From 2b9fa731efd08a01effd87a636ae8e53994944f7 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 12 Mar 2013 12:13:02 -0700 Subject: Use the pid library in the rate controller and change de implementation of the D part Conflicts: src/modules/multirotor_att_control/multirotor_rate_control.c src/modules/systemlib/pid/pid.c src/modules/systemlib/pid/pid.h --- src/modules/systemlib/pid/pid.c | 28 +++++++++++++++++----------- 1 file changed, 17 insertions(+), 11 deletions(-) (limited to 'src/modules/systemlib/pid/pid.c') diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 49315cdc9..08e0ca46f 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -51,13 +51,14 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, pid->intmax = intmax; pid->limit = limit; pid->mode = mode; - pid->count = 0; - pid->saturated = 0; - pid->last_output = 0; - - pid->sp = 0; - pid->error_previous = 0; - pid->integral = 0; + pid->count = 0.0f; + pid->saturated = 0.0f; + pid->last_output = 0.0f; + + pid->sp = 0.0f; + pid->error_previous_filtered = 0.0f; + pid->control_previous = 0.0f; + pid->integral = 0.0f; } __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit) { @@ -136,15 +137,15 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculated current error value float error = pid->sp - val; - if (isfinite(error)) { // Why is this necessary? DEW - pid->error_previous = error; - } + float error_filtered = 0.2f*error + 0.8f*pid->error_previous_filtered; // Calculate or measured current error derivative if (pid->mode == PID_MODE_DERIVATIV_CALC) { - d = (error - pid->error_previous) / dt; +// d = (error_filtered - pid->error_previous_filtered) / dt; + d = pid->error_previous_filtered - error_filtered; + pid->error_previous_filtered = error_filtered; } else if (pid->mode == PID_MODE_DERIVATIV_SET) { d = -val_dot; @@ -180,6 +181,11 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo pid->last_output = output; } + pid->control_previous = pid->last_output; + + // if (isfinite(error)) { // Why is this necessary? DEW + // pid->error_previous = error; + // } return pid->last_output; } -- cgit v1.2.3 From 8559315f4f8b6515f2ba9ceadf2aa3b73af41bdc Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 13 Mar 2013 10:53:20 -0700 Subject: Added a filter parameter to the pid function Conflicts: apps/multirotor_pos_control/multirotor_pos_control.c --- .../fixedwing_att_control/fixedwing_att_control_att.c | 8 ++++---- .../fixedwing_att_control/fixedwing_att_control_rate.c | 12 ++++++------ .../fixedwing_pos_control/fixedwing_pos_control_main.c | 16 ++++++++-------- .../multirotor_att_control/multirotor_attitude_control.c | 8 ++++---- .../multirotor_att_control/multirotor_rate_control.c | 8 ++++---- src/modules/systemlib/pid/pid.c | 14 +++++++++++--- src/modules/systemlib/pid/pid.h | 5 +++-- 7 files changed, 40 insertions(+), 31 deletions(-) (limited to 'src/modules/systemlib/pid/pid.c') diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c index 769b8b0a8..a226757e0 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -128,8 +128,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, 0, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, 0, PID_MODE_DERIVATIV_NONE); //P Controller initialized = true; } @@ -137,8 +137,8 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); - pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, 0); + pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, 0); } /* Roll (P) */ diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c index 4eccc118c..79194e515 100644 --- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -179,9 +179,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (!initialized) { parameters_init(&h); parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, 0, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher initialized = true; } @@ -189,9 +189,9 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, if (counter % 100 == 0) { /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, 0); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, 0); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, 0); } diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c index 71c78f5b8..48ec3603f 100644 --- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -239,10 +239,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) parameters_init(&h); parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value + pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, 0.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit + pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, 0.0f, PID_MODE_DERIVATIV_NONE); + pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, 0.0f, PID_MODE_DERIVATIV_NONE); + pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD_F, 0.0f, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value /* error and performance monitoring */ perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); @@ -268,10 +268,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* update parameters from storage */ parameters_update(&h, &p); - pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit - pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); - pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); - pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value + pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f, 0.0f); //arbitrary high limit + pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim, 0.0f); + pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim, 0.0f); + pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD_F, 0.0f); //TODO: remove hardcoded value } /* only run controller if attitude changed */ diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c index 1053ac7a3..d7e1a3adc 100644 --- a/src/modules/multirotor_att_control/multirotor_attitude_control.c +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -155,8 +155,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_init(&h); parameters_update(&h, &p); - pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET); + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f, PID_MODE_DERIVATIV_SET); initialized = true; } @@ -167,8 +167,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s parameters_update(&h, &p); /* apply parameters */ - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 0.0f); } /* reset integral if on ground */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 4ab92b955..57aea726a 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -182,17 +182,17 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, initialized = true; pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, - 1000.0f, PID_MODE_DERIVATIV_CALC); + 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, PID_MODE_DERIVATIV_CALC); + 1000.0f, 0.2f, PID_MODE_DERIVATIV_CALC); } /* 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, 1000.0f, 1000.0f); - pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f); + 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); } /* control pitch (forward) output */ diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 08e0ca46f..d0e67d3ea 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -43,7 +43,7 @@ #include __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, - float limit, uint8_t mode) + float limit, float diff_filter_factor, uint8_t mode) { pid->kp = kp; pid->ki = ki; @@ -51,6 +51,7 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, pid->intmax = intmax; pid->limit = limit; pid->mode = mode; + pid->diff_filter_factor = diff_filter_factor; pid->count = 0.0f; pid->saturated = 0.0f; pid->last_output = 0.0f; @@ -60,7 +61,7 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, pid->control_previous = 0.0f; pid->integral = 0.0f; } -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit) +__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor) { int ret = 0; @@ -99,6 +100,13 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float ret = 1; } + if (isfinite(diff_filter_factor)) { + pid->limit = diff_filter_factor; + + } else { + ret = 1; + } + return ret; } @@ -137,7 +145,7 @@ __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 = 0.2f*error + 0.8f*pid->error_previous_filtered; + float error_filtered = pid->diff_filter_factor*error + (1.0f-pid->diff_filter_factor)*pid->error_previous_filtered; // Calculate or measured current error derivative diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h index 5790459c8..f89c36d75 100644 --- a/src/modules/systemlib/pid/pid.h +++ b/src/modules/systemlib/pid/pid.h @@ -64,12 +64,13 @@ typedef struct { float last_output; float limit; uint8_t mode; + float diff_filter_factor; uint8_t count; uint8_t saturated; } PID_t; -__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode); -__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit); +__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor, uint8_t mode); +__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor); //void pid_set(PID_t *pid, float sp); __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt); -- cgit v1.2.3