diff options
5 files changed, 46 insertions, 19 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c index 98442ed55..877360c6f 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_att.c @@ -146,13 +146,16 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att /* Roll (P) */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); + /* Pitch (P) */ float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body; rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0); /* Yaw (from coordinated turn constraint or lateral force) */ rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) - / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch)); + / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch)); + +// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw); counter++; diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 658bf3e69..f4efad31d 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -230,8 +230,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[]) //REMOVEME XXX actuators.control[3] = 0.7f; - // debug_output.value = rates_sp.pitch; - // orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output); + debug_output.value = rates_sp.pitch; + orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output); } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { /* directly pass through values */ actuators.control[0] = manual_sp.roll; diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c index 6f3a7f6e8..2bc07a7fc 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c @@ -169,10 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* Roll Rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT); - - - actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer... - actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now + actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); + actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); counter++; diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 640edba99..be73214be 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -66,10 +66,13 @@ * Controller parameters, accessible via MAVLink * */ -PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f); +PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians +PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f); PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians @@ -77,6 +80,7 @@ struct fw_pos_control_params { float heading_p; float headingr_p; float headingr_i; + float headingr_lim; float xtrack_p; float altitude_p; float roll_lim; @@ -87,6 +91,7 @@ struct fw_pos_control_param_handles { param_t heading_p; param_t headingr_p; param_t headingr_i; + param_t headingr_lim; param_t xtrack_p; param_t altitude_p; param_t roll_lim; @@ -140,9 +145,10 @@ static int deamon_task; /**< Handle of deamon task / thread */ static int parameters_init(struct fw_pos_control_param_handles *h) { /* PID parameters */ - h->heading_p = param_find("FW_HEADING_P"); - h->headingr_p = param_find("FW_HEADINGR_P"); - h->headingr_i = param_find("FW_HEADINGR_I"); + h->heading_p = param_find("FW_HEAD_P"); + h->headingr_p = param_find("FW_HEADR_P"); + h->headingr_i = param_find("FW_HEADR_I"); + h->headingr_lim = param_find("FW_HEADR_LIM"); h->xtrack_p = param_find("FW_XTRACK_P"); h->altitude_p = param_find("FW_ALT_P"); h->roll_lim = param_find("FW_ROLL_LIM"); @@ -157,6 +163,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc param_get(h->heading_p, &(p->heading_p)); param_get(h->headingr_p, &(p->headingr_p)); param_get(h->headingr_i, &(p->headingr_i)); + param_get(h->headingr_lim, &(p->headingr_lim)); param_get(h->xtrack_p, &(p->xtrack_p)); param_get(h->altitude_p, &(p->altitude_p)); param_get(h->roll_lim, &(p->roll_lim)); @@ -239,7 +246,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) parameters_init(&h); parameters_update(&h, &p); pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 1.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); //TODO: integrator limit pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value initialized = true; @@ -250,7 +257,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* update parameters from storage */ parameters_update(&h, &p); pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit - pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); + pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 1.0f, p.roll_lim); //TODO: integrator limit pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value @@ -293,28 +300,47 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) if(!(distance_res != OK || xtrack_err.past_end)) { - float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards +// printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); + + float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance + +// printf("delta_psi_c %.4f ", (double)delta_psi_c); float psi_c = psi_track + delta_psi_c; +// printf("psi_c %.4f ", (double)psi_c); + +// printf("att.yaw %.4f ", (double)att.yaw); + float psi_e = psi_c - att.yaw; +// printf("psi_e %.4f ", (double)psi_e); + /* shift error to prevent wrapping issues */ psi_e = _wrap_pi(psi_e); /* calculate roll setpoint, do this artificially around zero */ - //TODO: psi rate loop incomplete float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following float psi_rate_c = delta_psi_rate_c + psi_rate_track; - //TODO limit turn rate + //limit turn rate + if(psi_rate_c > p.headingr_lim) + psi_rate_c = p.headingr_lim; + else if(psi_rate_c < -p.headingr_lim) + psi_rate_c = - p.headingr_lim; + +// printf("psi_rate_c %.4f ", (double)psi_rate_c); float psi_rate_e = psi_rate_c - att.yawspeed; - float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g + float psi_rate_e_scaled = psi_rate_e * sqrtf(powf(global_pos.vx, 2.0f) + powf(global_pos.vy, 2.0f)) / 9.81f; //* V_gr / g + +// printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); + + attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);\ - attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); +// printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); // if (counter % 100 == 0) // printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c); diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index e2f28dabd..1801ddc9b 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -300,7 +300,7 @@ handle_message(mavlink_message_t *msg) //TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode if(mavlink_system.type == MAV_TYPE_FIXED_WING) { - //TODO: asuming low pitch and roll for now + //TODO: assuming low pitch and roll values for now hil_attitude.R[0][0] = cosf(hil_state.yaw); hil_attitude.R[0][1] = sinf(hil_state.yaw); hil_attitude.R[0][2] = 0.0f; |