diff options
Diffstat (limited to 'src/modules/multirotor_att_control/multirotor_rate_control.c')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 196 |
1 files changed, 0 insertions, 196 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c deleted file mode 100644 index 86ac0e4ff..000000000 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ /dev/null @@ -1,196 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012-2013 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> - * Julian Oes <joes@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 multirotor_rate_control.c - * - * Implementation of rate controller for multirotors. - * - * @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> - * @author Julian Oes <joes@student.ethz.ch> - */ - -#include "multirotor_rate_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 <systemlib/err.h> -#include <drivers/drv_hrt.h> - -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f); - -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); - -struct mc_rate_control_params { - - float yawrate_p; - float yawrate_d; - float yawrate_i; - - float attrate_p; - float attrate_d; - float attrate_i; - - float rate_lim; -}; - -struct mc_rate_control_param_handles { - - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_d; - - param_t attrate_p; - param_t attrate_i; - param_t attrate_d; -}; - -/** - * Initialize all parameter handles and values - * - */ -static int parameters_init(struct mc_rate_control_param_handles *h); - -/** - * Update all parameters - * - */ -static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p); - - -static int parameters_init(struct mc_rate_control_param_handles *h) -{ - /* PID parameters */ - h->yawrate_p = param_find("MC_YAWRATE_P"); - h->yawrate_i = param_find("MC_YAWRATE_I"); - h->yawrate_d = param_find("MC_YAWRATE_D"); - - h->attrate_p = param_find("MC_ATTRATE_P"); - h->attrate_i = param_find("MC_ATTRATE_I"); - h->attrate_d = param_find("MC_ATTRATE_D"); - - return OK; -} - -static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p) -{ - param_get(h->yawrate_p, &(p->yawrate_p)); - param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_d, &(p->yawrate_d)); - - param_get(h->attrate_p, &(p->attrate_p)); - param_get(h->attrate_i, &(p->attrate_i)); - param_get(h->attrate_d, &(p->attrate_d)); - - return OK; -} - -void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators, bool reset_integral) -{ - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - static uint64_t last_input = 0; - - if (last_input != rate_sp->timestamp) { - last_input = rate_sp->timestamp; - } - - last_run = hrt_absolute_time(); - - static int motor_skip_counter = 0; - - static PID_t pitch_rate_controller; - static PID_t roll_rate_controller; - static PID_t yaw_rate_controller; - - static struct mc_rate_control_params p; - static struct mc_rate_control_param_handles h; - - static bool initialized = false; - - /* initialize the pid controllers when the function is called for the first time */ - if (initialized == false) { - parameters_init(&h); - 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); - } - - /* load new parameters with lower rate */ - if (motor_skip_counter % 2500 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f); - } - - /* reset integrals if needed */ - if (reset_integral) { - pid_reset_integral(&pitch_rate_controller); - pid_reset_integral(&roll_rate_controller); - pid_reset_integral(&yaw_rate_controller); - } - - /* run pitch, roll and yaw controllers */ - float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); - float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); - - actuators->control[0] = roll_control; - actuators->control[1] = pitch_control; - actuators->control[2] = yaw_control; - actuators->control[3] = rate_sp->thrust; - - motor_skip_counter++; -} |