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px4-firmware
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fw control: added Dougs horizontal navigation controller

This commit is contained in:
Thomas Gubler 2012-10-28 18:35:08 +01:00
parent 69e938aac3
commit b692c300d0
4 changed files with 92 additions and 48 deletions
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26
apps/fixedwing_att_control/fixedwing_att_control_att.c
View File

@ -72,23 +72,23 @@ struct fw_att_control_params {
float pitch_roll_compensation_p;
};
struct fw_pos_control_params_handle {
float roll_p;
float rollrate_lim;
float pitch_p;
float pitch_lim;
float pitchrate_lim;
float yawrate_lim;
float pitch_roll_compensation_p;
struct fw_pos_control_param_handles {
param_t roll_p;
param_t rollrate_lim;
param_t pitch_p;
param_t pitch_lim;
param_t pitchrate_lim;
param_t yawrate_lim;
param_t pitch_roll_compensation_p;
};
/* Internal Prototypes */
static int parameters_init(struct fw_pos_control_params_handle *h);
static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p);
static int parameters_init(struct fw_pos_control_param_handles *h);
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
static int parameters_init(struct fw_pos_control_params_handle *h)
static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->roll_p = param_find("FW_ROLL_P");
@ -102,7 +102,7 @@ static int parameters_init(struct fw_pos_control_params_handle *h)
return OK;
}
static int parameters_update(const struct fw_pos_control_params_handle *h, struct fw_att_control_params *p)
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
{
param_get(h->roll_p, &(p->roll_p));
param_get(h->rollrate_lim, &(p->rollrate_lim));
@ -122,7 +122,7 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
static bool initialized = false;
static struct fw_att_control_params p;
static struct fw_pos_control_params_handle h;
static struct fw_pos_control_param_handles h;
static PID_t roll_controller;
static PID_t pitch_controller;

2
apps/fixedwing_att_control/fixedwing_att_control_main.c
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@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
PARAM_DEFINE_FLOAT(FW_ROLL_P, 9.0f);
PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters

18
apps/fixedwing_att_control/fixedwing_att_control_rate.c
View File

@ -77,15 +77,15 @@ struct fw_rate_control_params {
};
struct fw_rate_control_param_handles {
float rollrate_p;
float rollrate_i;
float rollrate_awu;
float pitchrate_p;
float pitchrate_i;
float pitchrate_awu;
float yawrate_p;
float yawrate_i;
float yawrate_awu;
param_t rollrate_p;
param_t rollrate_i;
param_t rollrate_awu;
param_t pitchrate_p;
param_t pitchrate_i;
param_t pitchrate_awu;
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_awu;
};

94
apps/fixedwing_pos_control/fixedwing_pos_control_main.c
View File

@ -56,6 +56,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
@ -65,17 +66,21 @@
* Controller parameters, accessible via MAVLink
*
*/
PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
struct fw_pos_control_params {
float heading_p;
float roll_lim;
float pitch_lim;
};
struct fw_pos_control_param_handles {
float roll_lim;
float pitch_lim;
param_t heading_p;
param_t roll_lim;
param_t pitch_lim;
};
@ -111,6 +116,7 @@ static int deamon_task; /**< Handle of deamon task / thread */
static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->heading_p = param_find("FW_HEADING_P");
h->roll_lim = param_find("FW_ROLL_LIM");
h->pitch_lim = param_find("FW_PITCH_LIM");
@ -120,6 +126,7 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
{
param_get(h->heading_p, &(p->heading_p));
param_get(h->roll_lim, &(p->roll_lim));
param_get(h->pitch_lim, &(p->pitch_lim));
@ -143,33 +150,35 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
printf("[fixedwing att_control] started\n");
/* declare and safely initialize all structs */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct vehicle_global_position_setpoint_s global_setpoint;
memset(&global_setpoint, 0, sizeof(global_setpoint));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
/* output structs */
struct vehicle_attitude_setpoint_s attitude_setpoint;
memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
/* publish attitude setpoint */
attitude_setpoint.roll_tait_bryan = 0.0f;
attitude_setpoint.pitch_tait_bryan = 0.2f; //TODO: for testing
attitude_setpoint.pitch_tait_bryan = 0.0f;
attitude_setpoint.yaw_tait_bryan = 0.0f;
orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
// /* subscribe */
//
/* subscribe */
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* Setup of loop */
// struct pollfd fds = { .fd = att_sub, .events = POLLIN };
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
while(!thread_should_exit)
{
/* wait for a sensor update, check for exit condition every 500 ms */
// poll(&fds, 1, 500);
sleep(500); //TODO removeme, this is for testing only
poll(&fds, 1, 500);
static int counter = 0;
static bool initialized = false;
@ -177,24 +186,59 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
static struct fw_pos_control_params p;
static struct fw_pos_control_param_handles h;
PID_t heading_controller;
if(!initialized)
{
parameters_init(&h);
parameters_update(&h, &p);
initialized = true;
}
{
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
initialized = true;
}
/* load new parameters with lower rate */
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
/* load new parameters with lower rate */
if (counter % 100 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
}
}
/* Control */
//TODO: control here
/* Check if there is a new position or setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_setpoint_sub, &global_sp_updated);
/* Load local copies */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
if(pos_updated)
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if (global_sp_updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
/* Control */
/* Simple Horizontal Control */
/* calculate bearing error */
float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d,
global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d);
/* shift error to prevent wrapping issues */
float bearing_error = target_bearing - att.yaw;
if (bearing_error < M_PI_F) {
bearing_error += 2.0f * M_PI_F;
}
if (bearing_error > M_PI_F) {
bearing_error -= 2.0f * M_PI_F;
}
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, bearing_error, 0.0f, 0.0f, 0.0f);
orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
counter++;