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mc_att_control: params refactoring

This commit is contained in:
Anton Babushkin 2014-01-20 11:42:12 +01:00
parent 00a799ddad
commit 0034c9f0e7
1 changed files with 43 additions and 40 deletions
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83
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -134,11 +134,6 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _loop_perf; /**< loop performance counter */
math::Vector<3> _K_p; /**< P gain for position error */
math::Vector<3> _K_rate_p; /**< P gain for angular rate error */
math::Vector<3> _K_rate_i; /**< I gain for angular rate error */
math::Vector<3> _K_rate_d; /**< D gain for angular rate error */
math::Vector<3> _rates_prev; /**< angular rates on previous step */ math::Vector<3> _rates_prev; /**< angular rates on previous step */
struct { struct {
@ -150,7 +145,14 @@ private:
param_t yaw_rate_p; param_t yaw_rate_p;
param_t yaw_rate_i; param_t yaw_rate_i;
param_t yaw_rate_d; param_t yaw_rate_d;
} _parameter_handles; /**< handles for interesting parameters */ } _params_handles; /**< handles for interesting parameters */
struct {
math::Vector<3> p; /**< P gain for angular error */
math::Vector<3> rate_p; /**< P gain for angular rate error */
math::Vector<3> rate_i; /**< I gain for angular rate error */
math::Vector<3> rate_d; /**< D gain for angular rate error */
} _params;
/** /**
* Update our local parameter cache. * Update our local parameter cache.
@ -233,20 +235,21 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
memset(&_control_mode, 0, sizeof(_control_mode)); memset(&_control_mode, 0, sizeof(_control_mode));
memset(&_arming, 0, sizeof(_arming)); memset(&_arming, 0, sizeof(_arming));
_K_p.zero(); _params.p.zero();
_K_rate_p.zero(); _params.rate_p.zero();
_K_rate_d.zero(); _params.rate_i.zero();
_params.rate_d.zero();
_rates_prev.zero(); _rates_prev.zero();
_parameter_handles.att_p = param_find("MC_ATT_P"); _params_handles.att_p = param_find("MC_ATT_P");
_parameter_handles.yaw_p = param_find("MC_YAW_P"); _params_handles.yaw_p = param_find("MC_YAW_P");
_parameter_handles.att_rate_p = param_find("MC_ATTRATE_P"); _params_handles.att_rate_p = param_find("MC_ATTRATE_P");
_parameter_handles.att_rate_i = param_find("MC_ATTRATE_I"); _params_handles.att_rate_i = param_find("MC_ATTRATE_I");
_parameter_handles.att_rate_d = param_find("MC_ATTRATE_D"); _params_handles.att_rate_d = param_find("MC_ATTRATE_D");
_parameter_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
_parameter_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
_parameter_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
/* fetch initial parameter values */ /* fetch initial parameter values */
parameters_update(); parameters_update();
@ -281,29 +284,29 @@ MulticopterAttitudeControl::parameters_update()
{ {
float v; float v;
param_get(_parameter_handles.att_p, &v); param_get(_params_handles.att_p, &v);
_K_p(0) = v; _params.p(0) = v;
_K_p(1) = v; _params.p(1) = v;
param_get(_parameter_handles.yaw_p, &v); param_get(_params_handles.yaw_p, &v);
_K_p(2) = v; _params.p(2) = v;
param_get(_parameter_handles.att_rate_p, &v); param_get(_params_handles.att_rate_p, &v);
_K_rate_p(0) = v; _params.rate_p(0) = v;
_K_rate_p(1) = v; _params.rate_p(1) = v;
param_get(_parameter_handles.yaw_rate_p, &v); param_get(_params_handles.yaw_rate_p, &v);
_K_rate_p(2) = v; _params.rate_p(2) = v;
param_get(_parameter_handles.att_rate_i, &v); param_get(_params_handles.att_rate_i, &v);
_K_rate_i(0) = v; _params.rate_i(0) = v;
_K_rate_i(1) = v; _params.rate_i(1) = v;
param_get(_parameter_handles.yaw_rate_i, &v); param_get(_params_handles.yaw_rate_i, &v);
_K_rate_i(2) = v; _params.rate_i(2) = v;
param_get(_parameter_handles.att_rate_d, &v); param_get(_params_handles.att_rate_d, &v);
_K_rate_d(0) = v; _params.rate_d(0) = v;
_K_rate_d(1) = v; _params.rate_d(1) = v;
param_get(_parameter_handles.yaw_rate_d, &v); param_get(_params_handles.yaw_rate_d, &v);
_K_rate_d(2) = v; _params.rate_d(2) = v;
return OK; return OK;
} }
@ -631,17 +634,17 @@ MulticopterAttitudeControl::task_main()
} }
/* angular rates setpoint*/ /* angular rates setpoint*/
math::Vector<3> rates_sp = _K_p.emult(e_R); math::Vector<3> rates_sp = _params.p.emult(e_R);
/* feed forward yaw setpoint rate */ /* feed forward yaw setpoint rate */
rates_sp(2) += yaw_sp_move_rate * yaw_w; rates_sp(2) += yaw_sp_move_rate * yaw_w;
math::Vector<3> rates_err = rates_sp - rates; math::Vector<3> rates_err = rates_sp - rates;
math::Vector<3> control = _K_rate_p.emult(rates_err) + _K_rate_d.emult(_rates_prev - rates) / fmaxf(dt, 0.003f) + rates_int; math::Vector<3> control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / fmaxf(dt, 0.003f) + rates_int;
_rates_prev = rates; _rates_prev = rates;
/* update integral */ /* update integral */
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
float rate_i = rates_int(i) + _K_rate_i(i) * rates_err(i) * dt; float rate_i = rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (isfinite(rate_i)) { if (isfinite(rate_i)) {
if (rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && control(i) > -RATES_I_LIMIT && control(i) < RATES_I_LIMIT) { if (rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && control(i) > -RATES_I_LIMIT && control(i) < RATES_I_LIMIT) {