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multirotor_att_control: use PID lib for yaw rate control

This commit is contained in:
Anton Babushkin 2013-11-02 23:33:28 +04:00
parent 64c2165e8b
commit ad133f601b
1 changed files with 7 additions and 11 deletions
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18
src/modules/multirotor_att_control/multirotor_rate_control.c
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@ -168,6 +168,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static PID_t pitch_rate_controller;
static PID_t roll_rate_controller;
static PID_t yaw_rate_controller;
static struct mc_rate_control_params p;
static struct mc_rate_control_param_handles h;
@ -182,7 +183,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
}
/* load new parameters with lower rate */
@ -191,13 +192,14 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f);
}
/* reset integrals if needed */
if (reset_integral) {
pid_reset_integral(&pitch_rate_controller);
pid_reset_integral(&roll_rate_controller);
// TODO pid_reset_integral(&yaw_rate_controller);
pid_reset_integral(&yaw_rate_controller);
}
/* control pitch (forward) output */
@ -208,18 +210,12 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
rates[0], 0.0f, deltaT);
/* control yaw rate */ //XXX use library here
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */
if (!isfinite(yaw_rate_control)) {
yaw_rate_control = 0.0f;
warnx("rej. NaN ctrl yaw");
}
/* control yaw output */
float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[2] = yaw_control;
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;