Merged master into safelinksafelink

1 files changed, 0 insertions, 196 deletions

diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
deleted file mode 100644
index 86ac0e4ff..000000000
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ /dev/null
@@ -1,196 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *           Anton Babushkin <anton.babushkin@me.com>
- *           Julian Oes <joes@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 multirotor_rate_control.c
- *
- * Implementation of rate controller for multirotors.
- *
- * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
- * @author Julian Oes <joes@student.ethz.ch>
- */
-
-#include "multirotor_rate_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 <systemlib/err.h>
-#include <drivers/drv_hrt.h>
-
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
-PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
-
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
-PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
-
-struct mc_rate_control_params {
-
-	float yawrate_p;
-	float yawrate_d;
-	float yawrate_i;
-
-	float attrate_p;
-	float attrate_d;
-	float attrate_i;
-
-	float rate_lim;
-};
-
-struct mc_rate_control_param_handles {
-
-	param_t yawrate_p;
-	param_t yawrate_i;
-	param_t yawrate_d;
-
-	param_t attrate_p;
-	param_t attrate_i;
-	param_t attrate_d;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-static int parameters_init(struct mc_rate_control_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p);
-
-
-static int parameters_init(struct mc_rate_control_param_handles *h)
-{
-	/* PID parameters */
-	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
-	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
-	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
-
-	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
-	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
-	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
-
-	return OK;
-}
-
-static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p)
-{
-	param_get(h->yawrate_p, &(p->yawrate_p));
-	param_get(h->yawrate_i, &(p->yawrate_i));
-	param_get(h->yawrate_d, &(p->yawrate_d));
-
-	param_get(h->attrate_p, &(p->attrate_p));
-	param_get(h->attrate_i, &(p->attrate_i));
-	param_get(h->attrate_d, &(p->attrate_d));
-
-	return OK;
-}
-
-void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-			      const float rates[], struct actuator_controls_s *actuators, bool reset_integral)
-{
-	static uint64_t last_run = 0;
-	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-	static uint64_t last_input = 0;
-
-	if (last_input != rate_sp->timestamp) {
-		last_input = rate_sp->timestamp;
-	}
-
-	last_run = hrt_absolute_time();
-
-	static int motor_skip_counter = 0;
-
-	static PID_t pitch_rate_controller;
-	static PID_t roll_rate_controller;
-	static PID_t yaw_rate_controller;
-
-	static struct mc_rate_control_params p;
-	static struct mc_rate_control_param_handles h;
-
-	static bool initialized = false;
-
-	/* initialize the pid controllers when the function is called for the first time */
-	if (initialized == false) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		initialized = true;
-
-		pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
-		pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
-	}
-
-	/* load new parameters with lower rate */
-	if (motor_skip_counter % 2500 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
-		pid_set_parameters(&roll_rate_controller,  p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
-		pid_set_parameters(&yaw_rate_controller,  p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f);
-	}
-
-	/* reset integrals if needed */
-	if (reset_integral) {
-		pid_reset_integral(&pitch_rate_controller);
-		pid_reset_integral(&roll_rate_controller);
-		pid_reset_integral(&yaw_rate_controller);
-	}
-
-	/* run pitch, roll and yaw controllers */
-	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
-	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
-	float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
-
-	actuators->control[0] = roll_control;
-	actuators->control[1] = pitch_control;
-	actuators->control[2] = yaw_control;
-	actuators->control[3] = rate_sp->thrust;
-
-	motor_skip_counter++;
-}