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fw control: work in progress, heading rate control loop

This commit is contained in:
Thomas Gubler 2012-11-14 22:41:50 +01:00
parent 5ea79ad1b9
commit f0e39397fe
1 changed files with 35 additions and 11 deletions
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46
apps/fixedwing_pos_control/fixedwing_pos_control_main.c
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@ -75,6 +75,8 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
struct fw_pos_control_params {
float heading_p;
float headingr_p;
float headingr_i;
float xtrack_p;
float altitude_p;
float roll_lim;
@ -83,6 +85,8 @@ struct fw_pos_control_params {
struct fw_pos_control_param_handles {
param_t heading_p;
param_t headingr_p;
param_t headingr_i;
param_t xtrack_p;
param_t altitude_p;
param_t roll_lim;
@ -124,6 +128,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->heading_p = param_find("FW_HEADING_P");
h->headingr_p = param_find("FW_HEADINGR_P");
h->headingr_i = param_find("FW_HEADINGR_I");
h->xtrack_p = param_find("FW_XTRACK_P");
h->altitude_p = param_find("FW_ALT_P");
h->roll_lim = param_find("FW_ROLL_LIM");
@ -136,6 +142,8 @@ 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->headingr_p, &(p->headingr_p));
param_get(h->headingr_i, &(p->headingr_i));
param_get(h->xtrack_p, &(p->xtrack_p));
param_get(h->altitude_p, &(p->altitude_p));
param_get(h->roll_lim, &(p->roll_lim));
@ -205,14 +213,22 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
static struct fw_pos_control_param_handles h;
PID_t heading_controller;
PID_t heading_rate_controller;
PID_t offtrack_controller;
PID_t altitude_controller;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
if(!initialized)
{
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);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
initialized = true;
}
@ -220,8 +236,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
}
@ -262,13 +280,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
if(!(distance_res != OK || xtrack_err.past_end)) {
float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
if(delta_psi_c > 60.0f*M_DEG_TO_RAD)
delta_psi_c = 60.0f*M_DEG_TO_RAD;
if(delta_psi_c < -60.0f*M_DEG_TO_RAD)
delta_psi_c = -60.0f*M_DEG_TO_RAD;
float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
float psi_c = psi_track + delta_psi_c;
@ -278,7 +290,19 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
psi_e = _wrapPI(psi_e);
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
//TODO: psi rate loop incomplete
float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
float psi_rate_c = delta_psi_rate_c + psi_rate_track;
//TODO limit turn rate
float psi_rate_e = psi_rate_c - att.yawspeed;
float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g
attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
// if (counter % 100 == 0)
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);