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 | 249 |
1 files changed, 249 insertions, 0 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c new file mode 100644 index 000000000..76dbb36d3 --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -0,0 +1,249 @@ +/**************************************************************************** + * + * 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> + * + * 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 multirotor_attitude_control.c + * Implementation of attitude controller + */ + +#include "multirotor_attitude_control.h" +#include <stdio.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <stdbool.h> +#include <float.h> +#include <math.h> +#include <systemlib/pid/pid.h> +#include <systemlib/param/param.h> +#include <drivers/drv_hrt.h> + +PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); +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_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); + +//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); +//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); + +struct mc_att_control_params { + float yaw_p; + float yaw_i; + float yaw_d; + //float yaw_awu; + //float yaw_lim; + + float att_p; + float att_i; + float att_d; + //float att_awu; + //float att_lim; + + //float att_xoff; + //float att_yoff; +}; + +struct mc_att_control_param_handles { + param_t yaw_p; + param_t yaw_i; + param_t yaw_d; + //param_t yaw_awu; + //param_t yaw_lim; + + param_t att_p; + param_t att_i; + param_t att_d; + //param_t att_awu; + //param_t att_lim; + + //param_t att_xoff; + //param_t att_yoff; +}; + +/** + * Initialize all parameter handles and values + * + */ +static int parameters_init(struct mc_att_control_param_handles *h); + +/** + * Update all parameters + * + */ +static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p); + + +static int parameters_init(struct mc_att_control_param_handles *h) +{ + /* PID parameters */ + h->yaw_p = param_find("MC_YAWPOS_P"); + h->yaw_i = param_find("MC_YAWPOS_I"); + h->yaw_d = param_find("MC_YAWPOS_D"); + //h->yaw_awu = param_find("MC_YAWPOS_AWU"); + //h->yaw_lim = param_find("MC_YAWPOS_LIM"); + + h->att_p = param_find("MC_ATT_P"); + h->att_i = param_find("MC_ATT_I"); + h->att_d = param_find("MC_ATT_D"); + //h->att_awu = param_find("MC_ATT_AWU"); + //h->att_lim = param_find("MC_ATT_LIM"); + + //h->att_xoff = param_find("MC_ATT_XOFF"); + //h->att_yoff = param_find("MC_ATT_YOFF"); + + return OK; +} + +static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p) +{ + param_get(h->yaw_p, &(p->yaw_p)); + param_get(h->yaw_i, &(p->yaw_i)); + param_get(h->yaw_d, &(p->yaw_d)); + //param_get(h->yaw_awu, &(p->yaw_awu)); + //param_get(h->yaw_lim, &(p->yaw_lim)); + + param_get(h->att_p, &(p->att_p)); + param_get(h->att_i, &(p->att_i)); + param_get(h->att_d, &(p->att_d)); + //param_get(h->att_awu, &(p->att_awu)); + //param_get(h->att_lim, &(p->att_lim)); + + //param_get(h->att_xoff, &(p->att_xoff)); + //param_get(h->att_yoff, &(p->att_yoff)); + + return OK; +} + +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) +{ + 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; + static PID_t roll_controller; + + static struct mc_att_control_params p; + static struct mc_att_control_param_handles h; + + static bool initialized = false; + + static float yaw_error; + + /* initialize the pid controllers when the function is called for the first time */ + if (initialized == false) { + 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); + + initialized = true; + } + + /* load new parameters with lower rate */ + if (motor_skip_counter % 500 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + + /* apply parameters */ + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + } + + /* reset integral if on ground */ + if (att_sp->thrust < 0.1f) { + pid_reset_integral(&pitch_controller); + pid_reset_integral(&roll_controller); + } + + + /* calculate current control outputs */ + + /* control pitch (forward) output */ + rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , + att->pitch, att->pitchspeed, deltaT); + + /* control roll (left/right) output */ + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , + att->roll, att->rollspeed, deltaT); + + if (control_yaw_position) { + /* control yaw rate */ + + /* positive error: rotate to right, negative error, rotate to left (NED frame) */ + // yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw); + + yaw_error = att_sp->yaw_body - att->yaw; + + if (yaw_error > M_PI_F) { + yaw_error -= M_TWOPI_F; + + } else if (yaw_error < -M_PI_F) { + yaw_error += M_TWOPI_F; + } + + rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed); + } + + rates_sp->thrust = att_sp->thrust; + + motor_skip_counter++; +} |