/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Tobias Naegeli * Lorenz Meier * * 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_rate_control.c * * Implementation of rate controller * * @author Tobias Naegeli * @author Lorenz Meier */ #include "multirotor_rate_control.h" #include #include #include #include #include #include #include #include #include #include #include PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ struct mc_rate_control_params { float yawrate_p; float yawrate_d; float yawrate_i; //float yawrate_awu; //float yawrate_lim; float attrate_p; float attrate_d; float attrate_i; //float attrate_awu; //float attrate_lim; float rate_lim; }; struct mc_rate_control_param_handles { param_t yawrate_p; param_t yawrate_i; param_t yawrate_d; //param_t yawrate_awu; //param_t yawrate_lim; param_t attrate_p; param_t attrate_i; param_t attrate_d; //param_t attrate_awu; //param_t attrate_lim; }; /** * Initialize all parameter handles and values * */ static int parameters_init(struct mc_rate_control_param_handles *h); /** * Update all parameters * */ static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p); static int parameters_init(struct mc_rate_control_param_handles *h) { /* PID parameters */ h->yawrate_p = param_find("MC_YAWRATE_P"); h->yawrate_i = param_find("MC_YAWRATE_I"); h->yawrate_d = param_find("MC_YAWRATE_D"); //h->yawrate_awu = param_find("MC_YAWRATE_AWU"); //h->yawrate_lim = param_find("MC_YAWRATE_LIM"); h->attrate_p = param_find("MC_ATTRATE_P"); h->attrate_i = param_find("MC_ATTRATE_I"); h->attrate_d = param_find("MC_ATTRATE_D"); //h->attrate_awu = param_find("MC_ATTRATE_AWU"); //h->attrate_lim = param_find("MC_ATTRATE_LIM"); return OK; } static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p) { param_get(h->yawrate_p, &(p->yawrate_p)); param_get(h->yawrate_i, &(p->yawrate_i)); param_get(h->yawrate_d, &(p->yawrate_d)); //param_get(h->yawrate_awu, &(p->yawrate_awu)); //param_get(h->yawrate_lim, &(p->yawrate_lim)); param_get(h->attrate_p, &(p->attrate_p)); param_get(h->attrate_i, &(p->attrate_i)); param_get(h->attrate_d, &(p->attrate_d)); //param_get(h->attrate_awu, &(p->attrate_awu)); //param_get(h->attrate_lim, &(p->attrate_lim)); return OK; } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators) { static float roll_control_last = 0; 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; static struct mc_rate_control_params p; static struct mc_rate_control_param_handles h; static bool initialized = false; /* initialize the pid controllers when the function is called for the first time */ if (initialized == false) { parameters_init(&h); parameters_update(&h, &p); initialized = true; } /* load new parameters with lower rate */ if (motor_skip_counter % 2500 == 0) { /* update parameters from storage */ parameters_update(&h, &p); // warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz", // (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); } /* calculate current control outputs */ /* control pitch (forward) output */ float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { pitch_control_last = pitch_control; } else { pitch_control = 0.0f; warnx("rej. NaN ctrl pitch"); } /* control roll (left/right) output */ float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last); /* increase resilience to faulty control inputs */ if (isfinite(roll_control)) { roll_control_last = roll_control; } else { roll_control = 0.0f; warnx("rej. NaN ctrl roll"); } /* control yaw rate */ float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); /* increase resilience to faulty control inputs */ if (!isfinite(yaw_rate_control)) { yaw_rate_control = 0.0f; warnx("rej. NaN ctrl yaw"); } actuators->control[0] = roll_control; actuators->control[1] = pitch_control; actuators->control[2] = yaw_rate_control; actuators->control[3] = rate_sp->thrust; motor_skip_counter++; }