Merge branch 'fixedwing_outdoor' of https://github.com/julianoes/Firmware into fixedwing_outdoor

apps/commander/commander.c

@@ -1356,6 +1356,8 @@ int commander_thread_main(int argc, char *argv[])
 	uint64_t failsave_ll_start_time = 0;
 
 	bool state_changed = true;
+	bool param_init_forced = true;
+
 
 	while (!thread_should_exit) {
 
@@ -1386,10 +1388,10 @@ int commander_thread_main(int argc, char *argv[])
 			/* handle it */
 			handle_command(stat_pub, &current_status, &cmd);
 		}
-
 		/* update parameters */
 		orb_check(param_changed_sub, &new_data);
-		if (new_data) {
+		if (new_data || param_init_forced) {
+			param_init_forced = false;
 			/* parameters changed */
 			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
 
@@ -1398,7 +1400,6 @@ int commander_thread_main(int argc, char *argv[])
 				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
 					warnx("failed setting new system type");
 				}
-
 				/* disable manual override for all systems that rely on electronic stabilization */
 				if (current_status.system_type == MAV_TYPE_QUADROTOR ||
 				    current_status.system_type == MAV_TYPE_HEXAROTOR ||

apps/multirotor_att_control/multirotor_attitude_control.c

@@ -197,7 +197,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 	}
 
 	/* load new parameters with lower rate */
-	if (motor_skip_counter % 1000 == 0) {
+	if (motor_skip_counter % 500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 
@@ -206,6 +206,13 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 		pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
 	}
 
+	/* reset integral if on ground */
+	if(att_sp->thrust < 0.1f) {
+		pid_reset_integral(&pitch_controller);
+		pid_reset_integral(&roll_controller);
+	}
+
+
 	/* calculate current control outputs */
 
 	/* control pitch (forward) output */

apps/multirotor_att_control/multirotor_rate_control.c

@@ -150,16 +150,13 @@ 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)
 {
-	static float roll_control_last  = 0;
-	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;
+	static PID_t pitch_rate_controller;
-	if (last_input != rate_sp->timestamp) {
+	static PID_t roll_rate_controller;
-		last_input = rate_sp->timestamp;
+
-	}
 
 	last_run = hrt_absolute_time();
 
@@ -175,37 +172,32 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		parameters_init(&h);
 		parameters_update(&h, &p);
 		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 */
-	if (motor_skip_counter % 2500 == 0) {
+	if (motor_skip_counter % 500 == 0) {
 		/* update parameters from storage */
 		parameters_update(&h, &p);
 		// 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));
+
+		/* 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 */
-	float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
+	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , rates[0], 0.0f, deltaT);
-	/* increase resilience to faulty control inputs */
+	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], 0.0f, deltaT);
-	if (isfinite(roll_control)) {
+
-		roll_control_last = roll_control;
-	} else {
-		roll_control = 0.0f;
-		warnx("rej. NaN ctrl roll");
-	}
 
 	/* control yaw rate */
 	float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);

apps/px4io/mixer.c

@@ -84,32 +84,45 @@ mixer_tick(void)
 	int i;
 	bool should_arm;
 
+	/* check that we are receiving fresh data from the FMU */
+	if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
+		/* too many frames without FMU input, time to go to failsafe */
+		system_state.mixer_manual_override = true;
+		system_state.mixer_fmu_available = false;
+		lib_lowprintf("\nRX timeout\n");
+	}
+
 	/*
 	 * Decide which set of inputs we're using.
 	 */
-	if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
+	/* this is for planes, where manual override makes sense */
-		/* we have recent control data from the FMU */
+	if(system_state.manual_override_ok) {
-		control_count = PX4IO_OUTPUT_CHANNELS;
+		/* if everything is ok */
-		control_values = &system_state.fmu_channel_data[0];
+		if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
+			/* we have recent control data from the FMU */
+			control_count = PX4IO_OUTPUT_CHANNELS;
+			control_values = &system_state.fmu_channel_data[0];
+		/* when override is on or the fmu is not available */
+		} else if (system_state.rc_channels > 0) {
+			control_count = system_state.rc_channels;
+			control_values = &system_state.rc_channel_data[0];
+		} else {
+			/* we have no control input (no FMU, no RC) */
 
-		/* check that we are receiving fresh data from the FMU */
+			// XXX builtin failsafe would activate here
-		if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
+			control_count = 0;
-
-			/* too many frames without FMU input, time to go to failsafe */
-			system_state.mixer_manual_override = true;
-			system_state.mixer_fmu_available = false;
-			lib_lowprintf("\nRX timeout\n");
 		}
 
-	} else if (system_state.rc_channels > 0 && system_state.manual_override_ok) {
+	/* this is for multicopters, etc. where manual override does not make sense */
-		/* we have control data from an R/C input */
-		control_count = system_state.rc_channels;
-		control_values = &system_state.rc_channel_data[0];
 	} else {
-		/* we have no control input (no FMU, no RC) */
+		/* if the fmu is available whe are good */
-
+		if(system_state.mixer_fmu_available) {
-		// XXX builtin failsafe would activate here 
+			control_count = PX4IO_OUTPUT_CHANNELS;
-		control_count = 0;
+			control_values = &system_state.fmu_channel_data[0];
+		/* we better shut everything off */
+		} else {
+			control_count = 0;
+		}
 	}
 
 	/*

apps/systemlib/pid/pid.c

@@ -183,3 +183,9 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
 
 	return pid->last_output;
 }
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+	pid->integral = 0;
+}

apps/systemlib/pid/pid.h

@@ -72,6 +72,7 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
 //void pid_set(PID_t *pid, float sp);
 __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
 
+__EXPORT void pid_reset_integral(PID_t *pid);
 
 
 #endif /* PID_H_ */