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Reverted changes to multirotor rate controller, changing to a discrete derivative does not help

This commit is contained in:
Lorenz Meier 2012-12-27 17:47:51 +01:00
parent a6f2c6022e
commit 61d7e1d285
1 changed files with 26 additions and 18 deletions
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44
apps/multirotor_att_control/multirotor_rate_control.c
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@ -150,13 +150,16 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators) const float rates[], struct actuator_controls_s *actuators)
{ {
static float roll_control_last = 0;
static float pitch_control_last = 0;
static uint64_t last_run = 0; static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
static uint64_t last_input = 0; static uint64_t last_input = 0;
static PID_t pitch_rate_controller; float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
static PID_t roll_rate_controller; if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
last_run = hrt_absolute_time(); last_run = hrt_absolute_time();
@ -172,32 +175,37 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_init(&h); parameters_init(&h);
parameters_update(&h, &p); parameters_update(&h, &p);
initialized = true; initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,1000.0f, PID_MODE_DERIVATIV_CALC);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f,1000.0f, PID_MODE_DERIVATIV_CALC);
} }
/* load new parameters with lower rate */ /* load new parameters with lower rate */
if (motor_skip_counter % 500 == 0) { if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */ /* update parameters from storage */
parameters_update(&h, &p); parameters_update(&h, &p);
// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz", // warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
// (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); // (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
/* load new parameters with lower rate */
parameters_update(&h, &p);
/* apply parameters */
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1000.0f, 1000.0f);
} }
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
warnx("rej. NaN ctrl pitch");
}
/* control roll (left/right) output */ /* control roll (left/right) output */
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , rates[0], 0.0f, deltaT); float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], 0.0f, deltaT); /* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
warnx("rej. NaN ctrl roll");
}
/* control yaw rate */ /* control yaw rate */
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);