Moved multirotor controllers

1 files changed, 249 insertions, 0 deletions

diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c
new file mode 100644
index 000000000..76dbb36d3
--- /dev/null
+++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c
@@ -0,0 +1,249 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Laurens Mackay <mackayl@student.ethz.ch>
+ *           @author Tobias Naegeli <naegelit@student.ethz.ch>
+ *           @author Martin Rutschmann <rutmarti@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.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 multirotor_attitude_control.c
+ * Implementation of attitude controller
+ */
+
+#include "multirotor_attitude_control.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <float.h>
+#include <math.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+
+PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
+PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
+
+PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
+PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);
+
+//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
+
+struct mc_att_control_params {
+	float yaw_p;
+	float yaw_i;
+	float yaw_d;
+	//float yaw_awu;
+	//float yaw_lim;
+
+	float att_p;
+	float att_i;
+	float att_d;
+	//float att_awu;
+	//float att_lim;
+
+	//float att_xoff;
+	//float att_yoff;
+};
+
+struct mc_att_control_param_handles {
+	param_t yaw_p;
+	param_t yaw_i;
+	param_t yaw_d;
+	//param_t yaw_awu;
+	//param_t yaw_lim;
+
+	param_t att_p;
+	param_t att_i;
+	param_t att_d;
+	//param_t att_awu;
+	//param_t att_lim;
+
+	//param_t att_xoff;
+	//param_t att_yoff;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+static int parameters_init(struct mc_att_control_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p);
+
+
+static int parameters_init(struct mc_att_control_param_handles *h)
+{
+	/* PID parameters */
+	h->yaw_p 	=	param_find("MC_YAWPOS_P");
+	h->yaw_i 	=	param_find("MC_YAWPOS_I");
+	h->yaw_d 	=	param_find("MC_YAWPOS_D");
+	//h->yaw_awu 	=	param_find("MC_YAWPOS_AWU");
+	//h->yaw_lim 	=	param_find("MC_YAWPOS_LIM");
+
+	h->att_p 	= 	param_find("MC_ATT_P");
+	h->att_i 	= 	param_find("MC_ATT_I");
+	h->att_d 	= 	param_find("MC_ATT_D");
+	//h->att_awu 	= 	param_find("MC_ATT_AWU");
+	//h->att_lim 	= 	param_find("MC_ATT_LIM");
+
+	//h->att_xoff 	= 	param_find("MC_ATT_XOFF");
+	//h->att_yoff 	= 	param_find("MC_ATT_YOFF");
+
+	return OK;
+}
+
+static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
+{
+	param_get(h->yaw_p, &(p->yaw_p));
+	param_get(h->yaw_i, &(p->yaw_i));
+	param_get(h->yaw_d, &(p->yaw_d));
+	//param_get(h->yaw_awu, &(p->yaw_awu));
+	//param_get(h->yaw_lim, &(p->yaw_lim));
+
+	param_get(h->att_p, &(p->att_p));
+	param_get(h->att_i, &(p->att_i));
+	param_get(h->att_d, &(p->att_d));
+	//param_get(h->att_awu, &(p->att_awu));
+	//param_get(h->att_lim, &(p->att_lim));
+
+	//param_get(h->att_xoff, &(p->att_xoff));
+	//param_get(h->att_yoff, &(p->att_yoff));
+
+	return OK;
+}
+
+void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+				 const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
+{
+	static uint64_t last_run = 0;
+	static uint64_t last_input = 0;
+	float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	if (last_input != att_sp->timestamp) {
+		last_input = att_sp->timestamp;
+	}
+
+	static int sensor_delay;
+	sensor_delay = hrt_absolute_time() - att->timestamp;
+
+	static int motor_skip_counter = 0;
+
+	static PID_t pitch_controller;
+	static PID_t roll_controller;
+
+	static struct mc_att_control_params p;
+	static struct mc_att_control_param_handles h;
+
+	static bool initialized = false;
+
+	static float yaw_error;
+
+	/* initialize the pid controllers when the function is called for the first time */
+	if (initialized == false) {
+		parameters_init(&h);
+		parameters_update(&h, &p);
+
+		pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
+			 1000.0f, PID_MODE_DERIVATIV_SET);
+		pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
+			 1000.0f, PID_MODE_DERIVATIV_SET);
+
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (motor_skip_counter % 500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+
+		/* apply parameters */
+		pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
+		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
+	}
+
+	/* reset integral if on ground */
+	if (att_sp->thrust < 0.1f) {
+		pid_reset_integral(&pitch_controller);
+		pid_reset_integral(&roll_controller);
+	}
+
+
+	/* calculate current control outputs */
+
+	/* control pitch (forward) output */
+	rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
+					att->pitch, att->pitchspeed, deltaT);
+
+	/* control roll (left/right) output */
+	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
+				       att->roll, att->rollspeed, deltaT);
+
+	if (control_yaw_position) {
+		/* control yaw rate */
+
+		/* positive error: rotate to right, negative error, rotate to left (NED frame) */
+		// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
+
+		yaw_error = att_sp->yaw_body - att->yaw;
+
+		if (yaw_error > M_PI_F) {
+			yaw_error -= M_TWOPI_F;
+
+		} else if (yaw_error < -M_PI_F) {
+			yaw_error += M_TWOPI_F;
+		}
+
+		rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
+	}
+
+	rates_sp->thrust = att_sp->thrust;
+
+	motor_skip_counter++;
+}