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fw att: robustify main loop against non finite numbers and limit error output rate

This commit is contained in:
Thomas Gubler 2014-05-18 00:15:14 +02:00
parent 98f05ea5c1
commit e72a7a7dd7
1 changed files with 35 additions and 7 deletions
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42
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -592,6 +592,8 @@ FixedwingAttitudeControl::task_main()
while (!_task_should_exit) {
static int loop_counter = 0;
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
@ -755,7 +757,9 @@ FixedwingAttitudeControl::task_main()
speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
} else {
warnx("Did not get a valid R\n");
if (loop_counter % 10 == 0) {
warnx("Did not get a valid R\n");
}
}
/* Run attitude controllers */
@ -773,7 +777,10 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
warnx("roll_u %.4f", roll_u);
_roll_ctrl.reset_integrator();
if (loop_counter % 10 == 0) {
warnx("roll_u %.4f", roll_u);
}
}
float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
@ -782,8 +789,21 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(), (double)airspeed, (double)airspeed_scaling, (double)roll_sp, (double)pitch_sp, (double)_roll_ctrl.get_desired_rate(), (double)_pitch_ctrl.get_desired_rate(), (double)_att_sp.roll_body);
_pitch_ctrl.reset_integrator();
if (loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@ -792,16 +812,23 @@ FixedwingAttitudeControl::task_main()
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", (double)yaw_u);
_yaw_ctrl.reset_integrator();
if (loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
if (!isfinite(throttle_sp)) {
warnx("throttle_sp %.4f", (double)throttle_sp);
if (loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
if (loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
/*
@ -865,6 +892,7 @@ FixedwingAttitudeControl::task_main()
}
loop_counter++;
perf_end(_loop_perf);
}