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px4-firmware
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Cherry-picked commit e2ff60b0a6dbcd714d57e781d9fe174b110a6237: use rateacc values

This commit is contained in:
Julian Oes 2013-06-19 10:01:16 +02:00
parent c874f68108
commit 8d6cc86b4f
3 changed files with 32 additions and 20 deletions
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26
src/modules/multirotor_att_control/multirotor_att_control_main.c
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@ -63,6 +63,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_debug.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
@ -83,6 +84,7 @@ static int mc_task;
static bool motor_test_mode = false;
static orb_advert_t actuator_pub;
static orb_advert_t control_debug_pub;
static struct vehicle_status_s state;
@ -107,6 +109,9 @@ mc_thread_main(int argc, char *argv[])
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
struct vehicle_control_debug_s control_debug;
memset(&control_debug, 0, sizeof(control_debug));
/* subscribe to attitude, motor setpoints and system state */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int param_sub = orb_subscribe(ORB_ID(parameter_update));
@ -133,6 +138,8 @@ mc_thread_main(int argc, char *argv[])
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
@ -372,7 +379,8 @@ mc_thread_main(int argc, char *argv[])
/* measure in what intervals the controller runs */
perf_count(mc_interval_perf);
float gyro[3];
float rates[3];
float rates_acc[3];
/* get current rate setpoint */
bool rates_sp_valid = false;
@ -383,13 +391,21 @@ mc_thread_main(int argc, char *argv[])
}
/* apply controller */
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
rates[0] = att.rollspeed;
rates[1] = att.pitchspeed;
rates[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, gyro, &actuators);
rates_acc[0] = att.rollacc;
rates_acc[1] = att.pitchacc;
rates_acc[2] = att.yawacc;
multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
/* update state */
flag_control_attitude_enabled = state.flag_control_attitude_enabled;
flag_control_manual_enabled = state.flag_control_manual_enabled;

22
src/modules/multirotor_att_control/multirotor_rate_control.c
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@ -55,7 +55,7 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_control_debug.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
@ -151,7 +151,8 @@ 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,
const float rates[], struct actuator_controls_s *actuators)
const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
{
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@ -178,10 +179,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static bool initialized = false;
static struct vehicle_control_debug_s control_debug;
static orb_advert_t control_debug_pub;
/* initialize the pid controllers when the function is called for the first time */
if (initialized == false) {
@ -189,10 +186,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
}
/* load new parameters with lower rate */
@ -205,11 +201,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control pitch (forward) output */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
rates[1], 0.0f, deltaT, &control_debug.pitch_rate_p, &control_debug.pitch_rate_i, &control_debug.pitch_rate_d);
rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
/* control roll (left/right) output */
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
rates[0], 0.0f, deltaT, &control_debug.roll_rate_p, &control_debug.roll_rate_i, &control_debug.roll_rate_d);
rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
@ -229,7 +225,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
warnx("rej. NaN ctrl roll");
}
/* control yaw rate */
/* control yaw rate */ //XXX use library here and use rates_acc[2]
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */
@ -244,6 +240,4 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;
orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
}

4
src/modules/multirotor_att_control/multirotor_rate_control.h
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@ -49,8 +49,10 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_debug.h>
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators);
const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
#endif /* MULTIROTOR_RATE_CONTROL_H_ */