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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
* @author 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 multirotor_attitude_control.c
* Implementation of attitude controller
*/
#include "multirotor_attitude_control.h"
#include <stdio.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <float.h>
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f);
struct mc_att_control_params {
float yaw_p;
float yaw_i;
float yaw_d;
float att_p;
float att_i;
float att_d;
};
struct mc_att_control_param_handles {
param_t yaw_p;
param_t yaw_i;
param_t yaw_d;
param_t att_p;
param_t att_i;
param_t att_d;
};
/**
* Initialize all parameter handles and values
*
*/
static int parameters_init(struct mc_att_control_param_handles *h);
/**
* Update all parameters
*
*/
static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p);
static int parameters_init(struct mc_att_control_param_handles *h)
{
/* PID parameters */
h->yaw_p = param_find("MC_YAWPOS_P");
h->yaw_i = param_find("MC_YAWPOS_I");
h->yaw_d = param_find("MC_YAWPOS_D");
h->att_p = param_find("MC_ATT_P");
h->att_i = param_find("MC_ATT_I");
h->att_d = param_find("MC_ATT_D");
return OK;
}
static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
{
param_get(h->yaw_p, &(p->yaw_p));
param_get(h->yaw_i, &(p->yaw_i));
param_get(h->yaw_d, &(p->yaw_d));
param_get(h->att_p, &(p->att_p));
param_get(h->att_i, &(p->att_i));
param_get(h->att_d, &(p->att_d));
return OK;
}
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
{
static uint64_t last_run = 0;
static uint64_t last_input = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
last_run = hrt_absolute_time();
if (last_input != att_sp->timestamp) {
last_input = att_sp->timestamp;
}
// static int sensor_delay;
// sensor_delay = hrt_absolute_time() - att->timestamp;
static int motor_skip_counter = 0;
static PID_t pitch_controller;
static PID_t roll_controller;
static struct mc_att_control_params p;
static struct mc_att_control_param_handles h;
static bool initialized = false;
static float yaw_error;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
initialized = true;
}
/* load new parameters with lower rate */
if (motor_skip_counter % 500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
/* apply parameters */
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
}
/* reset integral if on ground */
if (att_sp->thrust < 0.1f) {
pid_reset_integral(&pitch_controller);
pid_reset_integral(&roll_controller);
}
/* calculate current control outputs */
/* control pitch (forward) output */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body ,
att->pitch, att->pitchspeed, deltaT, &control_debug->pitch_p, &control_debug->pitch_i, &control_debug->pitch_d);
/* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body ,
att->roll, att->rollspeed, deltaT, NULL, NULL, NULL);
// printf("rates_sp: %4.4f, att setpoint: %4.4f\n, pitch: %4.4f, pitchspeed: %4.4f, dT: %4.4f", rates_sp->pitch, att_sp->pitch_body, att->pitch, att->pitchspeed, deltaT);
if (control_yaw_position) {
/* control yaw rate */
/* positive error: rotate to right, negative error, rotate to left (NED frame) */
// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
yaw_error = att_sp->yaw_body - att->yaw;
if (yaw_error > M_PI_F) {
yaw_error -= M_TWOPI_F;
} else if (yaw_error < -M_PI_F) {
yaw_error += M_TWOPI_F;
}
rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
}
rates_sp->thrust = att_sp->thrust;
motor_skip_counter++;
}
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