From c874f681080e0e68d62a31e88c80240350f8a595 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 17 Jun 2013 21:03:55 +0200 Subject: Checkpoint: Quad is flying after PID lib changes Conflicts: src/modules/multirotor_att_control/multirotor_attitude_control.c --- .../multirotor_att_control/multirotor_attitude_control.c | 2 +- src/modules/multirotor_att_control/multirotor_rate_control.c | 10 ++++------ 2 files changed, 5 insertions(+), 7 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 51faaa8c0..0dad10316 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -187,7 +187,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s /* control roll (left/right) output */ rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , att->roll, att->rollspeed, deltaT, NULL, NULL, NULL); - + // printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT); if (control_yaw_position) { diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 01bf383e2..9135a9351 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -189,10 +189,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); initialized = true; - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, - 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, - 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); } @@ -201,8 +199,8 @@ 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); - pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f, 0.2f); + pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); } /* control pitch (forward) output */ -- cgit v1.2.3 From 8d6cc86b4f37773c9c4db77b9666fa2a075c1871 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 19 Jun 2013 10:01:16 +0200 Subject: Cherry-picked commit e2ff60b0a6dbcd714d57e781d9fe174b110a6237: use rateacc values --- .../multirotor_att_control_main.c | 26 +++++++++++++++++----- .../multirotor_rate_control.c | 22 +++++++----------- .../multirotor_rate_control.h | 4 +++- 3 files changed, 32 insertions(+), 20 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index d94c0a69c..38775ed1f 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -63,6 +63,7 @@ #include #include #include +#include #include #include #include @@ -83,6 +84,7 @@ static int mc_task; static bool motor_test_mode = false; static orb_advert_t actuator_pub; +static orb_advert_t control_debug_pub; static struct vehicle_status_s state; @@ -107,6 +109,9 @@ mc_thread_main(int argc, char *argv[]) struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); + struct vehicle_control_debug_s control_debug; + memset(&control_debug, 0, sizeof(control_debug)); + /* subscribe to attitude, motor setpoints and system state */ int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int param_sub = orb_subscribe(ORB_ID(parameter_update)); @@ -133,6 +138,8 @@ mc_thread_main(int argc, char *argv[]) for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { actuators.control[i] = 0.0f; } + + control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); @@ -372,7 +379,8 @@ mc_thread_main(int argc, char *argv[]) /* measure in what intervals the controller runs */ perf_count(mc_interval_perf); - float gyro[3]; + float rates[3]; + float rates_acc[3]; /* get current rate setpoint */ bool rates_sp_valid = false; @@ -383,13 +391,21 @@ mc_thread_main(int argc, char *argv[]) } /* apply controller */ - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; + rates[0] = att.rollspeed; + rates[1] = att.pitchspeed; + rates[2] = att.yawspeed; + + rates_acc[0] = att.rollacc; + rates_acc[1] = att.pitchacc; + rates_acc[2] = att.yawacc; + - multirotor_control_rates(&rates_sp, gyro, &actuators); + + multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); + /* update state */ flag_control_attitude_enabled = state.flag_control_attitude_enabled; flag_control_manual_enabled = state.flag_control_manual_enabled; diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 9135a9351..e37ede3e0 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -55,7 +55,7 @@ #include #include #include -#include + PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ @@ -151,7 +151,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) + const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, + const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) { static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; @@ -178,10 +179,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static bool initialized = false; - static struct vehicle_control_debug_s control_debug; - static orb_advert_t control_debug_pub; - - /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { @@ -189,10 +186,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); initialized = true; - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); + pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET); - control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug); } /* load new parameters with lower rate */ @@ -205,11 +201,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], 0.0f, deltaT, &control_debug.pitch_rate_p, &control_debug.pitch_rate_i, &control_debug.pitch_rate_d); + rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], 0.0f, deltaT, &control_debug.roll_rate_p, &control_debug.roll_rate_i, &control_debug.roll_rate_d); + rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { @@ -229,7 +225,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, warnx("rej. NaN ctrl roll"); } - /* control yaw rate */ + /* control yaw rate */ //XXX use library here and use rates_acc[2] float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); /* increase resilience to faulty control inputs */ @@ -244,6 +240,4 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, actuators->control[3] = rate_sp->thrust; motor_skip_counter++; - - orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); } diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index 03dec317a..fc741c378 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -49,8 +49,10 @@ #include #include #include +#include void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators); + const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, + const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); #endif /* MULTIROTOR_RATE_CONTROL_H_ */ -- cgit v1.2.3 From c1049483a82857bebb012607578add9492446321 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 19 Jun 2013 12:01:22 +0200 Subject: Added integral reset for rate controller --- src/modules/multirotor_att_control/multirotor_rate_control.c | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index e37ede3e0..a0266e1b3 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -199,6 +199,12 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); } + /* reset integral if on ground */ + if (rate_sp->thrust < 0.01f) { + pid_reset_integral(&pitch_rate_controller); + pid_reset_integral(&roll_rate_controller); + } + /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); -- cgit v1.2.3 From 3bfc4ed5174c60de7eb98efbbf3c7729fcaa231e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 20 Jun 2013 11:30:10 +0400 Subject: Att rate PID fix --- src/modules/multirotor_att_control/multirotor_rate_control.c | 9 +++++---- src/modules/systemlib/pid/pid.c | 12 ++++++++---- src/modules/systemlib/pid/pid.h | 5 ++++- 3 files changed, 17 insertions(+), 9 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index a0266e1b3..8f26a2014 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -179,6 +179,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, static bool initialized = false; + float diff_filter_factor = 1.0f; /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { @@ -186,8 +187,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, parameters_update(&h, &p); initialized = true; - pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP); + pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP); } @@ -195,8 +196,8 @@ 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); - pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f); + pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor); + pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor); } /* reset integral if on ground */ diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 3685b2aeb..ada364e37 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -144,15 +144,19 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculated current error value float error = pid->sp - val; - - float error_filtered = pid->diff_filter_factor*error + (1.0f-pid->diff_filter_factor)*pid->error_previous_filtered; + float error_filtered; // Calculate or measured current error derivative if (pid->mode == PID_MODE_DERIVATIV_CALC) { -// d = (error_filtered - pid->error_previous_filtered) / dt; - d = error_filtered - pid->error_previous_filtered ; + error_filtered = pid->error_previous_filtered + (error - pid->error_previous_filtered) * pid->diff_filter_factor; + d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f); // fail-safe for too low dt + pid->error_previous_filtered = error_filtered; + } else if (pid->mode == PID_MODE_DERIVATIV_CALC_NO_SP) { + + error_filtered = pid->error_previous_filtered + (val - pid->error_previous_filtered) * pid->diff_filter_factor; + d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f); // fail-safe for too low dt pid->error_previous_filtered = error_filtered; } else if (pid->mode == PID_MODE_DERIVATIV_SET) { d = -val_dot; diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index e3d9038cd..eb9df96cc 100644 --- a/src/modules/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h @@ -47,8 +47,11 @@ /* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error * val_dot in pid_calculate() will be ignored */ #define PID_MODE_DERIVATIV_CALC 0 +/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored + * val_dot in pid_calculate() will be ignored */ +#define PID_MODE_DERIVATIV_CALC_NO_SP 1 /* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */ -#define PID_MODE_DERIVATIV_SET 1 +#define PID_MODE_DERIVATIV_SET 2 // Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) #define PID_MODE_DERIVATIV_NONE 9 -- cgit v1.2.3 From dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 20 Jun 2013 11:52:05 +0400 Subject: Cleanup: remove useless angular rates from attitude rate controller --- src/modules/multirotor_att_control/multirotor_att_control_main.c | 8 +------- src/modules/multirotor_att_control/multirotor_rate_control.c | 6 +++--- src/modules/multirotor_att_control/multirotor_rate_control.h | 2 +- 3 files changed, 5 insertions(+), 11 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 38775ed1f..8ba3241ad 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -395,13 +395,7 @@ mc_thread_main(int argc, char *argv[]) rates[1] = att.pitchspeed; rates[2] = att.yawspeed; - rates_acc[0] = att.rollacc; - rates_acc[1] = att.pitchacc; - rates_acc[2] = att.yawacc; - - - - multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug); + multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 8f26a2014..641d833f0 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -151,7 +151,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, + const float rates[], struct actuator_controls_s *actuators, const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) { static uint64_t last_run = 0; @@ -208,11 +208,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); + rates[1], 0.0f, deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); + rates[0], 0.0f, deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index fc741c378..465549540 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -52,7 +52,7 @@ #include void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, + const float rates[], struct actuator_controls_s *actuators, const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); #endif /* MULTIROTOR_RATE_CONTROL_H_ */ -- cgit v1.2.3