diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 39 |
1 files changed, 15 insertions, 24 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index b49186ee9..6252178d1 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -235,7 +235,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) 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.slope_max, PID_MODE_DERIVATIV_CALC_NO_SP, 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(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f); @@ -259,7 +259,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) 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); - pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.slope_max); + pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max); } pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max); @@ -416,12 +416,12 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } /* run position & altitude controllers, calculate velocity setpoint */ - global_vel_sp.vz = pid_calculate(&z_pos_pid, local_pos_sp.z, local_pos.z, local_pos.vz, dt); + global_vel_sp.vz = pid_calculate(&z_pos_pid, local_pos_sp.z, local_pos.z, local_pos.vz - sp_move_rate[2], dt) + sp_move_rate[2]; if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE || status.state_machine == SYSTEM_STATE_AUTO) { /* calculate velocity set point in NED frame */ - global_vel_sp.vx = pid_calculate(&xy_pos_pids[0], local_pos_sp.x, local_pos.x, local_pos.vx, dt); - global_vel_sp.vy = pid_calculate(&xy_pos_pids[1], local_pos_sp.y, local_pos.y, local_pos.vy, dt); + 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; @@ -439,9 +439,9 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* publish new velocity setpoint */ orb_publish(ORB_ID(vehicle_global_velocity_setpoint), global_vel_sp_pub, &global_vel_sp); - /* run velocity controllers, calculate thrust vector */ + /* run velocity controllers, calculate thrust vector with attitude-thrust compensation */ float thrust_sp[3] = { 0.0f, 0.0f, 0.0f }; - thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt); + thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt, att.R[2][2]); if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE || status.state_machine == SYSTEM_STATE_AUTO) { /* calculate velocity set point in NED frame */ @@ -452,33 +452,24 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* 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]); - float thrust_xy_norm = norm(thrust_sp[0], thrust_sp[1]); + /* assuming that vertical component of thrust is g, + * horizontal component = g * tan(alpha) */ + float tilt = atanf(norm(thrust_sp[0], thrust_sp[1])); - if (thrust_xy_norm > params.slope_max) { - thrust_xy_norm = params.slope_max; + if (tilt > params.tilt_max) { + tilt = params.tilt_max; } - /* use approximation: slope ~ sin(slope) = force */ /* convert direction to body frame */ thrust_xy_dir -= att.yaw; if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE || status.state_machine == SYSTEM_STATE_AUTO) { /* calculate roll and pitch */ - att_sp.roll_body = sinf(thrust_xy_dir) * thrust_xy_norm; - att_sp.pitch_body = -cosf(thrust_xy_dir) * thrust_xy_norm / cosf(att_sp.roll_body); // reverse pitch + att_sp.roll_body = sinf(thrust_xy_dir) * tilt; + att_sp.pitch_body = -cosf(thrust_xy_dir) * tilt / cosf(att_sp.roll_body); } - /* attitude-thrust compensation */ - 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; - - att_sp.thrust = -thrust_sp[2] * att_comp; + att_sp.thrust = -thrust_sp[2]; att_sp.timestamp = hrt_absolute_time(); if (status.flag_control_manual_enabled) { |