diff options
-rw-r--r-- | apps/multirotor_att_control/multirotor_rate_control.c | 44 |
1 files changed, 26 insertions, 18 deletions
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index edb50a96e..93f7085ae 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -150,13 +150,16 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru 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; - static PID_t pitch_rate_controller; - static PID_t roll_rate_controller; - + 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(); @@ -172,32 +175,37 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_init(&h); parameters_update(&h, &p); initialized = true; - - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,1000.0f, PID_MODE_DERIVATIV_CALC); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,1000.0f, PID_MODE_DERIVATIV_CALC); - } /* load new parameters with lower rate */ - if (motor_skip_counter % 500 == 0) { + 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)); - - /* load new parameters with lower rate */ - parameters_update(&h, &p); - - /* apply parameters */ - pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f); } + /* 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 = pid_calculate(&roll_rate_controller, rate_sp->roll , rates[0], 0.0f, deltaT); - float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], 0.0f, deltaT); - + 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]); |