dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

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

This commit is contained in:
Lorenz Meier 2012-12-27 17:13:52 +01:00
parent b2068b4e0e d4edf2e85c
commit a6f2c6022e
6 changed files with 69 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
apps/commander/commander.c
View File

@ -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 ||

9
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -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 */

44
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -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;
if (last_input != rate_sp->timestamp) {
last_input = rate_sp->timestamp;
}
static PID_t pitch_rate_controller;
static PID_t roll_rate_controller;
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);
/* 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");
}
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , rates[0], 0.0f, deltaT);
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , rates[1], 0.0f, deltaT);
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);

51
apps/px4io/mixer.c
View File

@ -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) {
/* we have recent control data from the FMU */
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* this is for planes, where manual override makes sense */
if(system_state.manual_override_ok) {
/* if everything is ok */
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 */
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");
// XXX builtin failsafe would activate here
control_count = 0;
}
} else if (system_state.rc_channels > 0 && system_state.manual_override_ok) {
/* we have control data from an R/C input */
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
/* this is for multicopters, etc. where manual override does not make sense */
} else {
/* we have no control input (no FMU, no RC) */
// XXX builtin failsafe would activate here
control_count = 0;
/* if the fmu is available whe are good */
if(system_state.mixer_fmu_available) {
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* we better shut everything off */
} else {
control_count = 0;
}
}
/*

6
apps/systemlib/pid/pid.c
View File

@ -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;
}

1
apps/systemlib/pid/pid.h
View File

@ -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_ */