forked from Archive/PX4-Autopilot
Cherry-picked commit e2ff60b0a6dbcd714d57e781d9fe174b110a6237: use rateacc values
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c874f68108
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@ -63,6 +63,7 @@
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/offboard_control_setpoint.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_control_debug.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/parameter_update.h>
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@ -83,6 +84,7 @@ static int mc_task;
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static bool motor_test_mode = false;
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static orb_advert_t actuator_pub;
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static orb_advert_t control_debug_pub;
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static struct vehicle_status_s state;
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@ -107,6 +109,9 @@ mc_thread_main(int argc, char *argv[])
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struct actuator_controls_s actuators;
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memset(&actuators, 0, sizeof(actuators));
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struct vehicle_control_debug_s control_debug;
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memset(&control_debug, 0, sizeof(control_debug));
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/* subscribe to attitude, motor setpoints and system state */
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int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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int param_sub = orb_subscribe(ORB_ID(parameter_update));
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@ -134,6 +139,8 @@ mc_thread_main(int argc, char *argv[])
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actuators.control[i] = 0.0f;
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}
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control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
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actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
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orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
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orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
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@ -372,7 +379,8 @@ mc_thread_main(int argc, char *argv[])
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/* measure in what intervals the controller runs */
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perf_count(mc_interval_perf);
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float gyro[3];
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float rates[3];
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float rates_acc[3];
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/* get current rate setpoint */
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bool rates_sp_valid = false;
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@ -383,13 +391,21 @@ mc_thread_main(int argc, char *argv[])
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}
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/* apply controller */
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gyro[0] = att.rollspeed;
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gyro[1] = att.pitchspeed;
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gyro[2] = att.yawspeed;
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rates[0] = att.rollspeed;
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rates[1] = att.pitchspeed;
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rates[2] = att.yawspeed;
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multirotor_control_rates(&rates_sp, gyro, &actuators);
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rates_acc[0] = att.rollacc;
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rates_acc[1] = att.pitchacc;
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rates_acc[2] = att.yawacc;
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multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug);
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
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orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
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/* update state */
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flag_control_attitude_enabled = state.flag_control_attitude_enabled;
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flag_control_manual_enabled = state.flag_control_manual_enabled;
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@ -55,7 +55,7 @@
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_control_debug.h>
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PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
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@ -151,7 +151,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
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}
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void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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const float rates[], struct actuator_controls_s *actuators)
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const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
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const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
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{
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static uint64_t last_run = 0;
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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@ -178,10 +179,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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static bool initialized = false;
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static struct vehicle_control_debug_s control_debug;
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static orb_advert_t control_debug_pub;
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/* initialize the pid controllers when the function is called for the first time */
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if (initialized == false) {
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@ -189,10 +186,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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parameters_update(&h, &p);
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initialized = true;
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pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
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pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC);
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pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
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pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
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control_debug_pub = orb_advertise(ORB_ID(vehicle_control_debug), &control_debug);
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}
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/* load new parameters with lower rate */
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@ -205,11 +201,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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/* control pitch (forward) output */
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float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
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rates[1], 0.0f, deltaT, &control_debug.pitch_rate_p, &control_debug.pitch_rate_i, &control_debug.pitch_rate_d);
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rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
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/* control roll (left/right) output */
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float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
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rates[0], 0.0f, deltaT, &control_debug.roll_rate_p, &control_debug.roll_rate_i, &control_debug.roll_rate_d);
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rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
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/* increase resilience to faulty control inputs */
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if (isfinite(pitch_control)) {
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@ -229,7 +225,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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warnx("rej. NaN ctrl roll");
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}
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/* control yaw rate */
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/* control yaw rate */ //XXX use library here and use rates_acc[2]
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float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
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/* increase resilience to faulty control inputs */
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@ -244,6 +240,4 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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actuators->control[3] = rate_sp->thrust;
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motor_skip_counter++;
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orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
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}
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@ -49,8 +49,10 @@
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_control_debug.h>
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void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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const float rates[], struct actuator_controls_s *actuators);
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const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
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const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
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#endif /* MULTIROTOR_RATE_CONTROL_H_ */
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