From 90873474a9c52b66696f31c12b35b25ab0f6abd6 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 10 Sep 2013 22:58:44 +0200 Subject: multirotor_pos_control: setpint reset rewritten --- .../multirotor_pos_control.c | 117 ++++++++++++--------- src/modules/systemlib/pid/pid.c | 28 +++-- 2 files changed, 86 insertions(+), 59 deletions(-) (limited to 'src/modules') diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 336523072..1b3ddfdcd 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -212,17 +212,17 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) orb_advert_t global_vel_sp_pub = orb_advertise(ORB_ID(vehicle_global_velocity_setpoint), &global_vel_sp); orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); - bool global_pos_sp_reproject = false; + bool reset_mission_sp = false; bool global_pos_sp_valid = false; - bool local_pos_sp_valid = false; - bool reset_sp_z = true; - bool reset_sp_xy = true; + bool reset_man_sp_z = true; + bool reset_man_sp_xy = true; bool reset_int_z = true; bool reset_int_z_manual = false; bool reset_int_xy = true; bool was_armed = false; - bool reset_integral = true; - bool reset_auto_pos = true; + bool reset_auto_sp_xy = true; + bool reset_auto_sp_z = true; + bool reset_takeoff_sp = true; hrt_abstime t_prev = 0; const float alt_ctl_dz = 0.2f; @@ -270,11 +270,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* use integral_limit_out = tilt_max / 2 */ float i_limit; - if (params.xy_vel_i == 0.0f) { + if (params.xy_vel_i > 0.0f) { i_limit = params.tilt_max / params.xy_vel_i / 2.0f; } else { - i_limit = 1.0f; // not used really + i_limit = 0.0f; // not used } pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max); @@ -297,7 +297,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(vehicle_global_position_setpoint), global_pos_sp_sub, &global_pos_sp); global_pos_sp_valid = true; - global_pos_sp_reproject = true; + reset_mission_sp = true; } hrt_abstime t = hrt_absolute_time(); @@ -312,8 +312,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) if (control_mode.flag_armed && !was_armed) { /* reset setpoints and integrals on arming */ - reset_sp_z = true; - reset_sp_xy = true; + reset_man_sp_z = true; + reset_man_sp_xy = true; + reset_auto_sp_z = true; + reset_auto_sp_xy = true; + reset_takeoff_sp = true; reset_int_z = true; reset_int_xy = true; } @@ -348,8 +351,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* reset setpoints to current position if needed */ if (control_mode.flag_control_altitude_enabled) { - if (reset_sp_z) { - reset_sp_z = false; + if (reset_man_sp_z) { + reset_man_sp_z = false; local_pos_sp.z = local_pos.z; mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double) - local_pos_sp.z); } @@ -371,8 +374,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } if (control_mode.flag_control_position_enabled) { - if (reset_sp_xy) { - reset_sp_xy = false; + if (reset_man_sp_xy) { + reset_man_sp_xy = false; local_pos_sp.x = local_pos.x; local_pos_sp.y = local_pos.y; pid_reset_integral(&xy_vel_pids[0]); @@ -407,39 +410,43 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) local_pos_sp.yaw = att_sp.yaw_body; - /* local position setpoint is valid and can be used for loiter after position controlled mode */ - local_pos_sp_valid = control_mode.flag_control_position_enabled; - - reset_auto_pos = true; + /* local position setpoint is valid and can be used for auto loiter after position controlled mode */ + reset_auto_sp_xy = !control_mode.flag_control_position_enabled; + reset_auto_sp_z = !control_mode.flag_control_altitude_enabled; + reset_takeoff_sp = true; /* force reprojection of global setpoint after manual mode */ - global_pos_sp_reproject = true; + reset_mission_sp = true; } else if (control_mode.flag_control_auto_enabled) { /* AUTO mode, use global setpoint */ if (control_mode.auto_state == NAVIGATION_STATE_AUTO_READY) { - reset_auto_pos = true; + reset_auto_sp_xy = true; + reset_auto_sp_z = true; } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - if (reset_auto_pos) { + if (reset_takeoff_sp) { + reset_takeoff_sp = false; local_pos_sp.x = local_pos.x; local_pos_sp.y = local_pos.y; local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap; local_pos_sp.yaw = att.yaw; - local_pos_sp_valid = true; att_sp.yaw_body = att.yaw; - reset_auto_pos = false; mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double) - local_pos_sp.z); } + reset_auto_sp_xy = false; + reset_auto_sp_z = true; + } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) { // TODO - reset_auto_pos = true; + reset_auto_sp_xy = true; + reset_auto_sp_z = true; } else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_MISSION) { /* init local projection using local position ref */ if (local_pos.ref_timestamp != local_ref_timestamp) { - global_pos_sp_reproject = true; + reset_mission_sp = true; local_ref_timestamp = local_pos.ref_timestamp; double lat_home = local_pos.ref_lat * 1e-7; double lon_home = local_pos.ref_lon * 1e-7; @@ -447,9 +454,9 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home); } - if (global_pos_sp_reproject) { + if (reset_mission_sp) { + reset_mission_sp = false; /* update global setpoint projection */ - global_pos_sp_reproject = false; if (global_pos_sp_valid) { /* global position setpoint valid, use it */ @@ -471,33 +478,43 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y); } else { - if (!local_pos_sp_valid) { + if (reset_auto_sp_xy) { + reset_auto_sp_xy = false; /* local position setpoint is invalid, * use current position as setpoint for loiter */ local_pos_sp.x = local_pos.x; local_pos_sp.y = local_pos.y; - local_pos_sp.z = local_pos.z; local_pos_sp.yaw = att.yaw; - local_pos_sp_valid = true; + att_sp.yaw_body = global_pos_sp.yaw; + } + + if (reset_auto_sp_z) { + reset_auto_sp_z = false; + local_pos_sp.z = local_pos.z; } mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); } } - reset_auto_pos = true; + reset_auto_sp_xy = true; + reset_auto_sp_z = true; + } + + if (control_mode.auto_state != NAVIGATION_STATE_AUTO_TAKEOFF) { + reset_takeoff_sp = true; } if (control_mode.auto_state != NAVIGATION_STATE_AUTO_MISSION) { - global_pos_sp_reproject = true; + reset_mission_sp = true; } /* reset setpoints after AUTO mode */ - reset_sp_xy = true; - reset_sp_z = true; + reset_man_sp_xy = true; + reset_man_sp_z = true; } else { - /* no control, loiter or stay on ground */ + /* no control (failsafe), loiter or stay on ground */ if (local_pos.landed) { /* landed: move setpoint down */ /* in air: hold altitude */ @@ -508,27 +525,30 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double) - local_pos_sp.z); } - reset_sp_z = true; + reset_man_sp_z = true; } else { /* in air: hold altitude */ - if (reset_sp_z) { - reset_sp_z = false; + if (reset_man_sp_z) { + reset_man_sp_z = false; local_pos_sp.z = local_pos.z; mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double) - local_pos_sp.z); } + + reset_auto_sp_z = false; } if (control_mode.flag_control_position_enabled) { - if (reset_sp_xy) { - reset_sp_xy = false; + if (reset_man_sp_xy) { + reset_man_sp_xy = false; local_pos_sp.x = local_pos.x; local_pos_sp.y = local_pos.y; local_pos_sp.yaw = att.yaw; - local_pos_sp_valid = true; att_sp.yaw_body = att.yaw; mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y); } + + reset_auto_sp_xy = false; } } @@ -540,7 +560,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) 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]; } else { - reset_sp_z = true; + reset_man_sp_z = true; global_vel_sp.vz = 0.0f; } @@ -558,7 +578,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } } else { - reset_sp_xy = true; + reset_man_sp_xy = true; global_vel_sp.vx = 0.0f; global_vel_sp.vy = 0.0f; } @@ -640,12 +660,13 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } else { /* position controller disabled, reset setpoints */ - reset_sp_z = true; - reset_sp_xy = true; + reset_man_sp_z = true; + reset_man_sp_xy = true; reset_int_z = true; reset_int_xy = true; - global_pos_sp_reproject = true; - reset_auto_pos = true; + reset_mission_sp = true; + reset_auto_sp_xy = true; + reset_auto_sp_z = true; } /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c index 739503ed4..77c952f52 100644 --- a/src/modules/systemlib/pid/pid.c +++ b/src/modules/systemlib/pid/pid.c @@ -167,20 +167,26 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo d = 0.0f; } - // Calculate the error integral and check for saturation - i = pid->integral + (error * dt); - - if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) || - fabsf(i) > pid->intmax) { - i = pid->integral; // If saturated then do not update integral value - pid->saturated = 1; + if (pid->ki > 0.0f) { + // Calculate the error integral and check for saturation + i = pid->integral + (error * dt); + + if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) || + fabsf(i) > pid->intmax) { + i = pid->integral; // If saturated then do not update integral value + pid->saturated = 1; + + } else { + if (!isfinite(i)) { + i = 0.0f; + } - } else { - if (!isfinite(i)) { - i = 0.0f; + pid->integral = i; + pid->saturated = 0; } - pid->integral = i; + } else { + i = 0.0f; pid->saturated = 0; } -- cgit v1.2.3