diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/position_control.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/position_control.c | 235 |
1 files changed, 235 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c new file mode 100644 index 000000000..9c53a5bf6 --- /dev/null +++ b/src/modules/multirotor_pos_control/position_control.c @@ -0,0 +1,235 @@ +// /**************************************************************************** +// * +// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. +// * Author: @author Lorenz Meier <lm@inf.ethz.ch> +// * @author Laurens Mackay <mackayl@student.ethz.ch> +// * @author Tobias Naegeli <naegelit@student.ethz.ch> +// * @author Martin Rutschmann <rutmarti@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_position_control.c +// * Implementation of the position control for a multirotor VTOL +// */ + +// #include <stdio.h> +// #include <stdlib.h> +// #include <stdio.h> +// #include <stdint.h> +// #include <math.h> +// #include <stdbool.h> +// #include <float.h> +// #include <systemlib/pid/pid.h> + +// #include "multirotor_position_control.h" + +// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, +// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, +// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) +// { +// static PID_t distance_controller; + +// static int read_ret; +// static global_data_position_t position_estimated; + +// static uint16_t counter; + +// static bool initialized; +// static uint16_t pm_counter; + +// static float lat_next; +// static float lon_next; + +// static float pitch_current; + +// static float thrust_total; + + +// if (initialized == false) { + +// pid_init(&distance_controller, +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], +// PID_MODE_DERIVATIV_CALC, 150);//150 + +// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; +// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; + +// thrust_total = 0.0f; + +// /* Position initialization */ +// /* Wait for new position estimate */ +// do { +// read_ret = read_lock_position(&position_estimated); +// } while (read_ret != 0); + +// lat_next = position_estimated.lat; +// lon_next = position_estimated.lon; + +// /* attitude initialization */ +// global_data_lock(&global_data_attitude->access_conf); +// pitch_current = global_data_attitude->pitch; +// global_data_unlock(&global_data_attitude->access_conf); + +// initialized = true; +// } + +// /* load new parameters with 10Hz */ +// if (counter % 50 == 0) { +// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { +// /* check whether new parameters are available */ +// if (global_data_parameter_storage->counter > pm_counter) { +// pid_set_parameters(&distance_controller, +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); + +// // +// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; +// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; + +// pm_counter = global_data_parameter_storage->counter; +// printf("Position controller changed pid parameters\n"); +// } +// } + +// global_data_unlock(&global_data_parameter_storage->access_conf); +// } + + +// /* Wait for new position estimate */ +// do { +// read_ret = read_lock_position(&position_estimated); +// } while (read_ret != 0); + +// /* Get next waypoint */ //TODO: add local copy + +// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { +// lat_next = global_data_position_setpoint->x; +// lon_next = global_data_position_setpoint->y; +// global_data_unlock(&global_data_position_setpoint->access_conf); +// } + +// /* Get distance to waypoint */ +// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); +// // if(counter % 5 == 0) +// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint); + +// /* Get bearing to waypoint (direction on earth surface to next waypoint) */ +// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); + +// if (counter % 5 == 0) +// printf("bearing: %.4f\n", bearing); + +// /* Calculate speed in direction of bearing (needed for controller) */ +// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); +// // if(counter % 5 == 0) +// // printf("speed_norm: %.4f\n", speed_norm); +// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller + +// /* Control Thrust in bearing direction */ +// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, +// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else + +// // if(counter % 5 == 0) +// // printf("horizontal thrust: %.4f\n", horizontal_thrust); + +// /* Get total thrust (from remote for now) */ +// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { +// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum? +// global_data_unlock(&global_data_rc_channels->access_conf); +// } + +// const float max_gas = 500.0f; +// thrust_total *= max_gas / 20000.0f; //TODO: check this +// thrust_total += max_gas / 2.0f; + + +// if (horizontal_thrust > thrust_total) { +// horizontal_thrust = thrust_total; + +// } else if (horizontal_thrust < -thrust_total) { +// horizontal_thrust = -thrust_total; +// } + + + +// //TODO: maybe we want to add a speed controller later... + +// /* Calclulate thrust in east and north direction */ +// float thrust_north = cosf(bearing) * horizontal_thrust; +// float thrust_east = sinf(bearing) * horizontal_thrust; + +// if (counter % 10 == 0) { +// printf("thrust north: %.4f\n", thrust_north); +// printf("thrust east: %.4f\n", thrust_east); +// fflush(stdout); +// } + +// /* Get current attitude */ +// if (0 == global_data_trylock(&global_data_attitude->access_conf)) { +// pitch_current = global_data_attitude->pitch; +// global_data_unlock(&global_data_attitude->access_conf); +// } + +// /* Get desired pitch & roll */ +// float pitch_desired = 0.0f; +// float roll_desired = 0.0f; + +// if (thrust_total != 0) { +// float pitch_fraction = -thrust_north / thrust_total; +// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); + +// if (roll_fraction < -1) { +// roll_fraction = -1; + +// } else if (roll_fraction > 1) { +// roll_fraction = 1; +// } + +// // if(counter % 5 == 0) +// // { +// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction); +// // fflush(stdout); +// // } + +// pitch_desired = asinf(pitch_fraction); +// roll_desired = asinf(roll_fraction); +// } + +// att_sp.roll = roll_desired; +// att_sp.pitch = pitch_desired; + +// counter++; +// } |