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-rw-r--r--apps/commander/commander.c7
-rw-r--r--apps/multirotor_att_control/multirotor_attitude_control.c9
-rw-r--r--apps/multirotor_att_control/multirotor_rate_control.c44
-rw-r--r--apps/px4io/mixer.c53
-rw-r--r--apps/systemlib/pid/pid.c6
-rw-r--r--apps/systemlib/pid/pid.h1
6 files changed, 70 insertions, 50 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 80b392f99..a088ba1ba 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -1356,6 +1356,8 @@ int commander_thread_main(int argc, char *argv[])
uint64_t failsave_ll_start_time = 0;
bool state_changed = true;
+ bool param_init_forced = true;
+
while (!thread_should_exit) {
@@ -1386,10 +1388,10 @@ int commander_thread_main(int argc, char *argv[])
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
-
/* update parameters */
orb_check(param_changed_sub, &new_data);
- if (new_data) {
+ if (new_data || param_init_forced) {
+ param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
@@ -1398,7 +1400,6 @@ int commander_thread_main(int argc, char *argv[])
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
-
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == MAV_TYPE_QUADROTOR ||
current_status.system_type == MAV_TYPE_HEXAROTOR ||
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index e94d7c55d..b98736cee 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -197,7 +197,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
}
/* load new parameters with lower rate */
- if (motor_skip_counter % 1000 == 0) {
+ if (motor_skip_counter % 500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
@@ -206,6 +206,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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 */
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c
index 93f7085ae..edb50a96e 100644
--- a/apps/multirotor_att_control/multirotor_rate_control.c
+++ b/apps/multirotor_att_control/multirotor_rate_control.c
@@ -150,16 +150,13 @@ 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;
- float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
- if (last_input != rate_sp->timestamp) {
- last_input = rate_sp->timestamp;
- }
+ static PID_t pitch_rate_controller;
+ static PID_t roll_rate_controller;
+
last_run = hrt_absolute_time();
@@ -175,37 +172,32 @@ 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 % 2500 == 0) {
+ if (motor_skip_counter % 500 == 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");
+ /* 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);
}
+
/* 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");
- }
+ 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);
+
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
diff --git a/apps/px4io/mixer.c b/apps/px4io/mixer.c
index 135d97bb3..9cdb98e23 100644
--- a/apps/px4io/mixer.c
+++ b/apps/px4io/mixer.c
@@ -84,32 +84,45 @@ mixer_tick(void)
int i;
bool should_arm;
+ /* check that we are receiving fresh data from the FMU */
+ if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
+ /* too many frames without FMU input, time to go to failsafe */
+ system_state.mixer_manual_override = true;
+ system_state.mixer_fmu_available = false;
+ lib_lowprintf("\nRX timeout\n");
+ }
+
/*
* Decide which set of inputs we're using.
*/
- if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
- /* we have recent control data from the FMU */
- control_count = PX4IO_OUTPUT_CHANNELS;
- control_values = &system_state.fmu_channel_data[0];
-
- /* check that we are receiving fresh data from the FMU */
- if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
-
- /* too many frames without FMU input, time to go to failsafe */
- system_state.mixer_manual_override = true;
- system_state.mixer_fmu_available = false;
- lib_lowprintf("\nRX timeout\n");
+ /* this is for planes, where manual override makes sense */
+ if(system_state.manual_override_ok) {
+ /* if everything is ok */
+ if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
+ /* we have recent control data from the FMU */
+ control_count = PX4IO_OUTPUT_CHANNELS;
+ control_values = &system_state.fmu_channel_data[0];
+ /* when override is on or the fmu is not available */
+ } else if (system_state.rc_channels > 0) {
+ control_count = system_state.rc_channels;
+ control_values = &system_state.rc_channel_data[0];
+ } else {
+ /* we have no control input (no FMU, no RC) */
+
+ // XXX builtin failsafe would activate here
+ control_count = 0;
}
- } else if (system_state.rc_channels > 0 && system_state.manual_override_ok) {
- /* we have control data from an R/C input */
- control_count = system_state.rc_channels;
- control_values = &system_state.rc_channel_data[0];
+ /* this is for multicopters, etc. where manual override does not make sense */
} else {
- /* we have no control input (no FMU, no RC) */
-
- // XXX builtin failsafe would activate here
- control_count = 0;
+ /* if the fmu is available whe are good */
+ if(system_state.mixer_fmu_available) {
+ control_count = PX4IO_OUTPUT_CHANNELS;
+ control_values = &system_state.fmu_channel_data[0];
+ /* we better shut everything off */
+ } else {
+ control_count = 0;
+ }
}
/*
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
index 0358caa25..49315cdc9 100644
--- a/apps/systemlib/pid/pid.c
+++ b/apps/systemlib/pid/pid.c
@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
return pid->last_output;
}
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+ pid->integral = 0;
+}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
index b51afef9e..64d668867 100644
--- a/apps/systemlib/pid/pid.h
+++ b/apps/systemlib/pid/pid.h
@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
+__EXPORT void pid_reset_integral(PID_t *pid);
#endif /* PID_H_ */
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-09 19:00:21 +0000