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Minor cleanups in fixed wing control

This commit is contained in:
Lorenz Meier 2012-09-19 07:42:05 +02:00
parent b0b72b11eb
commit c0cc180876
3 changed files with 73 additions and 170 deletions
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79
apps/fixedwing_control/fixedwing_control.c
View File

@ -63,8 +63,79 @@
#include <uORB/topics/actuator_controls.h>
#include <systemlib/param/param.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
*/
__EXPORT int fixedwing_control_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int fixedwing_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: fixedwing_control {start|stop|status}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int fixedwing_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("fixedwing_control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tfixedwing_control is running\n");
} else {
printf("\tfixedwing_control not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
#define PID_DT 0.01f
#define PID_SCALER 0.1f
#define PID_DERIVMODE_CALC 0
@ -614,14 +685,12 @@ static float calc_pitch_setpoint()
}
/**
* calc_throttle_setpoint
*
* Calculates the throttle setpoint for different flight modes
*
* @return throttle output setpoint
*
*/
static float calc_throttle_setpoint()
{
float setpoint = 0;
@ -644,8 +713,7 @@ static float calc_throttle_setpoint()
return setpoint;
}
/*
* fixedwing_control_main
/**
*
* @param argc number of arguments
* @param argv argument array
@ -653,8 +721,7 @@ static float calc_throttle_setpoint()
* @return 0
*
*/
int fixedwing_control_main(int argc, char *argv[])
int fixedwing_control_thread_main(int argc, char *argv[])
{
/* default values for arguments */
char *fixedwing_uart_name = "/dev/ttyS1";

118
apps/fixedwing_control/pid.c
View File

@ -1,118 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Ivan Ovinnikov <oivan@ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pid.c
* Implementation of a fixed wing attitude and position controller.
*/
#include "pid.h"
#include "fixedwing_control.h"
/*******************************************************************************
* pid()
*
* Calculates the PID control output given an error
*
* Input: float error, uint16_t dt, float scaler, float K_p, float K_i, float K_d
*
* Output: PID control value
*
******************************************************************************/
static float pid(float error, float error_deriv, uint16_t dt, float scaler, float K_p, float K_i, float K_d, float intmax)
{
// PID parameters
float Kp = K_p;
float Ki = K_i;
float Kd = K_d;
float delta_time = dt; // delta time
float lerror; // last error value
float imax = intmax; // max integral value
float integrator;
float derivative;
float lderiv;
int fCut = 20; // anything above 20 Hz is considered noise - low pass filter for the derivative
float output = 0; // the output of the PID controller
output += error * Kp;
if ((fabs(Kd) > 0) && (dt > 0)) {
if (PID_DERIVMODE_CALC) {
derivative = (error - lerror) / delta_time;
// discrete low pass filter, cuts out the
// high frequency noise that can drive the controller crazy
float RC = 1 / (2 * M_PI * fCut);
derivative = lderiv +
(delta_time / (RC + delta_time)) * (derivative - lderiv);
// update state
lerror = error;
lderiv = derivative;
} else {
derivative = error_deriv;
}
// add in derivative component
output += Kd * derivative;
}
printf("PID derivative %i\n", (int)(1000 * derivative));
// scale the P and D components
output *= scaler;
// Compute integral component if time has elapsed
if ((fabs(Ki) > 0) && (dt > 0)) {
integrator += (error * Ki) * scaler * delta_time;
if (integrator < -imax) {
integrator = -imax;
} else if (integrator > imax) {
integrator = imax;
}
output += integrator;
}
printf("PID Integrator %i\n", (int)(1000 * integrator));
return output;
}

46
apps/fixedwing_control/pid.h
View File

@ -1,46 +0,0 @@
/****************************************************************************
* pid.h
*
* Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
* Authors: Ivan Ovinnikov <oivan@ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#ifndef PID_H_
#define PID_H_
static float pid(float error, float error_deriv, uint16_t dt, float scaler, float K_p, float K_i, float K_d, float intmax);
#endif /* PID_H_ */