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Various fixes to attitude control, flyable, needs parameter tuning

This commit is contained in:
Lorenz Meier 2012-10-17 18:26:56 +02:00
parent e4645c0a41
commit 2d631fb005
3 changed files with 19 additions and 8 deletions
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2
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -195,7 +195,7 @@ mc_thread_main(int argc, char *argv[])
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
rates_sp.yaw = manual.yaw;
rates_sp.yaw = att.yaw + manual.yaw * 2.0f;
rates_sp.thrust = manual.throttle;
//printf("rates\n");
rates_sp.timestamp = hrt_absolute_time();

11
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -235,20 +235,21 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
// pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, p.yawrate_awu);
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
printf("delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
}
/* calculate current control outputs */
/* control pitch (forward) output */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
att->pitch, att->pitchspeed, deltaT)*1/10.0f;
att->pitch, att->pitchspeed, deltaT);
/* control roll (left/right) output */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
att->roll, att->rollspeed, deltaT)*1/10.0f;
att->roll, att->rollspeed, deltaT);
/* control yaw rate */
//float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f;
rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body));
rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body));

14
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -153,6 +153,13 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static float pitch_control_last = 0;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
static uint64_t last_input = 0;
float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
last_run = hrt_absolute_time();
static int motor_skip_counter = 0;
@ -173,7 +180,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
printf("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz\n",
(double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
}
/* calculate current control outputs */
@ -185,6 +193,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
printf("rej. NaN ctrl pitch\n");
}
/* control roll (left/right) output */
@ -194,10 +203,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
printf("rej. NaN ctrl roll\n");
}
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]);
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.yawrate_lim-rates[2]);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;