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px4-firmware
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Hotfixed position control param update

This commit is contained in:
Lorenz Meier 2013-08-31 11:23:03 +02:00
parent 669a802921
commit 56975e0dd1
1 changed files with 30 additions and 31 deletions
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61
src/modules/multirotor_pos_control/multirotor_pos_control.c
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@ -252,36 +252,35 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f);
thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
int paramcheck_counter = 0;
while (!thread_should_exit) {
/* check parameters at 1 Hz */
if (++paramcheck_counter >= 50) {
paramcheck_counter = 0;
bool param_updated;
orb_check(param_sub, &param_updated);
if (param_updated) {
parameters_update(&params_h, &params);
bool param_updated;
orb_check(param_sub, &param_updated);
for (int i = 0; i < 2; i++) {
pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f);
/* use integral_limit_out = tilt_max / 2 */
float i_limit;
if (param_updated) {
/* clear updated flag */
struct parameter_update_s ps;
orb_copy(ORB_ID(parameter_update), param_sub, &ps);
/* update params */
parameters_update(&params_h, &params);
if (params.xy_vel_i == 0.0) {
i_limit = params.tilt_max / params.xy_vel_i / 2.0;
for (int i = 0; i < 2; i++) {
pid_set_parameters(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f);
/* use integral_limit_out = tilt_max / 2 */
float i_limit;
} else {
i_limit = 1.0f; // not used really
}
if (params.xy_vel_i == 0.0f) {
i_limit = params.tilt_max / params.xy_vel_i / 2.0f;
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max);
} else {
i_limit = 1.0f; // not used really
}
pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max);
thrust_pid_set_parameters(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min);
pid_set_parameters(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, i_limit, params.tilt_max);
}
pid_set_parameters(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max);
thrust_pid_set_parameters(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min);
}
bool updated;
@ -351,7 +350,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (reset_sp_z) {
reset_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", -local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] reset alt sp: %.2f", (double)-local_pos_sp.z);
}
/* move altitude setpoint with throttle stick */
@ -377,7 +376,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp.y = local_pos.y;
pid_reset_integral(&xy_vel_pids[0]);
pid_reset_integral(&xy_vel_pids[1]);
mavlink_log_info(mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", local_pos_sp.x, local_pos_sp.y);
mavlink_log_info(mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
/* move position setpoint with roll/pitch stick */
@ -429,7 +428,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp_valid = true;
att_sp.yaw_body = att.yaw;
reset_auto_pos = false;
mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", local_pos_sp.x, local_pos_sp.y, -local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] takeoff sp: %.2f %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y, (double)-local_pos_sp.z);
}
} else if (control_mode.auto_state == NAVIGATION_STATE_AUTO_RTL) {
@ -444,7 +443,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
double lat_home = local_pos.ref_lat * 1e-7;
double lon_home = local_pos.ref_lon * 1e-7;
map_projection_init(lat_home, lon_home);
mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", lat_home, lon_home);
mavlink_log_info(mavlink_fd, "[mpc] local pos ref: %.7f, %.7f", (double)lat_home, (double)lon_home);
}
if (global_pos_sp_reproject) {
@ -468,7 +467,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp.yaw = global_pos_sp.yaw;
att_sp.yaw_body = global_pos_sp.yaw;
mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", sp_lat, sp_lon, local_pos_sp.x, local_pos_sp.y);
mavlink_log_info(mavlink_fd, "[mpc] new sp: %.7f, %.7f (%.2f, %.2f)", (double)sp_lat, sp_lon, (double)local_pos_sp.x, (double)local_pos_sp.y);
} else {
if (!local_pos_sp_valid) {
@ -481,7 +480,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp_valid = true;
}
mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", local_pos_sp.x, local_pos_sp.y);
mavlink_log_info(mavlink_fd, "[mpc] no global pos sp, loiter: %.2f, %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
}
@ -505,7 +504,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
/* set altitude setpoint to 5m under ground,
* don't set it too deep to avoid unexpected landing in case of false "landed" signal */
local_pos_sp.z = 5.0f;
mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", -local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] landed, set alt: %.2f", (double)-local_pos_sp.z);
}
reset_sp_z = true;
@ -515,7 +514,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (reset_sp_z) {
reset_sp_z = false;
local_pos_sp.z = local_pos.z;
mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", -local_pos_sp.z);
mavlink_log_info(mavlink_fd, "[mpc] set loiter alt: %.2f", (double)-local_pos_sp.z);
}
}
@ -527,7 +526,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp.yaw = att.yaw;
local_pos_sp_valid = true;
att_sp.yaw_body = att.yaw;
mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", local_pos_sp.x, local_pos_sp.y);
mavlink_log_info(mavlink_fd, "[mpc] set loiter pos: %.2f %.2f", (double)local_pos_sp.x, (double)local_pos_sp.y);
}
}
}
@ -588,7 +587,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
}
thrust_pid_set_integral(&z_vel_pid, -i);
mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", i);
mavlink_log_info(mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i);
}
thrust_sp[2] = thrust_pid_calculate(&z_vel_pid, global_vel_sp.vz, local_pos.vz, dt, att.R[2][2]);