/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- static void get_stabilize_roll(int32_t target_angle) { // angle error target_angle = wrap_180(target_angle - ahrs.roll_sensor); #if FRAME_CONFIG == HELI_FRAME // limit the error we're feeding to the PID target_angle = constrain(target_angle, -4500, 4500); // convert to desired Rate: target_angle = g.pi_stabilize_roll.get_pi(target_angle, G_Dt); // output control - we do not use rate controllers for helicopters so send directly to servos g.rc_1.servo_out = constrain(target_angle, -4500, 4500); #else // convert to desired Rate: int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle); int16_t i_stab; if(labs(ahrs.roll_sensor) < 500) { target_angle = constrain(target_angle, -500, 500); i_stab = g.pi_stabilize_roll.get_i(target_angle, G_Dt); }else{ i_stab = g.pi_stabilize_roll.get_integrator(); } // set targets for rate controller roll_rate_target_ef = target_rate; roll_rate_trim_ef = i_stab; #endif } static void get_stabilize_pitch(int32_t target_angle) { // angle error target_angle = wrap_180(target_angle - ahrs.pitch_sensor); #if FRAME_CONFIG == HELI_FRAME // limit the error we're feeding to the PID target_angle = constrain(target_angle, -4500, 4500); // convert to desired Rate: target_angle = g.pi_stabilize_pitch.get_pi(target_angle, G_Dt); // output control - we do not use rate controllers for helicopters so send directly to servos g.rc_2.servo_out = constrain(target_angle, -4500, 4500); #else // convert to desired Rate: int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle); int16_t i_stab; if(labs(ahrs.pitch_sensor) < 500) { target_angle = constrain(target_angle, -500, 500); i_stab = g.pi_stabilize_pitch.get_i(target_angle, G_Dt); }else{ i_stab = g.pi_stabilize_pitch.get_integrator(); } // set targets for rate controller pitch_rate_target_ef = target_rate; pitch_rate_trim_ef = i_stab; #endif } static void get_stabilize_yaw(int32_t target_angle) { int32_t target_rate,i_term; int32_t angle_error; int32_t output = 0; // angle error angle_error = wrap_180(target_angle - ahrs.yaw_sensor); // limit the error we're feeding to the PID #if FRAME_CONFIG == HELI_FRAME angle_error = constrain(angle_error, -4500, 4500); #else angle_error = constrain(angle_error, -4000, 4000); #endif // convert angle error to desired Rate: target_rate = g.pi_stabilize_yaw.get_p(angle_error); i_term = g.pi_stabilize_yaw.get_i(angle_error, G_Dt); // do not use rate controllers for helicotpers with external gyros #if FRAME_CONFIG == HELI_FRAME if(motors.ext_gyro_enabled) { g.rc_4.servo_out = constrain((target_rate + i_term), -4500, 4500); } #endif #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID logging is on and we are tuning the yaw if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) { log_counter++; if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 log_counter = 0; Log_Write_PID(CH6_YAW_KP, angle_error, target_rate, i_term, 0, output, tuning_value); } } #endif // set targets for rate controller yaw_rate_target_ef = target_rate; yaw_rate_trim_ef = i_term; } static void get_acro_roll(int32_t target_rate) { target_rate = target_rate * g.acro_p; // set targets for rate controller roll_rate_target_ef = target_rate; roll_rate_trim_ef = 0; } static void get_acro_pitch(int32_t target_rate) { target_rate = target_rate * g.acro_p; // set targets for rate controller pitch_rate_target_ef = target_rate; pitch_rate_trim_ef = 0; } static void get_acro_yaw(int32_t target_rate) { target_rate = g.pi_stabilize_yaw.get_p(target_rate); // set targets for rate controller yaw_rate_target_ef = target_rate; yaw_rate_trim_ef = 0; } /* * static int16_t * get_acro_yaw2(int32_t target_rate) * { * int32_t p,i,d; // used to capture pid values for logging * int32_t rate_error; // current yaw rate error * int32_t current_rate; // current real yaw rate * int32_t decel_boost; // gain scheduling if we are overshooting * int32_t output; // output to rate controller * * target_rate = g.pi_stabilize_yaw.get_p(target_rate); * current_rate = omega.z * DEGX100; * rate_error = target_rate - current_rate; * * //Gain Scheduling: * //If the yaw input is to the right, but stick is moving to the middle * //and actual rate is greater than the target rate then we are * //going to overshoot the yaw target to the left side, so we should * //strengthen the yaw output to slow down the yaw! * * #if (FRAME_CONFIG == HELI_FRAME || FRAME_CONFIG == TRI_FRAME) * static int32_t last_target_rate = 0; // last iteration's target rate * if ( target_rate > 0 && last_target_rate > target_rate && rate_error < 0 ){ * decel_boost = 1; * } else if (target_rate < 0 && last_target_rate < target_rate && rate_error > 0 ){ * decel_boost = 1; * } else if (target_rate == 0 && labs(current_rate) > 1000){ * decel_boost = 1; * } else { * decel_boost = 0; * } * * last_target_rate = target_rate; * * #else * * decel_boost = 0; * * #endif * * // separately calculate p, i, d values for logging * // we will use d=0, and hold i at it's last value * // since manual inputs are never steady state * * p = g.pid_rate_yaw.get_p(rate_error); * i = g.pid_rate_yaw.get_integrator(); * d = 0; * * if (decel_boost){ * p *= 2; * } * * output = p+i+d; * * // output control: * // constrain output * output = constrain(output, -4500, 4500); * * #if LOGGING_ENABLED == ENABLED * static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash * // log output if PID loggins is on and we are tuning the yaw * if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) { * log_counter++; * if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 * log_counter = 0; * Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value); * } * } * #endif * * return output; * } */ // update_rate_contoller_targets - converts earth frame rates to body frame rates for rate controllers void update_rate_contoller_targets() { // convert earth frame rates to body frame rates roll_rate_target_bf = roll_rate_target_ef - sin_pitch * yaw_rate_target_ef; pitch_rate_target_bf = cos_roll_x * pitch_rate_target_ef + sin_roll * yaw_rate_target_ef; yaw_rate_target_bf = cos_pitch_x * cos_roll_x * yaw_rate_target_ef + sin_roll * pitch_rate_target_ef; } // run roll, pitch and yaw rate controllers and send output to motors // targets for these controllers comes from stabilize controllers void run_rate_controllers() { #if FRAME_CONFIG == HELI_FRAME // helicopters only use rate controllers for yaw and only when not using an external gyro if(!motors.ext_gyro_enabled) { g.rc_4.servo_out = get_rate_yaw(yaw_rate_target_bf) + yaw_rate_trim_ef; } #else // call rate controllers g.rc_1.servo_out = get_rate_roll(roll_rate_target_bf) + roll_rate_trim_ef; g.rc_2.servo_out = get_rate_pitch(pitch_rate_target_bf) + pitch_rate_trim_ef; g.rc_4.servo_out = get_rate_yaw(yaw_rate_target_bf) + yaw_rate_trim_ef; #endif } static int16_t get_rate_roll(int32_t target_rate) { static int32_t last_rate = 0; // previous iterations rate int32_t p,i,d; // used to capture pid values for logging int32_t current_rate; // this iteration's rate int32_t rate_error; // simply target_rate - current_rate int32_t rate_d; // roll's acceleration int32_t output; // output from pid controller int32_t rate_d_dampener; // value to dampen output based on acceleration // get current rate current_rate = (omega.x * DEGX100); // calculate and filter the acceleration rate_d = roll_rate_d_filter.apply(current_rate - last_rate); // store rate for next iteration last_rate = current_rate; // call pid controller rate_error = target_rate - current_rate; p = g.pid_rate_roll.get_p(rate_error); i = g.pid_rate_roll.get_i(rate_error, G_Dt); d = g.pid_rate_roll.get_d(rate_error, G_Dt); output = p + i + d; // Dampening output with D term rate_d_dampener = rate_d * roll_scale_d; rate_d_dampener = constrain(rate_d_dampener, -400, 400); output -= rate_d_dampener; // constrain output output = constrain(output, -5000, 5000); #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID logging is on and we are tuning the rate P, I or D gains if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) { log_counter++; if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 log_counter = 0; Log_Write_PID(CH6_RATE_KP, rate_error, p, i, d-rate_d_dampener, output, tuning_value); } } #endif // output control return output; } static int16_t get_rate_pitch(int32_t target_rate) { static int32_t last_rate = 0; // previous iterations rate int32_t p,i,d; // used to capture pid values for logging int32_t current_rate; // this iteration's rate int32_t rate_error; // simply target_rate - current_rate int32_t rate_d; // roll's acceleration int32_t output; // output from pid controller int32_t rate_d_dampener; // value to dampen output based on acceleration // get current rate current_rate = (omega.y * DEGX100); // calculate and filter the acceleration rate_d = pitch_rate_d_filter.apply(current_rate - last_rate); // store rate for next iteration last_rate = current_rate; // call pid controller rate_error = target_rate - current_rate; p = g.pid_rate_pitch.get_p(rate_error); i = g.pid_rate_pitch.get_i(rate_error, G_Dt); d = g.pid_rate_pitch.get_d(rate_error, G_Dt); output = p + i + d; // Dampening output with D term rate_d_dampener = rate_d * pitch_scale_d; rate_d_dampener = constrain(rate_d_dampener, -400, 400); output -= rate_d_dampener; // constrain output output = constrain(output, -5000, 5000); #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID logging is on and we are tuning the rate P, I or D gains if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) { log_counter++; if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 log_counter = 0; Log_Write_PID(CH6_RATE_KP+100, rate_error, p, i, d-rate_d_dampener, output, tuning_value); } } #endif // output control return output; } static int16_t get_rate_yaw(int32_t target_rate) { int32_t p,i,d; // used to capture pid values for logging int32_t rate_error; int32_t output; // rate control rate_error = target_rate - (omega.z * DEGX100); // separately calculate p, i, d values for logging p = g.pid_rate_yaw.get_p(rate_error); i = g.pid_rate_yaw.get_i(rate_error, G_Dt); d = g.pid_rate_yaw.get_d(rate_error, G_Dt); output = p+i+d; output = constrain(output, -4500, 4500); #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID loggins is on and we are tuning the yaw if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) { log_counter++; if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 log_counter = 0; Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value); } } #endif #if FRAME_CONFIG == HELI_FRAME || FRAME_CONFIG == TRI_FRAME // constrain output return output; #else // output control: int16_t yaw_limit = 2200 + abs(g.rc_4.control_in); // smoother Yaw control: return constrain(output, -yaw_limit, yaw_limit); #endif } static int16_t get_throttle_rate(int16_t z_target_speed) { int32_t p,i,d; // used to capture pid values for logging int16_t z_rate_error, output; // calculate rate error #if INERTIAL_NAV == ENABLED z_rate_error = z_target_speed - accels_velocity.z; // calc the speed error #else z_rate_error = z_target_speed - climb_rate; // calc the speed error #endif int32_t tmp = (z_target_speed * z_target_speed * (int32_t)g.throttle_cruise) / 200000; if(z_target_speed < 0) tmp = -tmp; output = constrain(tmp, -3200, 3200); // separately calculate p, i, d values for logging p = g.pid_throttle.get_p(z_rate_error); i = g.pid_throttle.get_i(z_rate_error, .02); d = g.pid_throttle.get_d(z_rate_error, .02); // // limit the rate output += constrain(p+i+d, -80, 120); #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID loggins is on and we are tuning the yaw if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_THROTTLE_KP ) { log_counter++; if( log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz log_counter = 0; Log_Write_PID(CH6_THROTTLE_KP, z_rate_error, p, i, d, output, tuning_value); } } #endif return output; } // Keeps old data out of our calculation / logs static void reset_nav_params(void) { nav_throttle = 0; // always start Circle mode at same angle circle_angle = 0; // We must be heading to a new WP, so XTrack must be 0 crosstrack_error = 0; // Will be set by new command target_bearing = 0; // Will be set by new command wp_distance = 0; // Will be set by new command, used by loiter long_error = 0; lat_error = 0; // We want to by default pass WPs slow_wp = false; // make sure we stick to Nav yaw on takeoff auto_yaw = nav_yaw; // revert to smaller radius set in params waypoint_radius = g.waypoint_radius; } /* * reset all I integrators */ static void reset_I_all(void) { reset_rate_I(); reset_stability_I(); reset_wind_I(); reset_throttle_I(); reset_optflow_I(); // This is the only place we reset Yaw g.pi_stabilize_yaw.reset_I(); } static void reset_rate_I() { g.pid_rate_roll.reset_I(); g.pid_rate_pitch.reset_I(); g.pid_rate_yaw.reset_I(); } static void reset_optflow_I(void) { g.pid_optflow_roll.reset_I(); g.pid_optflow_pitch.reset_I(); of_roll = 0; of_pitch = 0; } static void reset_wind_I(void) { // Wind Compensation // this i is not currently being used, but we reset it anyway // because someone may modify it and not realize it, causing a bug g.pi_loiter_lat.reset_I(); g.pi_loiter_lon.reset_I(); g.pid_loiter_rate_lat.reset_I(); g.pid_loiter_rate_lon.reset_I(); g.pid_nav_lat.reset_I(); g.pid_nav_lon.reset_I(); } static void reset_throttle_I(void) { // For Altitude Hold g.pi_alt_hold.reset_I(); g.pid_throttle.reset_I(); } static void reset_stability_I(void) { // Used to balance a quad // This only needs to be reset during Auto-leveling in flight g.pi_stabilize_roll.reset_I(); g.pi_stabilize_pitch.reset_I(); } /************************************************************* * throttle control ****************************************************************/ /* Depricated * * static long * //get_nav_yaw_offset(int yaw_input, int reset) * { * int32_t _yaw; * * if(reset == 0){ * // we are on the ground * return ahrs.yaw_sensor; * * }else{ * // re-define nav_yaw if we have stick input * if(yaw_input != 0){ * // set nav_yaw + or - the current location * _yaw = yaw_input + ahrs.yaw_sensor; * // we need to wrap our value so we can be 0 to 360 (*100) * return wrap_360(_yaw); * }else{ * // no stick input, lets not change nav_yaw * return nav_yaw; * } * } * } */ static int16_t get_angle_boost(int16_t value) { float temp = cos_pitch_x * cos_roll_x; temp = constrain(temp, .75, 1.0); return ((float)(value + 80) / temp) - (value + 80); } #if FRAME_CONFIG == HELI_FRAME // heli_angle_boost - adds a boost depending on roll/pitch values // equivalent of quad's angle_boost function // throttle value should be 0 ~ 1000 static int16_t heli_get_angle_boost(int16_t throttle) { float angle_boost_factor = cos_pitch_x * cos_roll_x; angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0); int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0); return throttle + throttle_above_mid*angle_boost_factor; } #endif // HELI_FRAME #define NUM_G_SAMPLES 40 #if ACCEL_ALT_HOLD == 2 // z -14.4306 = going up // z -6.4306 = going down static int16_t get_z_damping() { int16_t output; Z_integrator += get_world_Z_accel() - Z_offset; output = Z_integrator * 3; Z_integrator = Z_integrator * .8; output = constrain(output, -100, 100); return output; } float get_world_Z_accel() { accels_rot = ahrs.get_dcm_matrix() * imu.get_accel(); //Serial.printf("z %1.4f\n", accels_rot.z); return accels_rot.z; } static void init_z_damper() { Z_offset = 0; for (int16_t i = 0; i < NUM_G_SAMPLES; i++) { delay(5); read_AHRS(); Z_offset += get_world_Z_accel(); } Z_offset /= (float)NUM_G_SAMPLES; } // Accelerometer Z dampening by Aurelio R. Ramos // --------------------------------------------- #elif ACCEL_ALT_HOLD == 1 // contains G and any other DC offset static float estimatedAccelOffset = 0; // state static float synVelo = 0; static float synPos = 0; static float synPosFiltered = 0; static float posError = 0; static float prevSensedPos = 0; // tuning for dead reckoning static const float dt_50hz = 0.02; static float synPosP = 10 * dt_50hz; static float synPosI = 15 * dt_50hz; static float synVeloP = 1.5 * dt_50hz; static float maxVeloCorrection = 5 * dt_50hz; static float maxSensedVelo = 1; static float synPosFilter = 0.5; // Z damping term. static float fullDampP = 0.100; float get_world_Z_accel() { accels_rot = ahrs.get_dcm_matrix() * imu.get_accel(); return accels_rot.z; } static void init_z_damper() { estimatedAccelOffset = 0; for (int16_t i = 0; i < NUM_G_SAMPLES; i++) { delay(5); read_AHRS(); estimatedAccelOffset += get_world_Z_accel(); } estimatedAccelOffset /= (float)NUM_G_SAMPLES; } float dead_reckon_Z(float sensedPos, float sensedAccel) { // the following algorithm synthesizes position and velocity from // a noisy altitude and accelerometer data. // synthesize uncorrected velocity by integrating acceleration synVelo += (sensedAccel - estimatedAccelOffset) * dt_50hz; // synthesize uncorrected position by integrating uncorrected velocity synPos += synVelo * dt_50hz; // filter synPos, the better this filter matches the filtering and dead time // of the sensed position, the less the position estimate will lag. synPosFiltered = synPosFiltered * (1 - synPosFilter) + synPos * synPosFilter; // calculate error against sensor position posError = sensedPos - synPosFiltered; // correct altitude synPos += synPosP * posError; // correct integrated velocity by posError synVelo = synVelo + constrain(posError, -maxVeloCorrection, maxVeloCorrection) * synPosI; // correct integrated velocity by the sensed position delta in a small proportion // (i.e., the low frequency of the delta) float sensedVelo = (sensedPos - prevSensedPos) / dt_50hz; synVelo += constrain(sensedVelo - synVelo, -maxSensedVelo, maxSensedVelo) * synVeloP; prevSensedPos = sensedPos; return synVelo; } static int16_t get_z_damping() { float sensedAccel = get_world_Z_accel(); float sensedPos = current_loc.alt / 100.0; float synVelo = dead_reckon_Z(sensedPos, sensedAccel); return constrain(fullDampP * synVelo * (-1), -300, 300); } #else static int16_t get_z_damping() { return 0; } static void init_z_damper() { } #endif // calculate modified roll/pitch depending upon optical flow calculated position static int32_t get_of_roll(int32_t input_roll) { #ifdef OPTFLOW_ENABLED static float tot_x_cm = 0; // total distance from target static uint32_t last_of_roll_update = 0; int32_t new_roll = 0; int32_t p,i,d; // check if new optflow data available if( optflow.last_update != last_of_roll_update) { last_of_roll_update = optflow.last_update; // add new distance moved tot_x_cm += optflow.x_cm; // only stop roll if caller isn't modifying roll if( input_roll == 0 && current_loc.alt < 1500) { p = g.pid_optflow_roll.get_p(-tot_x_cm); i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0); // we could use the last update time to calculate the time change d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0); new_roll = p+i+d; }else{ g.pid_optflow_roll.reset_I(); tot_x_cm = 0; p = 0; // for logging i = 0; d = 0; } // limit amount of change and maximum angle of_roll = constrain(new_roll, (of_roll-20), (of_roll+20)); #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID logging is on and we are tuning the rate P, I or D gains if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) { log_counter++; if( log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 log_counter = 0; Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value); } } #endif // LOGGING_ENABLED == ENABLED } // limit max angle of_roll = constrain(of_roll, -1000, 1000); return input_roll+of_roll; #else return input_roll; #endif } static int32_t get_of_pitch(int32_t input_pitch) { #ifdef OPTFLOW_ENABLED static float tot_y_cm = 0; // total distance from target static uint32_t last_of_pitch_update = 0; int32_t new_pitch = 0; int32_t p,i,d; // check if new optflow data available if( optflow.last_update != last_of_pitch_update ) { last_of_pitch_update = optflow.last_update; // add new distance moved tot_y_cm += optflow.y_cm; // only stop roll if caller isn't modifying pitch if( input_pitch == 0 && current_loc.alt < 1500 ) { p = g.pid_optflow_pitch.get_p(tot_y_cm); i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0); // we could use the last update time to calculate the time change d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0); new_pitch = p + i + d; }else{ tot_y_cm = 0; g.pid_optflow_pitch.reset_I(); p = 0; // for logging i = 0; d = 0; } // limit amount of change of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20)); #if LOGGING_ENABLED == ENABLED static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash // log output if PID logging is on and we are tuning the rate P, I or D gains if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) { log_counter++; if( log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10 log_counter = 0; Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value); } } #endif // LOGGING_ENABLED == ENABLED } // limit max angle of_pitch = constrain(of_pitch, -1000, 1000); return input_pitch+of_pitch; #else return input_pitch; #endif }