diff options
26 files changed, 2143 insertions, 228 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor index bc550ac5a..c996e3ff9 100644 --- a/ROMFS/px4fmu_common/init.d/rc.multirotor +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -31,7 +31,7 @@ position_estimator_inav start # # Start attitude control # -multirotor_att_control start +mc_att_control_vector start # # Start position control diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 25c22f1fd..be24100fc 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -84,6 +84,7 @@ MODULES += examples/flow_position_estimator MODULES += modules/fw_pos_control_l1 MODULES += modules/fw_att_control MODULES += modules/multirotor_att_control +MODULES += modules/mc_att_control_vector MODULES += modules/multirotor_pos_control MODULES += examples/flow_position_control MODULES += examples/flow_speed_control diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 015a7387a..b60a12894 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -83,6 +83,7 @@ MODULES += examples/flow_position_estimator MODULES += modules/fw_pos_control_l1 MODULES += modules/fw_att_control MODULES += modules/multirotor_att_control +MODULES += modules/mc_att_control_vector MODULES += modules/multirotor_pos_control # diff --git a/src/lib/mathlib/math/Dcm.cpp b/src/lib/mathlib/math/Dcm.cpp index f509f7081..5c15d4d6d 100644 --- a/src/lib/mathlib/math/Dcm.cpp +++ b/src/lib/mathlib/math/Dcm.cpp @@ -135,6 +135,11 @@ Dcm::Dcm(const Dcm &right) : { } +Dcm::Dcm(const Matrix &right) : + Matrix(right) +{ +} + Dcm::~Dcm() { } diff --git a/src/lib/mathlib/math/Dcm.hpp b/src/lib/mathlib/math/Dcm.hpp index df8970d3a..38f697c15 100644 --- a/src/lib/mathlib/math/Dcm.hpp +++ b/src/lib/mathlib/math/Dcm.hpp @@ -97,6 +97,11 @@ public: Dcm(const Dcm &right); /** + * copy ctor (deep) + */ + Dcm(const Matrix &right); + + /** * dtor */ virtual ~Dcm(); diff --git a/src/lib/mathlib/math/Vector3.cpp b/src/lib/mathlib/math/Vector3.cpp index dcb85600e..3936650c6 100644 --- a/src/lib/mathlib/math/Vector3.cpp +++ b/src/lib/mathlib/math/Vector3.cpp @@ -84,6 +84,16 @@ Vector3 Vector3::cross(const Vector3 &b) const return result; } +Vector3 Vector3::operator %(const Vector3 &v) const +{ + return cross(v); +} + +float Vector3::operator *(const Vector3 &v) const +{ + return dot(v); +} + int __EXPORT vector3Test() { printf("Test Vector3\t\t: "); diff --git a/src/lib/mathlib/math/Vector3.hpp b/src/lib/mathlib/math/Vector3.hpp index 568d9669a..2bf00f26b 100644 --- a/src/lib/mathlib/math/Vector3.hpp +++ b/src/lib/mathlib/math/Vector3.hpp @@ -54,6 +54,8 @@ public: Vector3(const float *data); virtual ~Vector3(); Vector3 cross(const Vector3 &b) const; + Vector3 operator %(const Vector3 &v) const; + float operator *(const Vector3 &v) const; /** * accessors diff --git a/src/lib/mathlib/math/arm/Vector.hpp b/src/lib/mathlib/math/arm/Vector.hpp index 52220fc15..a2526d0a2 100644 --- a/src/lib/mathlib/math/arm/Vector.hpp +++ b/src/lib/mathlib/math/arm/Vector.hpp @@ -141,7 +141,7 @@ public: getRows()); return result; } - inline Vector operator*(float right) const { + inline Vector operator*(const float &right) const { Vector result(getRows()); arm_scale_f32((float *)getData(), right, result.getData(), diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index a70a14fe4..983ac7c8d 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -61,6 +61,8 @@ #include <uORB/topics/parameter_update.h> #include <drivers/drv_hrt.h> +#include <lib/mathlib/mathlib.h> + #include <systemlib/systemlib.h> #include <systemlib/perf_counter.h> #include <systemlib/err.h> @@ -433,10 +435,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* send out */ att.timestamp = raw.timestamp; - // XXX Apply the same transformation to the rotation matrix - att.roll = euler[0] - ekf_params.roll_off; - att.pitch = euler[1] - ekf_params.pitch_off; - att.yaw = euler[2] - ekf_params.yaw_off; + att.roll = euler[0]; + att.pitch = euler[1]; + att.yaw = euler[2] + ekf_params.mag_decl; att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; @@ -445,12 +446,21 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds att.pitchacc = x_aposteriori[4]; att.yawacc = x_aposteriori[5]; - //att.yawspeed =z_k[2] ; /* copy offsets */ memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); + /* magnetic declination */ + math::EulerAngles eulerMagDecl(0.0f, 0.0f, ekf_params.mag_decl); + math::Dcm R(eulerMagDecl); + math::Dcm R_body(&Rot_matrix[0]); + R = R * R_body; + /* copy rotation matrix */ - memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + att.R[i][j] = R(i, j); + } + } att.R_valid = true; if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 52dac652b..a6a40b4a1 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -63,6 +63,9 @@ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f); PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); +/* magnetic declination, in degrees */ +PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); + int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ @@ -81,6 +84,8 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->pitch_off = param_find("ATT_PITCH_OFF3"); h->yaw_off = param_find("ATT_YAW_OFF3"); + h->mag_decl = param_find("ATT_MAG_DECL"); + return OK; } @@ -101,5 +106,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->pitch_off, &(p->pitch_off)); param_get(h->yaw_off, &(p->yaw_off)); + param_get(h->mag_decl, &(p->mag_decl)); + return OK; } diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h index 09817d58e..b4b3ca50d 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -47,12 +47,14 @@ struct attitude_estimator_ekf_params { float roll_off; float pitch_off; float yaw_off; + float mag_decl; }; struct attitude_estimator_ekf_param_handles { param_t r0, r1, r2, r3; param_t q0, q1, q2, q3, q4; param_t roll_off, pitch_off, yaw_off; + param_t mag_decl; }; /** diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp new file mode 100644 index 000000000..16e60f3e0 --- /dev/null +++ b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp @@ -0,0 +1,165 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * 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 ecl_fw_att_control_vector.cpp + * + * Fixed wing attitude controller + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * + */ + +#include <mathlib/mathlib.h> +#include <systemlib/geo/geo.h> +#include "ecl_fw_att_control_vector.h" + +ECL_FWAttControlVector::ECL_FWAttControlVector() : + _integral_error(0.0f, 0.0f), + _integral_max(1000.0f, 1000.0f), + _rates_demanded(0.0f, 0.0f, 0.0f), + _k_p(1.0f, 1.0f, 1.0f), + _k_d(1.0f, 1.0f, 1.0f), + _k_i(1.0f, 1.0f, 1.0f), + _integral_lock(false), + _p_airspeed_min(12.0f), + _p_airspeed_max(24.0f), + _p_tconst(0.1f), + _p_roll_ffd(1.0f), + _airspeed_enabled(false) + { + + } + +/** + * + * @param F_des_in Desired force vector in body frame (NED). Straight flight is (0 0 -1)', + * banking hard right (1 0 -1)' and pitching down (1 0 -1)'. + */ +void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in, + const math::Vector &angular_rates, + math::Vector &moment_des, float &thrust) +{ + if (!isfinite(airspeed) || !airspeed_enabled()) { + // If airspeed is not available or Inf/NaN, use the center + // of min / max + airspeed = 0.5f * (_p_airspeed_min + _p_airspeed_max); + } + + math::Dcm R_bn(R_nb.transpose()); + math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, yaw)).transpose(); + + // Establish actuator signs and lift compensation + float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f; + + float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3))))); + //float lift_comp = fabsf((CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min)) * tanf(roll) * sinf(roll))) * _p_roll_ffd; + + float cy = cosf(yaw); + float sy = sinf(yaw); + + //math::Matrix RYaw = math::Dcm(cy,-sy,0.0f,sy,cy,0.0f,0.0f,0.0f,1.0f); + math::Vector z_b = math::Vector3(R_bn(0,2), R_bn(1,2), R_bn(2,2)); + + math::Vector3 F_des = R_yaw_bn * F_des_in; + + // desired thrust in body frame + // avoid division by zero + // compensates for thrust loss due to roll/pitch + if (F_des(2) >= 0.1f) { + thrust = F_des(2) / R_bn(2, 2); + } else { + F_des(2) = 0.1f; + thrust= F_des(2) / R_bn(2, 2); + } + + math::Vector3 x_B_des; + math::Vector3 y_B_des; + math::Vector3 z_B_des; + + // desired body z axis + z_B_des = (F_des / F_des.norm()); + + // desired direction in world coordinates (yaw angle) + math::Vector3 x_C(cy, sy, 0.0f); + // desired body y axis + y_B_des = z_B_des.cross(x_C) / (z_B_des.cross(x_C)).norm(); + // desired body x axis + x_B_des = y_B_des.cross(z_B_des); + // desired Rotation Matrix + math::Dcm R_des(x_B_des(0), x_B_des(1), x_B_des(2), + y_B_des(0), y_B_des(1), y_B_des(2), + z_B_des(0), z_B_des(1), z_B_des(2)); + + + // Attitude Controller + // P controller + + // error rotation matrix + // operation executed in quaternion space to allow large differences + // XXX switch between operations based on difference, + // benchmark both options + math::Quaternion e_q = math::Quaternion(R_des) - math::Quaternion(R_bn); + // Renormalize + e_q = e_q / e_q.norm(); + math::Matrix e_R = math::Dcm(e_q); + //small angles: math::Matrix e_R = (R_des.transpose() * R_bn - R_bn.transpose() * R_des) * 0.5f; + + // error rotation vector + math::Vector e_R_v(3); + e_R_v(0) = e_R(1,2); + e_R_v(1) = e_R(0,2); + e_R_v(2) = e_R(0,1); + + + // attitude integral error + math::Vector intError = math::Vector3(0.0f, 0.0f, 0.0f); + if (!_integral_lock) { + + if (fabsf(_integral_error(0)) < _integral_max(0)) { + _integral_error(0) = _integral_error(0) + e_R_v(0) * dt; + } + + if (fabsf(_integral_error(1)) < _integral_max(1)) { + _integral_error(1) = _integral_error(1) + e_R_v(1) * dt; + } + + intError(0) = _integral_error(0); + intError(1) = _integral_error(1); + intError(2) = 0.0f; + } + + _rates_demanded = (e_R_v * _k_p(0) + angular_rates * _k_d(0) + intError * _k_i(0)); + moment_des = _rates_demanded; +} diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h new file mode 100644 index 000000000..40e4662a3 --- /dev/null +++ b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.h @@ -0,0 +1,115 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * 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 ecl_fw_att_control_vector.cpp + * + * Fixed wing attitude controller + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * + */ + +#include <mathlib/mathlib.h> + +class ECL_FWAttControlVector { + +public: + ECL_FWAttControlVector(); + void control(float dt, float airspeed, float airspeed_scaling, const math::Dcm &R_nb, float roll, float pitch, float yaw, const math::Vector &F_des_in, + const math::Vector &angular_rates, + math::Vector &moment_des, float &thrust); + + void set_imax(float integral_max) { + _integral_max(0) = integral_max; + _integral_max(1) = integral_max; + } + + void set_tconst(float tconst) { + _p_tconst = tconst; + } + + void set_k_p(float roll, float pitch, float yaw) { + _k_p(0) = roll; + _k_p(1) = pitch; + _k_p(2) = yaw; + } + + void set_k_d(float roll, float pitch, float yaw) { + _k_d(0) = roll; + _k_d(1) = pitch; + _k_d(2) = yaw; + } + + void set_k_i(float roll, float pitch, float yaw) { + _k_i(0) = roll; + _k_i(1) = pitch; + _k_i(2) = yaw; + } + + void reset_integral() { + _integral_error(0) = 0.0f; + _integral_error(1) = 0.0f; + } + + void lock_integral(bool lock) { + _integral_lock = lock; + } + + bool airspeed_enabled() { + return _airspeed_enabled; + } + + void enable_airspeed(bool airspeed) { + _airspeed_enabled = airspeed; + } + + math::Vector3 get_rates_des() { + return _rates_demanded; + } + +protected: + math::Vector2f _integral_error; + math::Vector2f _integral_max; + math::Vector3 _rates_demanded; + math::Vector3 _k_p; + math::Vector3 _k_d; + math::Vector3 _k_i; + bool _integral_lock; + float _p_airspeed_min; + float _p_airspeed_max; + float _p_tconst; + float _p_roll_ffd; + bool _airspeed_enabled; +}; diff --git a/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp b/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp new file mode 100644 index 000000000..c64f82e54 --- /dev/null +++ b/src/modules/fw_att_control_vector/fw_att_control_vector_main.cpp @@ -0,0 +1,744 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * 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 fw_att_control_vector_main.c + * Implementation of a generic attitude controller based on classic orthogonal PIDs. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Please refer to the library files for the authors and acknowledgements of + * the used control library functions. + */ + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <poll.h> +#include <time.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_accel.h> +#include <arch/board/board.h> +#include <uORB/uORB.h> +#include <uORB/topics/airspeed.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/parameter_update.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <systemlib/pid/pid.h> +#include <systemlib/geo/geo.h> +#include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> + +#include "ecl_fw_att_control_vector.h" + +/** + * Fixedwing attitude control app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int fw_att_control_vector_main(int argc, char *argv[]); + +class FixedwingAttitudeControlVector +{ +public: + /** + * Constructor + */ + FixedwingAttitudeControlVector(); + + /** + * Destructor, also kills the sensors task. + */ + ~FixedwingAttitudeControlVector(); + + /** + * Start the sensors task. + * + * @return OK on success. + */ + int start(); + +private: + + bool _task_should_exit; /**< if true, sensor task should exit */ + int _control_task; /**< task handle for sensor task */ + + int _att_sub; /**< vehicle attitude subscription */ + int _accel_sub; /**< accelerometer subscription */ + int _att_sp_sub; /**< vehicle attitude setpoint */ + int _attitude_sub; /**< raw rc channels data subscription */ + int _airspeed_sub; /**< airspeed subscription */ + int _vstatus_sub; /**< vehicle status subscription */ + int _params_sub; /**< notification of parameter updates */ + int _manual_control_sub; /**< notification of manual control updates */ + int _arming_sub; /**< arming status of outputs */ + + orb_advert_t _rate_sp_pub; /**< rate setpoint publication */ + orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ + + struct vehicle_attitude_s _att; /**< vehicle attitude */ + struct accel_report _accel; /**< body frame accelerations */ + struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ + struct manual_control_setpoint_s _manual; /**< r/c channel data */ + struct airspeed_s _airspeed; /**< airspeed */ + struct vehicle_status_s _vstatus; /**< vehicle status */ + struct actuator_controls_s _actuators; /**< actuator control inputs */ + struct actuator_armed_s _arming; /**< actuator arming status */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + + bool _setpoint_valid; /**< flag if the position control setpoint is valid */ + bool _airspeed_valid; /**< flag if the airspeed measurement is valid */ + + struct { + + float tconst; + float p_p; + float p_d; + float p_i; + float p_rmax_up; + float p_rmax_dn; + float p_imax; + float p_rll; + float r_p; + float r_d; + float r_i; + float r_imax; + float r_rmax; + float y_slip; + float y_int; + float y_damp; + float y_rll; + float y_imax; + + float airspeed_min; + float airspeed_trim; + float airspeed_max; + } _parameters; /**< local copies of interesting parameters */ + + struct { + + param_t tconst; + param_t p_p; + param_t p_d; + param_t p_i; + param_t p_rmax_up; + param_t p_rmax_dn; + param_t p_imax; + param_t p_rll; + param_t r_p; + param_t r_d; + param_t r_i; + param_t r_imax; + param_t r_rmax; + param_t y_slip; + param_t y_int; + param_t y_damp; + param_t y_rll; + param_t y_imax; + + param_t airspeed_min; + param_t airspeed_trim; + param_t airspeed_max; + } _parameter_handles; /**< handles for interesting parameters */ + + + ECL_FWAttControlVector _att_control; + + + /** + * Update our local parameter cache. + */ + int parameters_update(); + + /** + * Update control outputs + * + */ + void control_update(); + + /** + * Check for changes in vehicle status. + */ + void vehicle_status_poll(); + + /** + * Check for airspeed updates. + */ + bool vehicle_airspeed_poll(); + + /** + * Check for accel updates. + */ + void vehicle_accel_poll(); + + /** + * Check for set triplet updates. + */ + void vehicle_setpoint_poll(); + + /** + * Check for arming status updates. + */ + void arming_status_poll(); + + /** + * Shim for calling task_main from task_create. + */ + static void task_main_trampoline(int argc, char *argv[]); + + /** + * Main sensor collection task. + */ + void task_main() __attribute__((noreturn)); +}; + +namespace att_control +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +FixedwingAttitudeControlVector *g_control; +} + +FixedwingAttitudeControlVector::FixedwingAttitudeControlVector() : + + _task_should_exit(false), + _control_task(-1), + +/* subscriptions */ + _att_sub(-1), + _accel_sub(-1), + _airspeed_sub(-1), + _vstatus_sub(-1), + _params_sub(-1), + _manual_control_sub(-1), + _arming_sub(-1), + +/* publications */ + _rate_sp_pub(-1), + _actuators_0_pub(-1), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), +/* states */ + _setpoint_valid(false), + _airspeed_valid(false) +{ + // _parameter_handles.roll_p = param_find("FW_ROLL_P"); + // _parameter_handles.pitch_p = param_find("FW_PITCH_P"); + _parameter_handles.tconst = param_find("FW_TCONST"); + _parameter_handles.p_p = param_find("FW_P_P"); + _parameter_handles.p_d = param_find("FW_P_D"); + _parameter_handles.p_i = param_find("FW_P_I"); + _parameter_handles.p_rmax_up = param_find("FW_P_RMAX_UP"); + _parameter_handles.p_rmax_dn = param_find("FW_P_RMAX_DN"); + _parameter_handles.p_imax = param_find("FW_P_IMAX"); + _parameter_handles.p_rll = param_find("FW_P_RLL"); + + _parameter_handles.r_p = param_find("FW_R_P"); + _parameter_handles.r_d = param_find("FW_R_D"); + _parameter_handles.r_i = param_find("FW_R_I"); + _parameter_handles.r_imax = param_find("FW_R_IMAX"); + _parameter_handles.r_rmax = param_find("FW_R_RMAX"); + + _parameter_handles.y_slip = param_find("FW_Y_SLIP"); + _parameter_handles.y_int = param_find("FW_Y_INT"); + _parameter_handles.y_damp = param_find("FW_Y_DAMP"); + _parameter_handles.y_rll = param_find("FW_Y_RLL"); + _parameter_handles.y_imax = param_find("FW_Y_IMAX"); + + _parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN"); + _parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM"); + _parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX"); + + /* fetch initial parameter values */ + parameters_update(); +} + +FixedwingAttitudeControlVector::~FixedwingAttitudeControlVector() +{ + if (_control_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_control_task); + break; + } + } while (_control_task != -1); + } + + att_control::g_control = nullptr; +} + +int +FixedwingAttitudeControlVector::parameters_update() +{ + + param_get(_parameter_handles.tconst, &(_parameters.tconst)); + param_get(_parameter_handles.p_p, &(_parameters.p_p)); + param_get(_parameter_handles.p_d, &(_parameters.p_d)); + param_get(_parameter_handles.p_i, &(_parameters.p_i)); + param_get(_parameter_handles.p_rmax_up, &(_parameters.p_rmax_up)); + param_get(_parameter_handles.p_rmax_dn, &(_parameters.p_rmax_dn)); + param_get(_parameter_handles.p_imax, &(_parameters.p_imax)); + param_get(_parameter_handles.p_rll, &(_parameters.p_rll)); + + param_get(_parameter_handles.r_p, &(_parameters.r_p)); + param_get(_parameter_handles.r_d, &(_parameters.r_d)); + param_get(_parameter_handles.r_i, &(_parameters.r_i)); + param_get(_parameter_handles.r_imax, &(_parameters.r_imax)); + param_get(_parameter_handles.r_rmax, &(_parameters.r_rmax)); + + param_get(_parameter_handles.y_slip, &(_parameters.y_slip)); + param_get(_parameter_handles.y_int, &(_parameters.y_int)); + param_get(_parameter_handles.y_damp, &(_parameters.y_damp)); + param_get(_parameter_handles.y_rll, &(_parameters.y_rll)); + param_get(_parameter_handles.y_imax, &(_parameters.y_imax)); + + param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min)); + param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim)); + param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max)); + + /* pitch control parameters */ + _att_control.set_tconst(_parameters.tconst); + _att_control.set_k_p(math::radians(_parameters.r_p), + math::radians(_parameters.p_p), 0.0f); + _att_control.set_k_d(math::radians(_parameters.r_p), + math::radians(_parameters.p_p), 0.0f); + _att_control.set_k_i(math::radians(_parameters.r_i), + math::radians(_parameters.p_i), + math::radians(_parameters.y_int)); + + return OK; +} + +void +FixedwingAttitudeControlVector::vehicle_status_poll() +{ + bool vstatus_updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_vstatus_sub, &vstatus_updated); + + if (vstatus_updated) { + + orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); + } +} + +bool +FixedwingAttitudeControlVector::vehicle_airspeed_poll() +{ + /* check if there is a new position */ + bool airspeed_updated; + orb_check(_airspeed_sub, &airspeed_updated); + + if (airspeed_updated) { + orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed); + return true; + } + + return false; +} + +void +FixedwingAttitudeControlVector::vehicle_accel_poll() +{ + /* check if there is a new position */ + bool accel_updated; + orb_check(_accel_sub, &accel_updated); + + if (accel_updated) { + orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); + } +} + +void +FixedwingAttitudeControlVector::vehicle_setpoint_poll() +{ + /* check if there is a new setpoint */ + bool att_sp_updated; + orb_check(_att_sp_sub, &att_sp_updated); + + if (att_sp_updated) { + orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp); + _setpoint_valid = true; + } +} + +void +FixedwingAttitudeControlVector::arming_status_poll() +{ + /* check if there is a new setpoint */ + bool arming_updated; + orb_check(_arming_sub, &arming_updated); + + if (arming_updated) { + orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming); + } +} + +void +FixedwingAttitudeControlVector::task_main_trampoline(int argc, char *argv[]) +{ + att_control::g_control->task_main(); +} + +void +FixedwingAttitudeControlVector::task_main() +{ + + /* inform about start */ + warnx("Initializing.."); + fflush(stdout); + + /* + * do subscriptions + */ + _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); + _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + _arming_sub = orb_subscribe(ORB_ID(actuator_armed)); + + /* rate limit vehicle status updates to 5Hz */ + orb_set_interval(_vstatus_sub, 200); + orb_set_interval(_att_sub, 100); + + parameters_update(); + + /* initialize values of critical structs until first regular update */ + _arming.armed = false; + + /* get an initial update for all sensor and status data */ + (void)vehicle_airspeed_poll(); + vehicle_setpoint_poll(); + vehicle_accel_poll(); + vehicle_status_poll(); + arming_status_poll(); + + /* wakeup source(s) */ + struct pollfd fds[2]; + + /* Setup of loop */ + fds[0].fd = _params_sub; + fds[0].events = POLLIN; + fds[1].fd = _att_sub; + fds[1].events = POLLIN; + + while (!_task_should_exit) { + + /* wait for up to 500ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* only update parameters if they changed */ + if (fds[0].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), _params_sub, &update); + + /* update parameters from storage */ + parameters_update(); + } + + /* only run controller if attitude changed */ + if (fds[1].revents & POLLIN) { + + + static uint64_t last_run = 0; + float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + /* guard against too large deltaT's */ + if (deltaT > 1.0f) + deltaT = 0.01f; + + /* load local copies */ + orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); + + _airspeed_valid = vehicle_airspeed_poll(); + + vehicle_setpoint_poll(); + + vehicle_accel_poll(); + + /* check vehicle status for changes to publication state */ + vehicle_status_poll(); + + /* check for arming status changes */ + arming_status_poll(); + + /* lock integrator until armed */ + bool lock_integrator; + if (_arming.armed) { + lock_integrator = false; + } else { + lock_integrator = true; + } + + /* decide if in stabilized or full manual control */ + + if (_vstatus.state_machine == SYSTEM_STATE_MANUAL && !(_vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) + ) { + + _actuators.control[0] = _manual.roll; + _actuators.control[1] = _manual.pitch; + _actuators.control[2] = _manual.yaw; + _actuators.control[3] = _manual.throttle; + _actuators.control[4] = _manual.flaps; + + } else if (_vstatus.state_machine == SYSTEM_STATE_AUTO || + (_vstatus.state_machine == SYSTEM_STATE_STABILIZED) || + (_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) { + + /* scale from radians to normalized -1 .. 1 range */ + const float actuator_scaling = 1.0f / (M_PI_F / 4.0f); + + /* scale around tuning airspeed */ + + float airspeed; + + /* if airspeed is smaller than min, the sensor is not giving good readings */ + if (!_airspeed_valid || + (_airspeed.indicated_airspeed_m_s < _parameters.airspeed_min) || + !isfinite(_airspeed.indicated_airspeed_m_s)) { + airspeed = _parameters.airspeed_min + (_parameters.airspeed_max - _parameters.airspeed_min) / 2.0f; + } else { + airspeed = _airspeed.indicated_airspeed_m_s; + } + + float airspeed_scaling = _parameters.airspeed_trim / airspeed; + + float roll_sp, pitch_sp; + float throttle_sp = 0.0f; + + if (_vstatus.state_machine == SYSTEM_STATE_AUTO) { + roll_sp = _att_sp.roll_body; + pitch_sp = _att_sp.pitch_body; + throttle_sp = _att_sp.thrust; + } else if ((_vstatus.state_machine == SYSTEM_STATE_STABILIZED) || + (_vstatus.state_machine == SYSTEM_STATE_MANUAL && _vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS)) { + + /* + * Scale down roll and pitch as the setpoints are radians + * and a typical remote can only do 45 degrees, the mapping is + * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians. + * + * With this mapping the stick angle is a 1:1 representation of + * the commanded attitude. If more than 45 degrees are desired, + * a scaling parameter can be applied to the remote. + */ + roll_sp = _manual.roll * 0.75f; + pitch_sp = _manual.pitch * 0.75f; + throttle_sp = _manual.throttle; + _actuators.control[4] = _manual.flaps; + } + + math::Dcm R_nb(_att.R); + + // Transform body frame forces to + // global frame + const math::Vector3 F_des(pitch_sp, roll_sp, throttle_sp); + const math::Vector3 angular_rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed); + + // Return variables + math::Vector3 moments_des; + float thrust; + + _att_control.control(deltaT, airspeed_scaling, airspeed, R_nb, _att.roll, _att.pitch, _att.yaw, + F_des, angular_rates, moments_des, thrust); + + _actuators.control[0] = (isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f; + _actuators.control[1] = (isfinite(moments_des(1))) ? moments_des(1) * actuator_scaling : 0.0f; + _actuators.control[2] = 0.0f;//(isfinite(moments_des(0))) ? moments_des(0) * actuator_scaling : 0.0f; + + /* throttle passed through */ + _actuators.control[3] = (isfinite(thrust)) ? thrust : 0.0f; + + // warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown", + // airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1], + // _actuators.control[2], _actuators.control[3]); + + /* + * Lazily publish the rate setpoint (for analysis, the actuators are published below) + * only once available + */ + vehicle_rates_setpoint_s rates_sp; + math::Vector3 rates_des = _att_control.get_rates_des(); + rates_sp.roll = rates_des(0); + rates_sp.pitch = rates_des(1); + rates_sp.yaw = 0.0f; // XXX rates_des(2); + + rates_sp.timestamp = hrt_absolute_time(); + + if (_rate_sp_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_rates_setpoint), _actuators_0_pub, &rates_sp); + + } else { + /* advertise and publish */ + _rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + } + + /* lazily publish the setpoint only once available */ + _actuators.timestamp = hrt_absolute_time(); + + if (_actuators_0_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); + + } else { + /* advertise and publish */ + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } + + } + + } + + perf_end(_loop_perf); + } + + warnx("exiting.\n"); + + _control_task = -1; + _exit(0); +} + +int +FixedwingAttitudeControlVector::start() +{ + ASSERT(_control_task == -1); + + /* start the task */ + _control_task = task_spawn_cmd("fw_att_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2048, + (main_t)&FixedwingAttitudeControlVector::task_main_trampoline, + nullptr); + + if (_control_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +int fw_att_control_vector_main(int argc, char *argv[]) +{ + if (argc < 1) + errx(1, "usage: fw_att_control {start|stop|status}"); + + if (!strcmp(argv[1], "start")) { + + if (att_control::g_control != nullptr) + errx(1, "already running"); + + att_control::g_control = new FixedwingAttitudeControlVector; + + if (att_control::g_control == nullptr) + errx(1, "alloc failed"); + + if (OK != att_control::g_control->start()) { + delete att_control::g_control; + att_control::g_control = nullptr; + err(1, "start failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + if (att_control::g_control == nullptr) + errx(1, "not running"); + + delete att_control::g_control; + att_control::g_control = nullptr; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (att_control::g_control) { + errx(0, "running"); + + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + return 1; +} diff --git a/src/modules/fw_att_control_vector/fw_att_control_vector_params.c b/src/modules/fw_att_control_vector/fw_att_control_vector_params.c new file mode 100644 index 000000000..7e434c164 --- /dev/null +++ b/src/modules/fw_att_control_vector/fw_att_control_vector_params.c @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: 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 fw_pos_control_l1_params.c + * + * Parameters defined by the L1 position control task + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * Controller parameters, accessible via MAVLink + * + */ + +PARAM_DEFINE_FLOAT(FW_TCONST, 0.5f); +PARAM_DEFINE_FLOAT(FW_P_P, 40.0f); +PARAM_DEFINE_FLOAT(FW_P_D, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_RMAX_UP, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_RMAX_DN, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f); +PARAM_DEFINE_FLOAT(FW_P_RLL, 1.0f); +PARAM_DEFINE_FLOAT(FW_R_P, 40.0f); +PARAM_DEFINE_FLOAT(FW_R_D, 0.0f); +PARAM_DEFINE_FLOAT(FW_R_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f); +PARAM_DEFINE_FLOAT(FW_R_RMAX, 60); +PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f); +PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f); +PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f); diff --git a/src/modules/fw_att_control_vector/module.mk b/src/modules/fw_att_control_vector/module.mk new file mode 100644 index 000000000..e78a71595 --- /dev/null +++ b/src/modules/fw_att_control_vector/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# Multirotor attitude controller (vector based, no Euler singularities) +# + +MODULE_COMMAND = fw_att_control_vector + +SRCS = fw_att_control_vector_main.cpp \ + ecl_fw_att_control_vector.cpp \ + fw_att_control_vector_params.c diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp new file mode 100644 index 000000000..834189a54 --- /dev/null +++ b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp @@ -0,0 +1,658 @@ +/**************************************************************************** + * + * Copyright (c) 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> + * + * 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 mc_att_control_vector_main.c + * Implementation of a multicopter attitude controller based on desired rotation matrix. + * + * References + * [1] Daniel Mellinger and Vijay Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors", + * http://www.seas.upenn.edu/~dmel/mellingerICRA11.pdf + * + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * + */ + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <poll.h> +#include <time.h> +#include <drivers/drv_hrt.h> +#include <arch/board/board.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/parameter_update.h> +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <systemlib/pid/pid.h> +#include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> +#include <mathlib/mathlib.h> +#include <lib/geo/geo.h> + +/** + * Multicopter attitude control app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int mc_att_control_vector_main(int argc, char *argv[]); + +#define MIN_TAKEOFF_THROTTLE 0.3f +#define YAW_DEADZONE 0.01f + +class MulticopterAttitudeControl +{ +public: + /** + * Constructor + */ + MulticopterAttitudeControl(); + + /** + * Destructor, also kills the sensors task. + */ + ~MulticopterAttitudeControl(); + + /** + * Start the sensors task. + * + * @return OK on success. + */ + int start(); + +private: + + bool _task_should_exit; /**< if true, sensor task should exit */ + int _control_task; /**< task handle for sensor task */ + + int _att_sub; /**< vehicle attitude subscription */ + int _att_sp_sub; /**< vehicle attitude setpoint */ + int _control_mode_sub; /**< vehicle control mode subscription */ + int _params_sub; /**< notification of parameter updates */ + int _manual_sub; /**< notification of manual control updates */ + int _arming_sub; /**< arming status of outputs */ + + orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ + orb_advert_t _rates_sp_pub; /**< rate setpoint publication */ + orb_advert_t _actuators_0_pub; /**< actuator control group 0 setpoint */ + + struct vehicle_attitude_s _att; /**< vehicle attitude */ + struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ + struct manual_control_setpoint_s _manual; /**< r/c channel data */ + struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ + struct actuator_controls_s _actuators; /**< actuator control inputs */ + struct actuator_armed_s _arming; /**< actuator arming status */ + struct vehicle_rates_setpoint_s _rates_sp; /**< vehicle rates setpoint */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + + bool _att_sp_valid; /**< flag if the attitude setpoint is valid */ + + math::Matrix _K; /**< diagonal gain matrix for position error */ + math::Matrix _K_rate; /**< diagonal gain matrix for angular rate error */ + + struct { + param_t att_p; + param_t att_rate_p; + param_t yaw_p; + param_t yaw_rate_p; + } _parameter_handles; /**< handles for interesting parameters */ + + /** + * Update our local parameter cache. + */ + int parameters_update(); + + /** + * Update control outputs + */ + void control_update(); + + /** + * Check for changes in vehicle control mode. + */ + void vehicle_control_mode_poll(); + + /** + * Check for changes in manual inputs. + */ + void vehicle_manual_poll(); + + /** + * Check for set triplet updates. + */ + void vehicle_setpoint_poll(); + + /** + * Check for arming status updates. + */ + void arming_status_poll(); + + /** + * Shim for calling task_main from task_create. + */ + static void task_main_trampoline(int argc, char *argv[]); + + /** + * Main sensor collection task. + */ + void task_main() __attribute__((noreturn)); +}; + +namespace att_control +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +MulticopterAttitudeControl *g_control; +} + +MulticopterAttitudeControl::MulticopterAttitudeControl() : + + _task_should_exit(false), + _control_task(-1), + +/* subscriptions */ + _att_sub(-1), + _att_sp_sub(-1), + _control_mode_sub(-1), + _params_sub(-1), + _manual_sub(-1), + _arming_sub(-1), + +/* publications */ + _att_sp_pub(-1), + _rates_sp_pub(-1), + _actuators_0_pub(-1), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), + +/* states */ + _att_sp_valid(false), + +/* gain matrices */ + _K(3, 3), + _K_rate(3, 3) + +{ + memset(&_att, 0, sizeof(_att)); + memset(&_att_sp, 0, sizeof(_att_sp)); + memset(&_manual, 0, sizeof(_manual)); + memset(&_control_mode, 0, sizeof(_control_mode)); + memset(&_arming, 0, sizeof(_arming)); + + _parameter_handles.att_p = param_find("MC_ATT_P"); + _parameter_handles.att_rate_p = param_find("MC_ATTRATE_P"); + _parameter_handles.yaw_p = param_find("MC_YAWPOS_P"); + _parameter_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); + + /* fetch initial parameter values */ + parameters_update(); +} + +MulticopterAttitudeControl::~MulticopterAttitudeControl() +{ + if (_control_task != -1) { + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_control_task); + break; + } + } while (_control_task != -1); + } + + att_control::g_control = nullptr; +} + +int +MulticopterAttitudeControl::parameters_update() +{ + float att_p; + float att_rate_p; + float yaw_p; + float yaw_rate_p; + + param_get(_parameter_handles.att_p, &att_p); + param_get(_parameter_handles.att_rate_p, &att_rate_p); + param_get(_parameter_handles.yaw_p, &yaw_p); + param_get(_parameter_handles.yaw_rate_p, &yaw_rate_p); + + _K.setAll(0.0f); + _K(0, 0) = att_p; + _K(1, 1) = att_p; + _K(2, 2) = yaw_p; + _K_rate.setAll(0.0f); + _K_rate(0, 0) = att_rate_p; + _K_rate(1, 1) = att_rate_p; + _K_rate(2, 2) = yaw_rate_p; + + return OK; +} + +void +MulticopterAttitudeControl::vehicle_control_mode_poll() +{ + bool control_mode_updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_control_mode_sub, &control_mode_updated); + + if (control_mode_updated) { + + orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); + } +} + +void +MulticopterAttitudeControl::vehicle_manual_poll() +{ + bool manual_updated; + + /* get pilots inputs */ + orb_check(_manual_sub, &manual_updated); + + if (manual_updated) { + + orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual); + } +} + +void +MulticopterAttitudeControl::vehicle_setpoint_poll() +{ + /* check if there is a new setpoint */ + bool att_sp_updated; + orb_check(_att_sp_sub, &att_sp_updated); + + if (att_sp_updated) { + orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp); + _att_sp_valid = true; + } +} + +void +MulticopterAttitudeControl::arming_status_poll() +{ + /* check if there is a new setpoint */ + bool arming_updated; + orb_check(_arming_sub, &arming_updated); + + if (arming_updated) { + orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming); + } +} + +void +MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) +{ + att_control::g_control->task_main(); +} + +void +MulticopterAttitudeControl::task_main() +{ + + /* inform about start */ + warnx("Initializing.."); + fflush(stdout); + + /* + * do subscriptions + */ + _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + _arming_sub = orb_subscribe(ORB_ID(actuator_armed)); + + /* rate limit attitude updates to 100Hz */ + orb_set_interval(_att_sub, 10); + + parameters_update(); + + /* initialize values of critical structs until first regular update */ + _arming.armed = false; + + /* get an initial update for all sensor and status data */ + vehicle_setpoint_poll(); + vehicle_control_mode_poll(); + vehicle_manual_poll(); + arming_status_poll(); + + bool reset_yaw_sp = true; + + /* wakeup source(s) */ + struct pollfd fds[2]; + + /* Setup of loop */ + fds[0].fd = _params_sub; + fds[0].events = POLLIN; + fds[1].fd = _att_sub; + fds[1].events = POLLIN; + + while (!_task_should_exit) { + + /* wait for up to 500ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* only update parameters if they changed */ + if (fds[0].revents & POLLIN) { + /* copy the topic to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), _params_sub, &update); + + parameters_update(); + } + + /* only run controller if attitude changed */ + if (fds[1].revents & POLLIN) { + static uint64_t last_run = 0; + float dt = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + /* guard against too large dt's */ + if (dt > 0.02f) + dt = 0.02f; + + /* copy attitude topic */ + orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att); + + vehicle_setpoint_poll(); + vehicle_control_mode_poll(); + arming_status_poll(); + vehicle_manual_poll(); + + float yaw_sp_move_rate = 0.0f; + bool publish_att_sp = false; + + /* define which input is the dominating control input */ + if (_control_mode.flag_control_manual_enabled) { + /* manual input */ + if (!_control_mode.flag_control_climb_rate_enabled) { + /* pass throttle directly if not in altitude control mode */ + _att_sp.thrust = _manual.throttle; + } + + if (!_arming.armed) { + /* reset yaw setpoint when disarmed */ + reset_yaw_sp = true; + } + + if (_control_mode.flag_control_attitude_enabled) { + /* control attitude, update attitude setpoint depending on mode */ + + if (_att_sp.thrust < 0.1f) { + // TODO + //if (_status.condition_landed) { + /* reset yaw setpoint if on ground */ + // reset_yaw_sp = true; + //} + } else { + if (_manual.yaw < -YAW_DEADZONE || YAW_DEADZONE < _manual.yaw) { + /* move yaw setpoint */ + yaw_sp_move_rate = _manual.yaw; + _att_sp.yaw_body = _wrap_pi(_att_sp.yaw_body + yaw_sp_move_rate * dt); + publish_att_sp = true; + } + } + + /* reset yaw setpint to current position if needed */ + if (reset_yaw_sp) { + reset_yaw_sp = false; + _att_sp.yaw_body = _att.yaw; + publish_att_sp = true; + } + + if (!_control_mode.flag_control_velocity_enabled) { + /* update attitude setpoint if not in position control mode */ + _att_sp.roll_body = _manual.roll; + _att_sp.pitch_body = _manual.pitch; + publish_att_sp = true; + } + + _att_sp_valid = true; + } else { + /* manual rate inputs (ACRO) */ + // TODO + /* reset yaw setpoint after ACRO */ + reset_yaw_sp = true; + } + + } else { + if (!_control_mode.flag_control_auto_enabled) { + /* no control, try to stay on place */ + if (!_control_mode.flag_control_velocity_enabled) { + /* no velocity control, reset attitude setpoint */ + _att_sp.roll_body = 0.0f; + _att_sp.pitch_body = 0.0f; + publish_att_sp = true; + } + } + + /* reset yaw setpoint after non-manual control */ + reset_yaw_sp = true; + } + + if (publish_att_sp || (_att_sp_valid && !_att_sp.R_valid)) { + /* controller uses rotation matrix, not euler angles, convert if necessary */ + math::EulerAngles euler_sp(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body); + math::Dcm R_sp(euler_sp); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + _att_sp.R_body[i][j] = R_sp(i, j); + } + } + _att_sp.R_valid = true; + } + + if (publish_att_sp) { + /* publish the attitude setpoint */ + _att_sp.timestamp = hrt_absolute_time(); + if (_att_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp); + + } else { + _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp); + } + } + + /* desired rotation matrix */ + math::Dcm R_des(_att_sp.R_body); + + /* rotation matrix for current state */ + math::Dcm R(_att.R); + /* current body angular rates */ + math::Vector3 rates(_att.rollspeed, _att.pitchspeed, _att.yawspeed); + + /* orientation error between R and R_des */ + math::Matrix e_R_m = (R_des.transpose() * R - R.transpose() * R_des).transpose() * 0.5f; + math::Vector3 e_R(-e_R_m(1, 2), e_R_m(0, 2), -e_R_m(0, 1)); + + /* angular rates setpoint*/ + math::Vector3 rates_sp = _K * e_R; + /* feed forward yaw setpoint rate */ + rates_sp(2) += yaw_sp_move_rate; + math::Vector3 control = _K_rate * (rates_sp - rates); + + /* publish the attitude rates setpoint */ + _rates_sp.roll = rates_sp(0); + _rates_sp.pitch = rates_sp(1); + _rates_sp.yaw = rates_sp(2); + _rates_sp.thrust = _att_sp.thrust; + _rates_sp.timestamp = hrt_absolute_time(); + + if (_rates_sp_pub > 0) { + orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp); + + } else { + _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp); + } + + /* publish the attitude controls */ + _actuators.control[0] = (isfinite(control(0))) ? control(0) : 0.0f; + _actuators.control[1] = (isfinite(control(1))) ? control(1) : 0.0f; + _actuators.control[2] = (isfinite(control(2))) ? control(2) : 0.0f; + _actuators.control[3] = (isfinite(_rates_sp.thrust)) ? _rates_sp.thrust : 0.0f; + _actuators.timestamp = hrt_absolute_time(); + + if (_actuators_0_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); + + } else { + /* advertise and publish */ + _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); + } + + } + + perf_end(_loop_perf); + } + + warnx("exit"); + + _control_task = -1; + _exit(0); +} + +int +MulticopterAttitudeControl::start() +{ + ASSERT(_control_task == -1); + + /* start the task */ + _control_task = task_spawn_cmd("mc_att_control_vector", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2048, + (main_t)&MulticopterAttitudeControl::task_main_trampoline, + nullptr); + + if (_control_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +int mc_att_control_vector_main(int argc, char *argv[]) +{ + if (argc < 1) + errx(1, "usage: mc_att_control_vector {start|stop|status}"); + + if (!strcmp(argv[1], "start")) { + + if (att_control::g_control != nullptr) + errx(1, "already running"); + + att_control::g_control = new MulticopterAttitudeControl; + + if (att_control::g_control == nullptr) + errx(1, "alloc failed"); + + if (OK != att_control::g_control->start()) { + delete att_control::g_control; + att_control::g_control = nullptr; + err(1, "start failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + if (att_control::g_control == nullptr) + errx(1, "not running"); + + delete att_control::g_control; + att_control::g_control = nullptr; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (att_control::g_control) { + errx(0, "running"); + + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + return 1; +} diff --git a/src/modules/mc_att_control_vector/module.mk b/src/modules/mc_att_control_vector/module.mk new file mode 100644 index 000000000..8d380d719 --- /dev/null +++ b/src/modules/mc_att_control_vector/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# Multirotor attitude controller (vector based, no Euler singularities) +# + +MODULE_COMMAND = mc_att_control_vector + +SRCS = mc_att_control_vector_main.cpp diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 8245aa560..b7df0433a 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -194,8 +194,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_init(&h); parameters_update(&h, &p); - pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f); + pid_init(&pitch_controller, PID_MODE_DERIVATIV_SET, 0.0f); + pid_init(&roll_controller, PID_MODE_DERIVATIV_SET, 0.0f); initialized = true; } diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 86ac0e4ff..eb41bf93e 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -161,9 +161,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, 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); + pid_init(&pitch_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); + pid_init(&roll_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); + pid_init(&yaw_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f); } /* load new parameters with lower rate */ diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 3d23d0c09..a0541d41a 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -171,6 +171,45 @@ static float norm(float x, float y) return sqrtf(x * x + y * y); } +static void cross3(float a[3], float b[3], float res[3]) { + res[0] = a[1] * b[2] - a[2] * b[1]; + res[1] = a[2] * b[0] - a[0] * b[2]; + res[2] = a[0] * b[1] - a[1] * b[0]; +} + +static float rt_atan2f_snf(float u0, float u1) +{ + float y; + int32_t b_u0; + int32_t b_u1; + if (isnanf(u0) || isnanf(u1)) { + y = NAN; + } else if (isinff(u0) && isinff(u1)) { + if (u0 > 0.0f) { + b_u0 = 1; + } else { + b_u0 = -1; + } + if (u1 > 0.0f) { + b_u1 = 1; + } else { + b_u1 = -1; + } + y = atan2f((float)b_u0, (float)b_u1); + } else if (u1 == 0.0f) { + if (u0 > 0.0f) { + y = M_PI_F / 2.0f; + } else if (u0 < 0.0f) { + y = -(M_PI_F / 2.0f); + } else { + y = 0.0F; + } + } else { + y = atan2f(u0, u1); + } + return y; +} + static int multirotor_pos_control_thread_main(int argc, char *argv[]) { /* welcome user */ @@ -236,6 +275,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) PID_t xy_vel_pids[2]; PID_t z_pos_pid; thrust_pid_t z_vel_pid; + float thrust_int[3] = { 0.0f, 0.0f, 0.0f }; thread_running = true; @@ -244,39 +284,41 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) parameters_init(¶ms_h); parameters_update(¶ms_h, ¶ms); - for (int i = 0; i < 2; i++) { - pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f); - pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); + pid_init(&(xy_pos_pids[i]), PID_MODE_DERIVATIV_SET, 0.02f); + pid_init(&(xy_vel_pids[i]), PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); } - pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f); - thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); + pid_init(&z_pos_pid, PID_MODE_DERIVATIV_SET, 0.02f); + thrust_pid_init(&z_vel_pid, 0.02f); + + bool param_updated = true; while (!thread_should_exit) { - bool param_updated; - orb_check(param_sub, ¶m_updated); + if (!param_updated) + orb_check(param_sub, ¶m_updated); if (param_updated) { /* clear updated flag */ struct parameter_update_s ps; orb_copy(ORB_ID(parameter_update), param_sub, &ps); + /* update params */ parameters_update(¶ms_h, ¶ms); - for (int i = 0; i < 2; i++) { - pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f); - /* use integral_limit_out = tilt_max / 2 */ - float i_limit; + /* integral_limit * ki = tilt_max / 2 */ + float i_limit; - if (params.xy_vel_i > 0.0f) { - i_limit = params.tilt_max / params.xy_vel_i / 2.0f; + if (params.xy_vel_i > 0.0f) { + i_limit = params.tilt_max / params.xy_vel_i / 2.0f; - } else { - i_limit = 0.0f; // not used - } + } else { + i_limit = 0.0f; // not used + } + for (int i = 0; i < 2; i++) { + pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 0.0f, 0.0f); pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max); } @@ -471,8 +513,9 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } else { local_pos_sp.z = local_pos.ref_alt - global_pos_sp.altitude; } + /* update yaw setpoint only if value is valid */ - if (isfinite(global_pos_sp.yaw) && fabsf(global_pos_sp.yaw) < M_TWOPI) { + if (isfinite(global_pos_sp.yaw) && fabsf(global_pos_sp.yaw) < M_TWOPI_F) { att_sp.yaw_body = global_pos_sp.yaw; } @@ -572,12 +615,14 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) global_vel_sp.vx = pid_calculate(&xy_pos_pids[0], local_pos_sp.x, local_pos.x, local_pos.vx - sp_move_rate[0], dt) + sp_move_rate[0]; global_vel_sp.vy = pid_calculate(&xy_pos_pids[1], local_pos_sp.y, local_pos.y, local_pos.vy - sp_move_rate[1], dt) + sp_move_rate[1]; - /* limit horizontal speed */ - float xy_vel_sp_norm = norm(global_vel_sp.vx, global_vel_sp.vy) / params.xy_vel_max; + if (!control_mode.flag_control_manual_enabled) { + /* limit horizontal speed only in AUTO mode */ + float xy_vel_sp_norm = norm(global_vel_sp.vx, global_vel_sp.vy) / params.xy_vel_max; - if (xy_vel_sp_norm > 1.0f) { - global_vel_sp.vx /= xy_vel_sp_norm; - global_vel_sp.vy /= xy_vel_sp_norm; + if (xy_vel_sp_norm > 1.0f) { + global_vel_sp.vx /= xy_vel_sp_norm; + global_vel_sp.vy /= xy_vel_sp_norm; + } } } else { @@ -591,9 +636,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) // TODO subscribe to velocity setpoint if altitude/position control disabled if (control_mode.flag_control_climb_rate_enabled || control_mode.flag_control_velocity_enabled) { - /* run velocity controllers, calculate thrust vector with attitude-thrust compensation */ + /* calculate desired thrust vector in NED frame */ float thrust_sp[3] = { 0.0f, 0.0f, 0.0f }; - if (control_mode.flag_control_climb_rate_enabled) { if (reset_int_z) { reset_int_z = false; @@ -610,51 +654,112 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } } - thrust_pid_set_integral(&z_vel_pid, -i); + thrust_int[2] = -i; mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i); } - - thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt, att.R[2][2]); - att_sp.thrust = -thrust_sp[2]; - + thrust_int[2] += (global_vel_sp.vz - local_pos.vz) * params.z_vel_i * dt; + thrust_sp[2] = (global_vel_sp.vz - local_pos.vz) * params.z_vel_p + thrust_int[2]; + if (-thrust_sp[2] < params.thr_min) + thrust_sp[2] = -params.thr_min; } else { - /* reset thrust integral when altitude control enabled */ reset_int_z = true; } - if (control_mode.flag_control_velocity_enabled) { - /* calculate thrust set point in NED frame */ if (reset_int_xy) { reset_int_xy = false; - pid_reset_integral(&xy_vel_pids[0]); - pid_reset_integral(&xy_vel_pids[1]); + thrust_int[0] = 0.0f; + thrust_int[1] = 0.0f; mavlink_log_info(mavlink_fd, "[mpc] reset pos integral"); } + thrust_int[0] += (global_vel_sp.vx - local_pos.vx) * params.xy_vel_i * dt; + thrust_int[1] += (global_vel_sp.vy - local_pos.vy) * params.xy_vel_i * dt; + thrust_sp[0] = (global_vel_sp.vx - local_pos.vx) * params.xy_vel_p + thrust_int[0]; + thrust_sp[1] = (global_vel_sp.vy - local_pos.vy) * params.xy_vel_p + thrust_int[1]; + } else { + reset_int_xy = true; + } - thrust_sp[0] = pid_calculate(&xy_vel_pids[0], global_vel_sp.vx, local_pos.vx, 0.0f, dt); - thrust_sp[1] = pid_calculate(&xy_vel_pids[1], global_vel_sp.vy, local_pos.vy, 0.0f, dt); + float thrust_abs = sqrtf(thrust_sp[0] * thrust_sp[0] + thrust_sp[1] * thrust_sp[1] + thrust_sp[2] * thrust_sp[2]); + if (thrust_abs > params.thr_max) { + if (thrust_sp[2] < 0.0f) { + if (-thrust_sp[2] > params.thr_max) { + /* thrust Z component is too large, limit it */ + thrust_sp[0] = 0.0f; + thrust_sp[1] = 0.0f; + thrust_sp[2] = -params.thr_max; + } else { + /* preserve thrust Z component and lower XY, keeping altitude is more important than position */ + float thrust_xy_max = sqrtf(params.thr_max * params.thr_max - thrust_sp[2] * thrust_sp[2]); + float thrust_xy_abs = sqrtf(thrust_sp[0] * thrust_sp[0] + thrust_sp[1] * thrust_sp[1]); + float k = thrust_xy_max / thrust_xy_abs; + thrust_sp[0] *= k; + thrust_sp[1] *= k; + } + + } else { + /* Z component is negative, going down, simply limit thrust vector */ + float k = params.thr_max / thrust_abs; + thrust_sp[0] *= k; + thrust_sp[1] *= k; + thrust_sp[2] *= k; + } + thrust_abs = params.thr_max; + } - /* thrust_vector now contains desired acceleration (but not in m/s^2) in NED frame */ - /* limit horizontal part of thrust */ - float thrust_xy_dir = atan2f(thrust_sp[1], thrust_sp[0]); - /* assuming that vertical component of thrust is g, - * horizontal component = g * tan(alpha) */ - float tilt = atanf(norm(thrust_sp[0], thrust_sp[1])); + /* calculate attitude and thrust from thrust vector */ + if (control_mode.flag_control_velocity_enabled) { + /* vector of desired yaw direction in XY plane, rotated by PI/2 */ + float y_C[3]; + y_C[0] = -sinf(att_sp.yaw_body); + y_C[1] = cosf(att_sp.yaw_body); + y_C[2] = 0; + + /* desired body_z axis = -normalize(thrust_vector) */ + float body_x[3]; + float body_y[3]; + float body_z[3]; + if (thrust_abs > 0.0f) { + body_z[0] = -thrust_sp[0] / thrust_abs; + body_z[1] = -thrust_sp[1] / thrust_abs; + body_z[2] = -thrust_sp[2] / thrust_abs; + } else { + body_z[0] = 0.0f; + body_z[1] = 0.0f; + body_z[2] = -1.0f; + } + /* desired body_x axis = cross(x_C, body_z) */ + cross3(y_C, body_z, body_x); + + /* desired body_y axis = cross(body_z, body_x) */ + cross3(body_z, body_x, body_y); - if (tilt > params.tilt_max) { - tilt = params.tilt_max; + /* fill rotation matrix */ + for (int i = 0; i < 3; i++) { + att_sp.R_body[i][0] = body_x[i]; + att_sp.R_body[i][1] = body_y[i]; + att_sp.R_body[i][2] = body_z[i]; } + att_sp.R_valid = true; - /* convert direction to body frame */ - thrust_xy_dir -= att.yaw; - /* calculate roll and pitch */ - att_sp.roll_body = sinf(thrust_xy_dir) * tilt; - att_sp.pitch_body = -cosf(thrust_xy_dir) * tilt / cosf(att_sp.roll_body); + /* calculate roll, pitch from rotation matrix, yaw already used to construct rot matrix */ + att_sp.roll_body = rt_atan2f_snf(att_sp.R_body[2][1], att_sp.R_body[2][2]); + att_sp.pitch_body = -asinf(att_sp.R_body[2][0]); + //att_sp.yaw_body = rt_atan2f_snf(att_sp.R_body[1][0], att_sp.R_body[0][0]); } else { - reset_int_xy = true; + /* thrust compensation for altitude only control mode */ + float att_comp; + if (att.R[2][2] > 0.8f) + att_comp = 1.0f / att.R[2][2]; + else if (att.R[2][2] > 0.0f) + att_comp = ((1.0f / 0.8f - 1.0f) / 0.8f) * att.R[2][2] + 1.0f; + else + att_comp = 1.0f; + thrust_abs *= att_comp; } + att_sp.thrust = thrust_abs; + att_sp.timestamp = hrt_absolute_time(); /* publish new attitude setpoint */ diff --git a/src/modules/multirotor_pos_control/thrust_pid.c b/src/modules/multirotor_pos_control/thrust_pid.c index b985630ae..39a715322 100644 --- a/src/modules/multirotor_pos_control/thrust_pid.c +++ b/src/modules/multirotor_pos_control/thrust_pid.c @@ -43,22 +43,22 @@ #include "thrust_pid.h" #include <math.h> -__EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min) +#define COS_TILT_MAX 0.7f + +__EXPORT void thrust_pid_init(thrust_pid_t *pid, float dt_min) { - pid->kp = kp; - pid->ki = ki; - pid->kd = kd; - pid->limit_min = limit_min; - pid->limit_max = limit_max; - pid->mode = mode; pid->dt_min = dt_min; - pid->last_output = 0.0f; - pid->sp = 0.0f; - pid->error_previous = 0.0f; + pid->kp = 0.0f; + pid->ki = 0.0f; + pid->kd = 0.0f; pid->integral = 0.0f; + pid->output_min = 0.0f; + pid->output_max = 0.0f; + pid->error_previous = 0.0f; + pid->last_output = 0.0f; } -__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max) +__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float output_min, float output_max) { int ret = 0; @@ -83,15 +83,15 @@ __EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, fl ret = 1; } - if (isfinite(limit_min)) { - pid->limit_min = limit_min; + if (isfinite(output_min)) { + pid->output_min = output_min; } else { ret = 1; } - if (isfinite(limit_max)) { - pid->limit_max = limit_max; + if (isfinite(output_max)) { + pid->output_max = output_max; } else { ret = 1; @@ -102,40 +102,18 @@ __EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, fl __EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22) { - /* Alternative integral component calculation - * - * start: - * error = setpoint - current_value - * integral = integral + (Ki * error * dt) - * derivative = (error - previous_error) / dt - * previous_error = error - * output = (Kp * error) + integral + (Kd * derivative) - * wait(dt) - * goto start - */ - if (!isfinite(sp) || !isfinite(val) || !isfinite(dt)) { return pid->last_output; } float i, d; - pid->sp = sp; - - // Calculated current error value - float error = pid->sp - val; - // Calculate or measured current error derivative - if (pid->mode == THRUST_PID_MODE_DERIVATIV_CALC) { - d = (error - pid->error_previous) / fmaxf(dt, pid->dt_min); - pid->error_previous = error; + /* error value */ + float error = sp - val; - } else if (pid->mode == THRUST_PID_MODE_DERIVATIV_CALC_NO_SP) { - d = (-val - pid->error_previous) / fmaxf(dt, pid->dt_min); - pid->error_previous = -val; - - } else { - d = 0.0f; - } + /* error derivative */ + d = (-val - pid->error_previous) / fmaxf(dt, pid->dt_min); + pid->error_previous = -val; if (!isfinite(d)) { d = 0.0f; @@ -145,36 +123,41 @@ __EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, floa i = pid->integral + (pid->ki * error * dt); /* attitude-thrust compensation - * r22 is (2, 2) componet of rotation matrix for current attitude */ + * r22 is (2, 2) component of rotation matrix for current attitude */ float att_comp; - if (r22 > 0.8f) + if (r22 > COS_TILT_MAX) { att_comp = 1.0f / r22; - else if (r22 > 0.0f) - att_comp = ((1.0f / 0.8f - 1.0f) / 0.8f) * r22 + 1.0f; - else + + } else if (r22 > 0.0f) { + att_comp = ((1.0f / COS_TILT_MAX - 1.0f) / COS_TILT_MAX) * r22 + 1.0f; + + } else { att_comp = 1.0f; + } - /* calculate output */ - float output = ((error * pid->kp) + i + (d * pid->kd)) * att_comp; + /* calculate PD output */ + float output = ((error * pid->kp) + (d * pid->kd)) * att_comp; /* check for saturation */ - if (output < pid->limit_min || output > pid->limit_max) { - /* saturated, recalculate output with old integral */ - output = (error * pid->kp) + pid->integral + (d * pid->kd); - - } else { - if (isfinite(i)) { + if (isfinite(i)) { + float i_comp = i * att_comp; + if ((output + i_comp) >= pid->output_min || (output + i_comp) <= pid->output_max) { + /* not saturated, use new integral value */ pid->integral = i; } } + /* add I component to output */ + output += pid->integral * att_comp; + + /* limit output */ if (isfinite(output)) { - if (output > pid->limit_max) { - output = pid->limit_max; + if (output > pid->output_max) { + output = pid->output_max; - } else if (output < pid->limit_min) { - output = pid->limit_min; + } else if (output < pid->output_min) { + output = pid->output_min; } pid->last_output = output; diff --git a/src/modules/multirotor_pos_control/thrust_pid.h b/src/modules/multirotor_pos_control/thrust_pid.h index 5e169c1ba..71c3704d0 100644 --- a/src/modules/multirotor_pos_control/thrust_pid.h +++ b/src/modules/multirotor_pos_control/thrust_pid.h @@ -47,27 +47,20 @@ __BEGIN_DECLS -/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error */ -#define THRUST_PID_MODE_DERIVATIV_CALC 0 -/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored */ -#define THRUST_PID_MODE_DERIVATIV_CALC_NO_SP 1 - typedef struct { + float dt_min; float kp; float ki; float kd; - float sp; float integral; + float output_min; + float output_max; float error_previous; float last_output; - float limit_min; - float limit_max; - float dt_min; - uint8_t mode; } thrust_pid_t; -__EXPORT void thrust_pid_init(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max, uint8_t mode, float dt_min); -__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float limit_min, float limit_max); +__EXPORT void thrust_pid_init(thrust_pid_t *pid, float dt_min); +__EXPORT int thrust_pid_set_parameters(thrust_pid_t *pid, float kp, float ki, float kd, float output_min, float output_max); __EXPORT float thrust_pid_calculate(thrust_pid_t *pid, float sp, float val, float dt, float r22); __EXPORT void thrust_pid_set_integral(thrust_pid_t *pid, float i); diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 77c952f52..0bec72495 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -39,7 +39,7 @@ /** * @file pid.c * - * Implementation of generic PID control interface. + * Implementation of generic PID controller. * * @author Laurens Mackay <mackayl@student.ethz.ch> * @author Tobias Naegeli <naegelit@student.ethz.ch> @@ -53,24 +53,21 @@ #define SIGMA 0.000001f -__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, - float limit, uint8_t mode, float dt_min) +__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min) { - pid->kp = kp; - pid->ki = ki; - pid->kd = kd; - pid->intmax = intmax; - pid->limit = limit; pid->mode = mode; pid->dt_min = dt_min; - pid->count = 0.0f; - pid->saturated = 0.0f; - pid->last_output = 0.0f; - pid->sp = 0.0f; - pid->error_previous = 0.0f; + pid->kp = 0.0f; + pid->ki = 0.0f; + pid->kd = 0.0f; pid->integral = 0.0f; + pid->integral_limit = 0.0f; + pid->output_limit = 0.0f; + pid->error_previous = 0.0f; + pid->last_output = 0.0f; } -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit) + +__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit) { int ret = 0; @@ -95,15 +92,15 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float ret = 1; } - if (isfinite(intmax)) { - pid->intmax = intmax; + if (isfinite(integral_limit)) { + pid->integral_limit = integral_limit; } else { ret = 1; } - if (isfinite(limit)) { - pid->limit = limit; + if (isfinite(output_limit)) { + pid->output_limit = output_limit; } else { ret = 1; @@ -112,42 +109,18 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float return ret; } -//void pid_set(PID_t *pid, float sp) -//{ -// pid->sp = sp; -// pid->error_previous = 0; -// pid->integral = 0; -//} - -/** - * - * @param pid - * @param val - * @param dt - * @return - */ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt) { - /* error = setpoint - actual_position - integral = integral + (error*dt) - derivative = (error - previous_error)/dt - output = (Kp*error) + (Ki*integral) + (Kd*derivative) - previous_error = error - wait(dt) - goto start - */ - if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) { return pid->last_output; } float i, d; - pid->sp = sp; - // Calculated current error value - float error = pid->sp - val; + /* current error value */ + float error = sp - val; - // Calculate or measured current error derivative + /* current error derivative */ if (pid->mode == PID_MODE_DERIVATIV_CALC) { d = (error - pid->error_previous) / fmaxf(dt, pid->dt_min); pid->error_previous = error; @@ -167,39 +140,29 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo d = 0.0f; } - if (pid->ki > 0.0f) { - // Calculate the error integral and check for saturation - i = pid->integral + (error * dt); - - if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) || - fabsf(i) > pid->intmax) { - i = pid->integral; // If saturated then do not update integral value - pid->saturated = 1; - - } else { - if (!isfinite(i)) { - i = 0.0f; - } + /* calculate PD output */ + float output = (error * pid->kp) + (d * pid->kd); + /* check for saturation */ + if (isfinite(i)) { + if ((pid->output_limit < SIGMA || (fabsf(output + (i * pid->ki)) <= pid->output_limit)) && + fabsf(i) <= pid->integral_limit) { + /* not saturated, use new integral value */ pid->integral = i; - pid->saturated = 0; } - - } else { - i = 0.0f; - pid->saturated = 0; } - // Calculate the output. Limit output magnitude to pid->limit - float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd); + /* add I component to output */ + output += pid->integral * pid-> ki; + /* limit output */ if (isfinite(output)) { - if (pid->limit > SIGMA) { - if (output > pid->limit) { - output = pid->limit; + if (pid->output_limit > SIGMA) { + if (output > pid->output_limit) { + output = pid->output_limit; - } else if (output < -pid->limit) { - output = -pid->limit; + } else if (output < -pid->output_limit) { + output = -pid->output_limit; } } @@ -212,5 +175,5 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo __EXPORT void pid_reset_integral(PID_t *pid) { - pid->integral = 0; + pid->integral = 0.0f; } diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index eca228464..e8b1aac4f 100644 --- a/src/modules/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h @@ -39,7 +39,7 @@ /** * @file pid.h * - * Definition of generic PID control interface. + * Definition of generic PID controller. * * @author Laurens Mackay <mackayl@student.ethz.ch> * @author Tobias Naegeli <naegelit@student.ethz.ch> @@ -55,38 +55,35 @@ __BEGIN_DECLS -/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error - * val_dot in pid_calculate() will be ignored */ -#define PID_MODE_DERIVATIV_CALC 0 -/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored - * val_dot in pid_calculate() will be ignored */ -#define PID_MODE_DERIVATIV_CALC_NO_SP 1 -/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ -#define PID_MODE_DERIVATIV_SET 2 -// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) -#define PID_MODE_DERIVATIV_NONE 9 +typedef enum PID_MODE { + /* Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) */ + PID_MODE_DERIVATIV_NONE = 0, + /* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error, + * val_dot in pid_calculate() will be ignored */ + PID_MODE_DERIVATIV_CALC, + /* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, + * setpoint derivative will be ignored, val_dot in pid_calculate() will be ignored */ + PID_MODE_DERIVATIV_CALC_NO_SP, + /* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ + PID_MODE_DERIVATIV_SET +} pid_mode_t; typedef struct { + pid_mode_t mode; + float dt_min; float kp; float ki; float kd; - float intmax; - float sp; float integral; + float integral_limit; + float output_limit; float error_previous; float last_output; - float limit; - float dt_min; - uint8_t mode; - uint8_t count; - uint8_t saturated; } PID_t; -__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode, float dt_min); -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit); -//void pid_set(PID_t *pid, float sp); +__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min); +__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit); __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); - __EXPORT void pid_reset_integral(PID_t *pid); __END_DECLS diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h index 1a245132a..7596f944f 100644 --- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h +++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h @@ -61,7 +61,7 @@ struct vehicle_attitude_setpoint_s float yaw_body; /**< body angle in NED frame */ //float body_valid; /**< Set to true if body angles are valid */ - float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ + float R_body[3][3]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */ bool R_valid; /**< Set to true if rotation matrix is valid */ //! For quaternion-based attitude control |