diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_attitude_control.c')
| -rw-r--r-- | src/modules/multirotor_att_control/multirotor_attitude_control.c | 49 |
1 files changed, 27 insertions, 22 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 76dbb36d3..8245aa560 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -1,12 +1,12 @@ /**************************************************************************** * * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * @author Laurens Mackay <mackayl@student.ethz.ch> - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Martin Rutschmann <rutmarti@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> + * Author: Thomas Gubler <thomasgubler@student.ethz.ch> + * Julian Oes <joes@student.ethz.ch> + * Laurens Mackay <mackayl@student.ethz.ch> + * Tobias Naegeli <naegelit@student.ethz.ch> + * Martin Rutschmann <rutmarti@student.ethz.ch> + * 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 @@ -39,7 +39,15 @@ /* * @file multirotor_attitude_control.c - * Implementation of attitude controller + * + * Implementation of attitude controller for multirotors. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * @author Laurens Mackay <mackayl@student.ethz.ch> + * @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Martin Rutschmann <rutmarti@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> */ #include "multirotor_attitude_control.h" @@ -54,15 +62,15 @@ #include <systemlib/param/param.h> #include <drivers/drv_hrt.h> -PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f); PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); //PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); -PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); +PARAM_DEFINE_FLOAT(MC_ATT_P, 6.8f); PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); +PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f); //PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); @@ -158,21 +166,17 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc } void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position, bool reset_integral) { static uint64_t last_run = 0; static uint64_t last_input = 0; float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; last_run = hrt_absolute_time(); if (last_input != att_sp->timestamp) { last_input = att_sp->timestamp; } - static int sensor_delay; - sensor_delay = hrt_absolute_time() - att->timestamp; - static int motor_skip_counter = 0; static PID_t pitch_controller; @@ -190,10 +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); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, - 1000.0f, PID_MODE_DERIVATIV_SET); + 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); initialized = true; } @@ -208,13 +210,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); } - /* reset integral if on ground */ - if (att_sp->thrust < 0.1f) { + /* reset integrals if needed */ + if (reset_integral) { pid_reset_integral(&pitch_controller); pid_reset_integral(&roll_controller); + //TODO pid_reset_integral(&yaw_controller); } - /* calculate current control outputs */ /* control pitch (forward) output */ @@ -227,6 +229,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s if (control_yaw_position) { /* control yaw rate */ + // TODO use pid lib /* positive error: rotate to right, negative error, rotate to left (NED frame) */ // yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw); @@ -244,6 +247,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s } rates_sp->thrust = att_sp->thrust; + //need to update the timestamp now that we've touched rates_sp + rates_sp->timestamp = hrt_absolute_time(); motor_skip_counter++; } |