diff options
Diffstat (limited to 'src/modules/fixedwing_att_control/fixedwing_att_control_rate.c')
| -rw-r--r-- | src/modules/fixedwing_att_control/fixedwing_att_control_rate.c | 211 |
1 files changed, 211 insertions, 0 deletions
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c new file mode 100644 index 000000000..4eccc118c --- /dev/null +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -0,0 +1,211 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler <thomasgubler@student.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 fixedwing_att_control_rate.c + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * + * Implementation of a fixed wing attitude controller. + * + */ + +#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.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <systemlib/param/param.h> +#include <systemlib/pid/pid.h> +#include <systemlib/geo/geo.h> +#include <systemlib/systemlib.h> + +#include "fixedwing_att_control_rate.h" + +/* + * Controller parameters, accessible via MAVLink + * + */ +// Roll control parameters +PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); +PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); +PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller +PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); +PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); + +//Pitch control parameters +PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller +PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); + +//Yaw control parameters //XXX TODO this is copy paste, asign correct values +PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec + +/* feedforward compensation */ +PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */ + +struct fw_rate_control_params { + float rollrate_p; + float rollrate_i; + float rollrate_awu; + float pitchrate_p; + float pitchrate_i; + float pitchrate_awu; + float yawrate_p; + float yawrate_i; + float yawrate_awu; + float pitch_thr_ff; +}; + +struct fw_rate_control_param_handles { + param_t rollrate_p; + param_t rollrate_i; + param_t rollrate_awu; + param_t pitchrate_p; + param_t pitchrate_i; + param_t pitchrate_awu; + param_t yawrate_p; + param_t yawrate_i; + param_t yawrate_awu; + param_t pitch_thr_ff; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_rate_control_param_handles *h); +static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); + +static int parameters_init(struct fw_rate_control_param_handles *h) +{ + /* PID parameters */ + h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing + h->rollrate_i = param_find("FW_ROLLR_I"); + h->rollrate_awu = param_find("FW_ROLLR_AWU"); + + h->pitchrate_p = param_find("FW_PITCHR_P"); + h->pitchrate_i = param_find("FW_PITCHR_I"); + h->pitchrate_awu = param_find("FW_PITCHR_AWU"); + + h->yawrate_p = param_find("FW_YAWR_P"); + h->yawrate_i = param_find("FW_YAWR_I"); + h->yawrate_awu = param_find("FW_YAWR_AWU"); + h->pitch_thr_ff = param_find("FW_PITCH_THR_P"); + + return OK; +} + +static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) +{ + param_get(h->rollrate_p, &(p->rollrate_p)); + param_get(h->rollrate_i, &(p->rollrate_i)); + param_get(h->rollrate_awu, &(p->rollrate_awu)); + param_get(h->pitchrate_p, &(p->pitchrate_p)); + param_get(h->pitchrate_i, &(p->pitchrate_i)); + param_get(h->pitchrate_awu, &(p->pitchrate_awu)); + param_get(h->yawrate_p, &(p->yawrate_p)); + param_get(h->yawrate_i, &(p->yawrate_i)); + param_get(h->yawrate_awu, &(p->yawrate_awu)); + param_get(h->pitch_thr_ff, &(p->pitch_thr_ff)); + + return OK; +} + +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], + struct actuator_controls_s *actuators) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_rate_control_params p; + static struct fw_rate_control_param_handles h; + + static PID_t roll_rate_controller; + static PID_t pitch_rate_controller; + static PID_t yaw_rate_controller; + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + if (!initialized) { + parameters_init(&h); + parameters_update(&h, &p); + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 100 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); + } + + + /* roll rate (PI) */ + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); + /* pitch rate (PI) */ + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); + /* yaw rate (PI) */ + actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); + + counter++; + + return 0; +} + + + |