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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <nagelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 Implementation of attitude rate control
*/
#include "rate_control.h"
#include "ardrone_control_helper.h"
#include "ardrone_motor_control.h"
#include <arch/board/up_hrt.h>
extern int ardrone_write;
extern int gpios;
typedef struct {
uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
uint8_t target_system; ///< System ID of the system that should set these motor commands
} quad_motors_setpoint_t;
void control_rates(struct sensor_combined_s *raw, struct ardrone_motors_setpoint_s *setpoints)
{
static quad_motors_setpoint_t actuators_desired;
//static quad_motors_setpoint_t quad_motors_setpoint_desired;
static int16_t outputBand = 0;
// static uint16_t control_counter;
static hrt_abstime now_time;
static hrt_abstime last_time;
static float setpointXrate;
static float setpointYrate;
static float setpointZrate;
static float setpointRateCast[3];
static float Kp;
// static float Ki;
static float setpointThrustCast;
static float startpointFullControll;
static float maxThrustSetpoints;
static float gyro_filtered[3];
static float gyro_filtered_offset[3];
static float gyro_alpha;
static float gyro_alpha_offset;
// static float errXrate;
static float attRatesScaled[3];
static uint16_t offsetCnt;
// static float antiwindup;
static int motor_skip_counter;
static int read_ret;
static bool initialized;
if (initialized == false) {
initialized = true;
/* Read sensors for initial values */
gyro_filtered_offset[0] = 0.00026631611f * (float)raw->gyro_raw[0];
gyro_filtered_offset[1] = 0.00026631611f * (float)raw->gyro_raw[1];
gyro_filtered_offset[2] = 0.00026631611f * (float)raw->gyro_raw[2];
gyro_filtered[0] = 0.00026631611f * (float)raw->gyro_raw[0];
gyro_filtered[1] = 0.00026631611f * (float)raw->gyro_raw[1];
gyro_filtered[2] = 0.00026631611f * (float)raw->gyro_raw[2];
outputBand = 0;
startpointFullControll = 150.0f;
maxThrustSetpoints = 511.0f;
//Kp=60;
//Kp=40.0f;
//Kp=45;
Kp = 30.0f;
// Ki=0.0f;
// antiwindup=50.0f;
}
/* Get setpoint */
//Rate Controller
setpointRateCast[0] = -((float)setpoints->motor_right_ne - 9999.0f) * 0.01f / 180.0f * 3.141f;
setpointRateCast[1] = -((float)setpoints->motor_front_nw - 9999.0f) * 0.01f / 180.0f * 3.141f;
setpointRateCast[2] = 0; //-((float)setpoints->motor_back_se-9999.0f)*0.01f;
//Ki=actuatorDesired.motorRight_NE*0.001f;
setpointThrustCast = setpoints->motor_left_sw;
attRatesScaled[0] = 0.000317603994f * (float)raw->gyro_raw[0];
attRatesScaled[1] = 0.000317603994f * (float)raw->gyro_raw[1];
attRatesScaled[2] = 0.000317603994f * (float)raw->gyro_raw[2];
//filtering of the gyroscope values
//compute filter coefficient alpha
//gyro_alpha=0.005/(2.0f*3.1415f*200.0f+0.005f);
//gyro_alpha=0.009;
gyro_alpha = 0.09f;
gyro_alpha_offset = 0.001f;
//gyro_alpha=0.001;
//offset estimation and filtering
offsetCnt++;
uint8_t i;
for (i = 0; i < 3; i++) {
if (offsetCnt < 5000) {
gyro_filtered_offset[i] = attRatesScaled[i] * gyro_alpha_offset + gyro_filtered_offset[i] * (1 - gyro_alpha_offset);
}
gyro_filtered[i] = 1.0f * ((attRatesScaled[i] - gyro_filtered_offset[i]) * gyro_alpha + gyro_filtered[i] * (1 - gyro_alpha)) - 0 * setpointRateCast[i];
}
// //START DEBUG
// /* write filtered values to global_data_attitude */
// global_data_attitude->rollspeed = gyro_filtered[0];
// global_data_attitude->pitchspeed = gyro_filtered[1];
// global_data_attitude->yawspeed = gyro_filtered[2];
// //END DEBUG
//rate controller
//X-axis
setpointXrate = -Kp * (setpointRateCast[0] - gyro_filtered[0]);
//Y-axis
setpointYrate = -Kp * (setpointRateCast[1] - gyro_filtered[1]);
//Z-axis
setpointZrate = -Kp * (setpointRateCast[2] - gyro_filtered[2]);
//Mixing
if (setpointThrustCast <= 0) {
setpointThrustCast = 0;
outputBand = 0;
}
if ((setpointThrustCast < startpointFullControll) && (setpointThrustCast > 0)) {
outputBand = 0.75f * setpointThrustCast;
}
if ((setpointThrustCast >= startpointFullControll) && (setpointThrustCast < maxThrustSetpoints - 0.75f * startpointFullControll)) {
outputBand = 0.75f * startpointFullControll;
}
if (setpointThrustCast >= maxThrustSetpoints - 0.75f * startpointFullControll) {
setpointThrustCast = 0.75f * startpointFullControll;
outputBand = 0.75f * startpointFullControll;
}
actuators_desired.motor_front_nw = setpointThrustCast + (setpointXrate + setpointYrate + setpointZrate);
actuators_desired.motor_right_ne = setpointThrustCast + (-setpointXrate + setpointYrate - setpointZrate);
actuators_desired.motor_back_se = setpointThrustCast + (-setpointXrate - setpointYrate + setpointZrate);
actuators_desired.motor_left_sw = setpointThrustCast + (setpointXrate - setpointYrate - setpointZrate);
if ((setpointThrustCast + setpointXrate + setpointYrate + setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_front_nw = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + setpointXrate + setpointYrate + setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_front_nw = setpointThrustCast - outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + setpointYrate - setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_right_ne = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + setpointYrate - setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_right_ne = setpointThrustCast - outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + (-setpointYrate) + setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_back_se = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + (-setpointXrate) + (-setpointYrate) + setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_back_se = setpointThrustCast - outputBand;
}
if ((setpointThrustCast + setpointXrate + (-setpointYrate) - setpointZrate) > (setpointThrustCast + outputBand)) {
actuators_desired.motor_left_sw = setpointThrustCast + outputBand;
}
if ((setpointThrustCast + setpointXrate + (-setpointYrate) - setpointZrate) < (setpointThrustCast - outputBand)) {
actuators_desired.motor_left_sw = setpointThrustCast - outputBand;
}
//printf("%lu,%lu,%lu,%lu\n",actuators_desired.motor_front_nw, actuators_desired.motor_right_ne, actuators_desired.motor_back_se, actuators_desired.motor_left_sw);
if (motor_skip_counter % 5 == 0) {
uint8_t motorSpeedBuf[5];
ar_get_motor_packet(motorSpeedBuf, actuators_desired.motor_front_nw, actuators_desired.motor_right_ne, actuators_desired.motor_back_se, actuators_desired.motor_left_sw);
// uint8_t* motorSpeedBuf = ar_get_motor_packet(1, 1, 1, 1);
// if(motor_skip_counter %50 == 0)
// {
// if(0==actuators_desired.motor_front_nw || 0 == actuators_desired.motor_right_ne || 0 == actuators_desired.motor_back_se || 0 == actuators_desired.motor_left_sw)
// printf("Motors set: %u, %u, %u, %u\n", actuators_desired.motor_front_nw, actuators_desired.motor_right_ne, actuators_desired.motor_back_se, actuators_desired.motor_left_sw);
// printf("input: %u\n", setpoints->motor_front_nw);
// printf("Roll casted desired: %f, Pitch casted desired: %f, Yaw casted desired: %f\n", setpointRateCast[0], setpointRateCast[1], setpointRateCast[2]);
// }
write(ardrone_write, motorSpeedBuf, 5);
// motor_skip_counter = 0;
}
motor_skip_counter++;
//START DEBUG
// global_data_lock(&global_data_ardrone_control->access_conf);
// global_data_ardrone_control->timestamp = hrt_absolute_time();
// global_data_ardrone_control->gyro_scaled[0] = attRatesScaled[0];
// global_data_ardrone_control->gyro_scaled[1] = attRatesScaled[1];
// global_data_ardrone_control->gyro_scaled[2] = attRatesScaled[2];
// global_data_ardrone_control->gyro_filtered[0] = gyro_filtered[0];
// global_data_ardrone_control->gyro_filtered[1] = gyro_filtered[1];
// global_data_ardrone_control->gyro_filtered[2] = gyro_filtered[2];
// global_data_ardrone_control->gyro_filtered_offset[0] = gyro_filtered_offset[0];
// global_data_ardrone_control->gyro_filtered_offset[1] = gyro_filtered_offset[1];
// global_data_ardrone_control->gyro_filtered_offset[2] = gyro_filtered_offset[2];
// global_data_ardrone_control->setpoint_rate_cast[0] = setpointRateCast[0];
// global_data_ardrone_control->setpoint_rate_cast[1] = setpointRateCast[1];
// global_data_ardrone_control->setpoint_rate_cast[2] = setpointRateCast[2];
// global_data_ardrone_control->setpoint_thrust_cast = setpointThrustCast;
// global_data_ardrone_control->setpoint_rate[0] = setpointXrate;
// global_data_ardrone_control->setpoint_rate[1] = setpointYrate;
// global_data_ardrone_control->setpoint_rate[2] = setpointZrate;
// global_data_ardrone_control->motor_front_nw = actuators_desired.motor_front_nw;
// global_data_ardrone_control->motor_right_ne = actuators_desired.motor_right_ne;
// global_data_ardrone_control->motor_back_se = actuators_desired.motor_back_se;
// global_data_ardrone_control->motor_left_sw = actuators_desired.motor_left_sw;
// global_data_unlock(&global_data_ardrone_control->access_conf);
// global_data_broadcast(&global_data_ardrone_control->access_conf);
//END DEBUG
// gettimeofday(&tv, NULL);
// now = ((uint32_t)tv.tv_sec) * 1000 + tv.tv_usec/1000;
// time_elapsed = now - last_run;
// if (time_elapsed*1000 > CONTROL_LOOP_USLEEP)
// {
// sleep_time = (int32_t)CONTROL_LOOP_USLEEP - ((int32_t)time_elapsed*1000 - (int32_t)CONTROL_LOOP_USLEEP);
//
// if(motor_skip_counter %500 == 0)
// {
// printf("Desired: %u, New usleep: %i, Time elapsed: %u, Now: %u, Last run: %u\n",(uint32_t)CONTROL_LOOP_USLEEP, sleep_time, time_elapsed*1000, now, last_run);
// }
// }
//
// if (sleep_time <= 0)
// {
// printf("WARNING: CPU Overload!\n");
// printf("Desired: %u, New usleep: %i, Time elapsed: %u, Now: %u, Last run: %u\n",(uint32_t)CONTROL_LOOP_USLEEP, sleep_time, time_elapsed*1000, now, last_run);
// usleep(CONTROL_LOOP_USLEEP);
// }
// else
// {
// usleep(sleep_time);
// }
// last_run = now;
//
// now_time = hrt_absolute_time();
// if(control_counter % 500 == 0)
// {
// printf("Now: %lu\n",(unsigned long)now_time);
// printf("Last: %lu\n",(unsigned long)last_time);
// printf("Difference: %lu\n", (unsigned long)(now_time - last_time));
// printf("now seconds: %lu\n", (unsigned long)(now_time / 1000000));
// }
// last_time = now_time;
//
// now_time = hrt_absolute_time() / 1000000;
// if(now_time - last_time > 0)
// {
// printf("Counter: %ld\n",control_counter);
// last_time = now_time;
// control_counter = 0;
// }
// control_counter++;
}
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