Merged fixed wing branches

5 files changed, 56 insertions, 27 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index a3c7df69d..d27f50b43 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -146,6 +146,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* Roll (P) */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
 
+
 	/* Pitch (P) */
 
 	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
@@ -156,7 +157,9 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
-			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
+			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
+
+//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
 
 	counter++;
 
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index e1776f74a..8773db9b6 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -142,8 +142,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		memset(&manual_sp, 0, sizeof(manual_sp));
 		struct vehicle_status_s vstatus;
 		memset(&vstatus, 0, sizeof(vstatus));
-		struct debug_key_value_s debug_output;
-		memset(&debug_output, 0, sizeof(debug_output));
 
 		/* output structs */
 		struct actuator_controls_s actuators;
@@ -156,8 +154,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		}
 		orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 		orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-		orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
-		strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
 
 		/* subscribe */
 		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -259,7 +255,6 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				/* pass through throttle */
 				actuators.control[3] = att_sp.thrust;
 
-
 			} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
 				/* directly pass through values */
 				actuators.control[0] = manual_sp.roll;
@@ -269,10 +264,11 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				actuators.control[3] = manual_sp.throttle;
 			}
 
-			/* publish output */
+			/* publish rates */
+			orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+
+			/* publish actuator outputs */
 			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-			debug_output.value = rates_sp.yaw;
-			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 		}
 
 		printf("[fixedwing_att_control] exiting, stopping all motors.\n");
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 0bb54624f..e8277f3de 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -169,9 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 
-	/* Roll Rate (PI) */
+	/* roll rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
-
 	/* pitch rate (PI) */
 	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
 	/* yaw rate (PI) */
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 2dab705e1..5bb794cad 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -68,10 +68,13 @@
  * Controller parameters, accessible via MAVLink
  *
  */
-PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
 PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
 PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
+PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
 
@@ -79,6 +82,7 @@ struct fw_pos_control_params {
 	float heading_p;
 	float headingr_p;
 	float headingr_i;
+	float headingr_lim;
 	float xtrack_p;
 	float altitude_p;
 	float roll_lim;
@@ -89,6 +93,7 @@ struct fw_pos_control_param_handles {
 	param_t heading_p;
 	param_t headingr_p;
 	param_t headingr_i;
+	param_t headingr_lim;
 	param_t xtrack_p;
 	param_t altitude_p;
 	param_t roll_lim;
@@ -142,9 +147,10 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
-	h->heading_p 	=	param_find("FW_HEADING_P");
-	h->headingr_p 	=	param_find("FW_HEADINGR_P");
-	h->headingr_i 	=	param_find("FW_HEADINGR_I");
+	h->heading_p 	=	param_find("FW_HEAD_P");
+	h->headingr_p 	=	param_find("FW_HEADR_P");
+	h->headingr_i 	=	param_find("FW_HEADR_I");
+	h->headingr_lim 	=	param_find("FW_HEADR_LIM");
 	h->xtrack_p 	=	param_find("FW_XTRACK_P");
 	h->altitude_p 	=	param_find("FW_ALT_P");
 	h->roll_lim 	=	param_find("FW_ROLL_LIM");
@@ -159,6 +165,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 	param_get(h->heading_p, &(p->heading_p));
 	param_get(h->headingr_p, &(p->headingr_p));
 	param_get(h->headingr_i, &(p->headingr_i));
+	param_get(h->headingr_lim, &(p->headingr_lim));
 	param_get(h->xtrack_p, &(p->xtrack_p));
 	param_get(h->altitude_p, &(p->altitude_p));
 	param_get(h->roll_lim, &(p->roll_lim));
@@ -273,6 +280,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				/* only run controller if attitude changed */
 				if (fds[1].revents & POLLIN) {
 
+
+					static uint64_t last_run = 0;
+					const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+					last_run = hrt_absolute_time();
+
 					/* check if there is a new position or setpoint */
 					bool pos_updated;
 					orb_check(global_pos_sub, &pos_updated);
@@ -282,17 +294,17 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 					/* load local copies */
 					orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
 
-					static uint64_t last_run = 0;
-					const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-					last_run = hrt_absolute_time();
-
-
 					if (pos_updated) {
 						orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
 					}
 
 					if (global_sp_updated) {
 						orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
+	//					printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+
+						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
+
+	//					printf("delta_psi_c %.4f ", (double)delta_psi_c);
 
 						start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
 						global_sp_updated_set_once = true;
@@ -309,34 +321,53 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 						/* calculate crosstrack error */
 						// Only the case of a straight line track following handled so far
-						int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+						 int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
 								(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
 								(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
 
 						if(!(distance_res != OK || xtrack_err.past_end)) {
 
-							float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
+		//					printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+
+							float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
+
+		//					printf("delta_psi_c %.4f ", (double)delta_psi_c);
 
 							float psi_c = psi_track + delta_psi_c;
 
+		//					printf("psi_c %.4f ", (double)psi_c);
+
+		//					printf("att.yaw %.4f ", (double)att.yaw);
+
 							float psi_e = psi_c - att.yaw;
 
+		//					printf("psi_e %.4f ", (double)psi_e);
+
 							/* shift error to prevent wrapping issues */
 							psi_e = _wrap_pi(psi_e);
 
 							/* calculate roll setpoint, do this artificially around zero */
-							//TODO: psi rate loop incomplete
 							float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
 							float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
 							float psi_rate_c = delta_psi_rate_c + psi_rate_track;
 
-							//TODO limit turn rate
+							//limit turn rate
+							if(psi_rate_c > p.headingr_lim)
+								psi_rate_c =  p.headingr_lim;
+							else if(psi_rate_c <  -p.headingr_lim)
+								psi_rate_c = - p.headingr_lim;
+
+		//					printf("psi_rate_c %.4f ", (double)psi_rate_c);
 
 							float psi_rate_e = psi_rate_c - att.yawspeed;
 
-							float psi_rate_e_scaled = psi_rate_e * sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) / 9.81f; //* V_gr / g
+							float psi_rate_e_scaled = psi_rate_e * sqrtf(powf(global_pos.vx, 2.0f) + powf(global_pos.vy, 2.0f)) / 9.81f; //* V_gr / g
+
+		//					printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
+
+							attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);\
 
-							attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
+		//					printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
 
 		//					if (counter % 100 == 0)
 		//						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
index e2f28dabd..1801ddc9b 100644
--- a/apps/mavlink/mavlink_receiver.c
+++ b/apps/mavlink/mavlink_receiver.c
@@ -300,7 +300,7 @@ handle_message(mavlink_message_t *msg)
 			//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
 
 			if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
-				//TODO: asuming low pitch and roll for now
+				//TODO: assuming low pitch and roll values for now
 				hil_attitude.R[0][0] = cosf(hil_state.yaw);
 				hil_attitude.R[0][1] = sinf(hil_state.yaw);
 				hil_attitude.R[0][2] = 0.0f;