From 2d631fb0059cecdc429c5847e8dbede82348d129 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 17 Oct 2012 18:26:56 +0200 Subject: Various fixes to attitude control, flyable, needs parameter tuning --- apps/multirotor_att_control/multirotor_att_control_main.c | 2 +- apps/multirotor_att_control/multirotor_attitude_control.c | 11 ++++++----- apps/multirotor_att_control/multirotor_rate_control.c | 14 ++++++++++++-- 3 files changed, 19 insertions(+), 8 deletions(-) (limited to 'apps') diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index cb82036fe..82d4c0f25 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -195,7 +195,7 @@ mc_thread_main(int argc, char *argv[]) rates_sp.roll = manual.roll; rates_sp.pitch = manual.pitch; - rates_sp.yaw = manual.yaw; + rates_sp.yaw = att.yaw + manual.yaw * 2.0f; rates_sp.thrust = manual.throttle; //printf("rates\n"); rates_sp.timestamp = hrt_absolute_time(); diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 33cab5cc9..c3da85c5c 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -235,20 +235,21 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s // pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu); pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu); pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu); - printf("delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); + printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); } /* calculate current control outputs */ /* control pitch (forward) output */ rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff, - att->pitch, att->pitchspeed, deltaT)*1/10.0f; + att->pitch, att->pitchspeed, deltaT); + /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff, - att->roll, att->rollspeed, deltaT)*1/10.0f; + att->roll, att->rollspeed, deltaT); + /* control yaw rate */ - //float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; - rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body)); + rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)); diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index c132665d2..db3f1a0a6 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -153,6 +153,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static float pitch_control_last = 0; static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + static uint64_t last_input = 0; + + float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; + if (last_input != rate_sp->timestamp) { + last_input = rate_sp->timestamp; + } + last_run = hrt_absolute_time(); static int motor_skip_counter = 0; @@ -173,7 +180,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (motor_skip_counter % 2500 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p); + printf("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n", + (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); } /* calculate current control outputs */ @@ -185,6 +193,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pitch_control_last = pitch_control; } else { pitch_control = 0.0f; + printf("rej. NaN ctrl pitch\n"); } /* control roll (left/right) output */ @@ -194,10 +203,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, roll_control_last = roll_control; } else { roll_control = 0.0f; + printf("rej. NaN ctrl roll\n"); } /* control yaw rate */ - float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]); + float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.yawrate_lim-rates[2]); actuators->control[0] = roll_control; actuators->control[1] = pitch_control; -- cgit v1.2.3