Moved multirotor controllers

1 files changed, 230 insertions, 0 deletions

diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
new file mode 100644
index 000000000..deba1ac03
--- /dev/null
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -0,0 +1,230 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
+ *           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_rate_control.c
+ *
+ * Implementation of rate controller
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.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, 0.0f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
+
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
+//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f);	/**< roughly < 500 deg/s limit */
+
+struct mc_rate_control_params {
+
+	float yawrate_p;
+	float yawrate_d;
+	float yawrate_i;
+	//float yawrate_awu;
+	//float yawrate_lim;
+
+	float attrate_p;
+	float attrate_d;
+	float attrate_i;
+	//float attrate_awu;
+	//float attrate_lim;
+
+	float rate_lim;
+};
+
+struct mc_rate_control_param_handles {
+
+	param_t yawrate_p;
+	param_t yawrate_i;
+	param_t yawrate_d;
+	//param_t yawrate_awu;
+	//param_t yawrate_lim;
+
+	param_t attrate_p;
+	param_t attrate_i;
+	param_t attrate_d;
+	//param_t attrate_awu;
+	//param_t attrate_lim;
+};
+
+/**
+ * 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->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
+	//h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
+
+	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
+	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
+	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
+	//h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
+	//h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
+
+	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->yawrate_awu, &(p->yawrate_awu));
+	//param_get(h->yawrate_lim, &(p->yawrate_lim));
+
+	param_get(h->attrate_p, &(p->attrate_p));
+	param_get(h->attrate_i, &(p->attrate_i));
+	param_get(h->attrate_d, &(p->attrate_d));
+	//param_get(h->attrate_awu, &(p->attrate_awu));
+	//param_get(h->attrate_lim, &(p->attrate_lim));
+
+	return OK;
+}
+
+void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
+			      const float rates[], struct actuator_controls_s *actuators)
+{
+	static float roll_control_last  = 0;
+	static float pitch_control_last = 0;
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	static uint64_t last_input = 0;
+
+	float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
+
+	if (last_input != rate_sp->timestamp) {
+		last_input = rate_sp->timestamp;
+	}
+
+	last_run = hrt_absolute_time();
+
+	static int motor_skip_counter = 0;
+
+	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;
+	}
+
+	/* load new parameters with lower rate */
+	if (motor_skip_counter % 2500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+		// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
+		// 	(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
+	}
+
+	/* calculate current control outputs */
+
+	/* control pitch (forward) output */
+	float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
+
+	/* increase resilience to faulty control inputs */
+	if (isfinite(pitch_control)) {
+		pitch_control_last = pitch_control;
+
+	} else {
+		pitch_control = 0.0f;
+		warnx("rej. NaN ctrl pitch");
+	}
+
+	/* control roll (left/right) output */
+	float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
+
+	/* increase resilience to faulty control inputs */
+	if (isfinite(roll_control)) {
+		roll_control_last = roll_control;
+
+	} else {
+		roll_control = 0.0f;
+		warnx("rej. NaN ctrl roll");
+	}
+
+	/* control yaw rate */
+	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
+
+	/* increase resilience to faulty control inputs */
+	if (!isfinite(yaw_rate_control)) {
+		yaw_rate_control = 0.0f;
+		warnx("rej. NaN ctrl yaw");
+	}
+
+	actuators->control[0] = roll_control;
+	actuators->control[1] = pitch_control;
+	actuators->control[2] = yaw_rate_control;
+	actuators->control[3] = rate_sp->thrust;
+
+	motor_skip_counter++;
+}