/**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: Thomas Gubler * * 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 fixedwing_att_control_rate.c * @author Thomas Gubler * * Implementation of a fixed wing attitude controller. * */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "fixedwing_att_control_rate.h" /* * Controller parameters, accessible via MAVLink * */ // Roll control parameters PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); //Pitch control parameters PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); //Yaw control parameters //XXX TODO this is copy paste, asign correct values PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec /* feedforward compensation */ PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */ struct fw_rate_control_params { float rollrate_p; float rollrate_i; float rollrate_awu; float pitchrate_p; float pitchrate_i; float pitchrate_awu; float yawrate_p; float yawrate_i; float yawrate_awu; float pitch_thr_ff; }; struct fw_rate_control_param_handles { param_t rollrate_p; param_t rollrate_i; param_t rollrate_awu; param_t pitchrate_p; param_t pitchrate_i; param_t pitchrate_awu; param_t yawrate_p; param_t yawrate_i; param_t yawrate_awu; param_t pitch_thr_ff; }; /* Internal Prototypes */ static int parameters_init(struct fw_rate_control_param_handles *h); static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); static int parameters_init(struct fw_rate_control_param_handles *h) { /* PID parameters */ h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing h->rollrate_i = param_find("FW_ROLLR_I"); h->rollrate_awu = param_find("FW_ROLLR_AWU"); h->pitchrate_p = param_find("FW_PITCHR_P"); h->pitchrate_i = param_find("FW_PITCHR_I"); h->pitchrate_awu = param_find("FW_PITCHR_AWU"); h->yawrate_p = param_find("FW_YAWR_P"); h->yawrate_i = param_find("FW_YAWR_I"); h->yawrate_awu = param_find("FW_YAWR_AWU"); h->pitch_thr_ff = param_find("FW_PITCH_THR_P"); return OK; } static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) { param_get(h->rollrate_p, &(p->rollrate_p)); param_get(h->rollrate_i, &(p->rollrate_i)); param_get(h->rollrate_awu, &(p->rollrate_awu)); param_get(h->pitchrate_p, &(p->pitchrate_p)); param_get(h->pitchrate_i, &(p->pitchrate_i)); param_get(h->pitchrate_awu, &(p->pitchrate_awu)); param_get(h->yawrate_p, &(p->yawrate_p)); param_get(h->yawrate_i, &(p->yawrate_i)); param_get(h->yawrate_awu, &(p->yawrate_awu)); param_get(h->pitch_thr_ff, &(p->pitch_thr_ff)); return OK; } int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, const float rates[], struct actuator_controls_s *actuators) { static int counter = 0; static bool initialized = false; static struct fw_rate_control_params p; static struct fw_rate_control_param_handles h; static PID_t roll_rate_controller; static PID_t pitch_rate_controller; static PID_t yaw_rate_controller; static uint64_t last_run = 0; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; last_run = hrt_absolute_time(); 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 initialized = true; } /* load new parameters with lower rate */ 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); } /* roll rate (PI) */ actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); /* pitch rate (PI) */ actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); /* yaw rate (PI) */ actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); counter++; return 0; }