fw control: attitude, added pid elements

4 files changed, 19 insertions, 24 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index c691c6938..711a1cc31 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -113,10 +113,15 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	static struct fw_att_control_params p;
 	static struct fw_att_control_params_handles h;
 
+	static PID_t roll_controller;
+	static PID_t pitch_controller;
+
 	if(!initialized)
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
+		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim, PID_MODE_DERIVATIV_NONE); //P Controller
+		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim, PID_MODE_DERIVATIV_NONE); //P Controller
 		initialized = true;
 	}
 
@@ -124,22 +129,19 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
+		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.roll_lim);
+		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitch_lim);
 	}
 
 	/* Roll (P) */
-	float roll_error = att_sp->roll_tait_bryan - att->roll;
-	//TODO convert to body frame
-	rates_sp->roll = p.roll_p * roll_error; //TODO enabled for testing only
+	rates_sp->roll = pid_calculate(&roll_controller,att_sp->roll_tait_bryan, att->roll, 0, 0);
 
 	/* Pitch (P) */
-	float pitch_error = att_sp->pitch_tait_bryan - att->pitch;
-	//TODO convert to body frame
+	//rates_sp->pitch = pid_calculate(&pitch_controller,att_sp->pitch_tait_bryan, att->pitch, 0, 0);
 
-	/* Yaw (from coordinated turn constraint) */
+	/* Yaw (from coordinated turn constraint or lateral force) */
 	//TODO
 
-	//TODO Limits
-
 	counter++;
 
 	return 0;
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 24dce199f..4b7e2c2ba 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -116,10 +116,6 @@ static int parameters_init(struct fw_rate_control_param_handles *h)
 	h->yawrate_awu =	param_find("FW_YAWRATE_AWU");
 	h->yawrate_lim =	param_find("FW_YAWRATE_LIM");
 
-
-//	if(h->attrate_i == PARAM_INVALID)
-//		printf("FATAL MC_ATTRATE_I does not exist\n");
-
 	return OK;
 }
 
@@ -163,19 +159,19 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	{
 		parameters_init(&h);
 		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_SET); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
+		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
+		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
 		initialized = true;
 	}
 
 	/* load new parameters with lower rate */
 	if (counter % 100 == 0) {
 		/* update parameters from storage */
+		parameters_update(&h, &p);
 		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, p.rollrate_lim);
 		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, p.pitchrate_lim);
 		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, p.yawrate_lim);
-		parameters_update(&h, &p);
 	}
 
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 63ea1e5b4..c08017b8d 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -105,9 +105,9 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 		/* publish attitude setpoint */
 
-		attitude_setpoint.roll_body = 0.0f;
-		attitude_setpoint.pitch_body = 0.0f;
-		attitude_setpoint.yaw_body = 0.0f;
+		attitude_setpoint.roll_tait_bryan = 0.0f;
+		attitude_setpoint.pitch_tait_bryan = 0.0f;
+		attitude_setpoint.yaw_tait_bryan = 0.0f;
 		orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
 
 
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 8a604d6c1..d8b9dc3db 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -547,12 +547,9 @@ uorb_receive_thread(void *arg)
 			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
 		} else {
 
-			static bool updated = false;
 			for (unsigned i = 0; i < n_listeners; i++) {
-				orb_check(*(listeners[i].subp), &updated);
-//					printf("revents: %d:%d", i, fds[i].revents);
-//				if (fds[i].revents & POLLIN)
-				if(updated)
+				bool updated = false;
+				if(OK == orb_check(*(listeners[i].subp), &updated) && updated)
 					listeners[i].callback(&listeners[i]);
 			}
 		}