Added feedforward throttle to pitch compensation, heading from position controller still broken

4 files changed, 62 insertions, 61 deletions

diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c
index d27f50b43..957036b41 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_att.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c
@@ -152,8 +152,9 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
 	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
 	/* set pitch plus feedforward roll compensation */
-	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation,
-				 att->pitch, 0, 0);
+	rates_sp->pitch = pid_calculate(&pitch_controller,
+				att_sp->pitch_body + pitch_sp_rollcompensation,
+				att->pitch, 0, 0);
 
 	/* 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))
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c
index 8773db9b6..8ca87ab53 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_main.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c
@@ -68,31 +68,6 @@
 #include <fixedwing_att_control_rate.h>
 #include <fixedwing_att_control_att.h>
 
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-// Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
-PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
-
-//Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
-
-//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
-PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
-
 /* Prototypes */
 /**
  * Deamon management function.
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index e8277f3de..f3e36c0ec 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -61,9 +61,33 @@
 #include <systemlib/geo/geo.h>
 #include <systemlib/systemlib.h>
 
-
-
-
+/*
+ * Controller parameters, accessible via MAVLink
+ *
+ */
+// Roll control parameters
+PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
+PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
+PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
+PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
+
+//Pitch control parameters
+PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
+PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
+PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
+
+//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
+PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
+PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
+
+/* feedforward compensation */
+PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f);	/**< throttle to pitch coupling feedforward */
 
 struct fw_rate_control_params {
 	float rollrate_p;
@@ -75,7 +99,7 @@ struct fw_rate_control_params {
 	float yawrate_p;
 	float yawrate_i;
 	float yawrate_awu;
-
+	float pitch_thr_ff;
 };
 
 struct fw_rate_control_param_handles {
@@ -88,7 +112,7 @@ struct fw_rate_control_param_handles {
 	param_t yawrate_p;
 	param_t yawrate_i;
 	param_t yawrate_awu;
-
+	param_t pitch_thr_ff;
 };
 
 
@@ -100,17 +124,18 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 static int parameters_init(struct fw_rate_control_param_handles *h)
 {
 	/* PID parameters */
-	h->rollrate_p 	=	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
-	h->rollrate_i 	=	param_find("FW_ROLLR_I");
-	h->rollrate_awu =	param_find("FW_ROLLR_AWU");
+	h->rollrate_p 	 =	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
+	h->rollrate_i 	 =	param_find("FW_ROLLR_I");
+	h->rollrate_awu  =	param_find("FW_ROLLR_AWU");
 
-	h->pitchrate_p 	=	param_find("FW_PITCHR_P");
-	h->pitchrate_i 	=	param_find("FW_PITCHR_I");
+	h->pitchrate_p 	 =	param_find("FW_PITCHR_P");
+	h->pitchrate_i 	 =	param_find("FW_PITCHR_I");
 	h->pitchrate_awu =	param_find("FW_PITCHR_AWU");
 
-	h->yawrate_p 	=	param_find("FW_YAWR_P");
-	h->yawrate_i 	=	param_find("FW_YAWR_I");
-	h->yawrate_awu =	param_find("FW_YAWR_AWU");
+	h->yawrate_p 	 =	param_find("FW_YAWR_P");
+	h->yawrate_i 	 =	param_find("FW_YAWR_I");
+	h->yawrate_awu   =	param_find("FW_YAWR_AWU");
+	h->pitch_thr_ff  =	param_find("FW_PITCH_THR_P");
 
 	return OK;
 }
@@ -126,7 +151,7 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
 	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->pitch_thr_ff, &(p->pitch_thr_ff));
 
 	return OK;
 }
@@ -173,6 +198,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	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);
+	/* set pitch minus feedforward throttle compensation (nose pitches up from throttle */
+	actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust;
 	/* yaw rate (PI) */
 	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
 
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
index 5bb794cad..1d7e9ccd2 100644
--- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -75,8 +75,7 @@ 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
-
+PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	/**< Pitch angle limit in radians per second */
 
 struct fw_pos_control_params {
 	float heading_p;
@@ -98,7 +97,6 @@ struct fw_pos_control_param_handles {
 	param_t altitude_p;
 	param_t roll_lim;
 	param_t pitch_lim;
-
 };
 
 
@@ -147,15 +145,14 @@ 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_HEAD_P");
-	h->headingr_p 	=	param_find("FW_HEADR_P");
-	h->headingr_i 	=	param_find("FW_HEADR_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");
-	h->pitch_lim 	=	param_find("FW_PITCH_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");
+	h->pitch_lim 		=	param_find("FW_PITCH_LIM");
 
 	return OK;
 }
@@ -325,7 +322,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 								(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)) {
+						 // XXX what is xtrack_err.past_end?
+						if(distance_res == OK /*&& !xtrack_err.past_end*/) {
 
 		//					printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
 
@@ -360,19 +358,17 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 		//					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(powf(global_pos.vx, 2.0f) + powf(global_pos.vy, 2.0f)) / 9.81f; //* V_gr / g
+							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
 
 		//					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);
+							// 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);
-						}
-						else {
+							if (counter % 100 == 0)
+								printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
+						} else {
 							if (counter % 100 == 0)
 								printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
 						}
@@ -395,6 +391,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 						/* measure in what intervals the controller runs */
 						perf_count(fw_interval_perf);
 
+						counter++;
+
 					} else {
 						// XXX no setpoint, decent default needed (loiter?)
 					}