;
+		}
+
+		//Send Controller integrals
+		//		Disabled because of new possibilities with debug_vect.
+		//		Now sent in Main Loop at 5 Hz. 26.06.2010 Laurens
+		//		if (pid->plot_i && (pid->count++ % 16 == 0)&&(global_data.param[PARAM_SEND_SLOT_DEBUG_2] == 1))
+		//		{
+		//			mavlink_msg_debug_send(MAVLINK_COMM_1, pid->plot_i, pid->integral);
+		//		}
+	}
+
+	if (pid->mode == PID_MODE_DERIVATIV_CALC) {
+		d = (error - pid->error_previous) / dt;
+
+	} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
+		d = -val_dot;
+
+	} else {
+		d = 0;
+	}
+
+	pid->error_previous = error;
+
+	return (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
+}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
new file mode 100644
index 000000000..d62843ed4
--- /dev/null
+++ b/apps/systemlib/pid/pid.h
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.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 pid.h
+ * Definition of generic PID control interface
+ */
+
+#ifndef PID_H_
+#define PID_H_
+
+#include <stdint.h>
+
+/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
+ * val_dot in pid_calculate() will be ignored */
+#define PID_MODE_DERIVATIV_CALC	0
+/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
+#define PID_MODE_DERIVATIV_SET	1
+
+typedef struct {
+	float kp;
+	float ki;
+	float kd;
+	float intmax;
+	float sp;
+	float integral;
+	float error_previous;
+	uint8_t mode;
+	uint8_t plot_i;
+	uint8_t count;
+	uint8_t saturated;
+} PID_t;
+
+void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
+void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
+//void pid_set(PID_t *pid, float sp);
+float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
+
+
+
+#endif /* PID_H_ */