forked from Archive/PX4-Autopilot
309 lines
11 KiB
C
309 lines
11 KiB
C
/****************************************************************************
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* ardrone_control/position_control.c
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*
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* Copyright (C) 2008, 2012 Thomas Gubler, Julian Oes, Lorenz Meier. All rights reserved.
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* Author: Based on the pixhawk quadrotor controller
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "position_control.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <math.h>
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#include <stdbool.h>
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#include <float.h>
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#include "pid.h"
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#ifndef FM_PI
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#define FM_PI 3.1415926535897932384626433832795f
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#endif
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#define CONTROL_PID_POSITION_INTERVAL 0.020
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int read_lock_position(global_data_position_t *position)
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{
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static int ret;
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ret = global_data_wait(&global_data_position->access_conf);
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if (ret == 0) {
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memcpy(&position->lat, &global_data_position->lat, sizeof(global_data_position->lat));
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memcpy(&position->lon, &global_data_position->lon, sizeof(global_data_position->lon));
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memcpy(&position->alt, &global_data_position->alt, sizeof(global_data_position->alt));
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memcpy(&position->relative_alt, &global_data_position->relative_alt, sizeof(global_data_position->relative_alt));
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memcpy(&position->vx, &global_data_position->vx, sizeof(global_data_position->vx));
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memcpy(&position->vy, &global_data_position->vy, sizeof(global_data_position->vy));
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memcpy(&position->vz, &global_data_position->vz, sizeof(global_data_position->vz));
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memcpy(&position->hdg, &global_data_position->hdg, sizeof(global_data_position->hdg));
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} else {
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printf("Controller timeout, no new position values available\n");
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}
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global_data_unlock(&global_data_position->access_conf);
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return ret;
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}
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float get_distance_to_next_waypoint(float lat_now, float lon_now, float lat_next, float lon_next)
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{
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double lat_now_rad = lat_now / 180.0 * M_PI;
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double lon_now_rad = lon_now / 180.0 * M_PI;
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double lat_next_rad = lat_next / 180.0 * M_PI;
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double lon_next_rad = lon_next / 180.0 * M_PI;
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double d_lat = lat_next_rad - lat_now_rad;
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double d_lon = lon_next_rad - lon_now_rad;
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double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad);
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double c = 2 * atan2(sqrt(a), sqrt(1 - a));
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const double radius_earth = 6371000.0;
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return radius_earth * c;
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}
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float get_bearing_to_next_waypoint(float lat_now, float lon_now, float lat_next, float lon_next)
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{
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double lat_now_rad = lat_now / 180.0 * M_PI;
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double lon_now_rad = lon_now / 180.0 * M_PI;
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double lat_next_rad = lat_next / 180.0 * M_PI;
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double lon_next_rad = lon_next / 180.0 * M_PI;
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double d_lat = lat_next_rad - lat_now_rad;
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double d_lon = lon_next_rad - lon_now_rad;
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float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
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if (theta < 0) {
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theta = theta + 2 * FM_PI;
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}
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return theta;
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}
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void control_position(void)
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{
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static PID_t distance_controller;
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static int read_ret;
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static global_data_position_t position_estimated;
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static uint16_t counter;
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static bool initialized;
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static uint16_t pm_counter;
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static float lat_next;
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static float lon_next;
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static float pitch_current;
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static float thrust_total;
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if (initialized == false) {
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global_data_lock(&global_data_parameter_storage->access_conf);
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pid_init(&distance_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
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PID_MODE_DERIVATIV_CALC, 150);//150
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// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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pm_counter = global_data_parameter_storage->counter;
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global_data_unlock(&global_data_parameter_storage->access_conf);
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thrust_total = 0.0f;
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/* Position initialization */
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/* Wait for new position estimate */
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do {
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read_ret = read_lock_position(&position_estimated);
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} while (read_ret != 0);
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lat_next = position_estimated.lat;
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lon_next = position_estimated.lon;
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/* attitude initialization */
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global_data_lock(&global_data_attitude->access_conf);
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pitch_current = global_data_attitude->pitch;
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global_data_unlock(&global_data_attitude->access_conf);
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initialized = true;
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}
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/* load new parameters with 10Hz */
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if (counter % 50 == 0) {
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if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
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/* check whether new parameters are available */
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if (global_data_parameter_storage->counter > pm_counter) {
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pid_set_parameters(&distance_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
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//
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// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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pm_counter = global_data_parameter_storage->counter;
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printf("Position controller changed pid parameters\n");
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}
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}
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global_data_unlock(&global_data_parameter_storage->access_conf);
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}
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/* Wait for new position estimate */
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do {
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read_ret = read_lock_position(&position_estimated);
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} while (read_ret != 0);
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/* Get next waypoint */ //TODO: add local copy
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if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
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lat_next = global_data_position_setpoint->x;
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lon_next = global_data_position_setpoint->y;
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global_data_unlock(&global_data_position_setpoint->access_conf);
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}
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/* Get distance to waypoint */
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float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
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// if(counter % 5 == 0)
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// printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
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/* Get bearing to waypoint (direction on earth surface to next waypoint) */
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float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
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if (counter % 5 == 0)
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printf("bearing: %.4f\n", bearing);
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/* Calculate speed in direction of bearing (needed for controller) */
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float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
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// if(counter % 5 == 0)
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// printf("speed_norm: %.4f\n", speed_norm);
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float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
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/* Control Thrust in bearing direction */
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float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
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CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
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// if(counter % 5 == 0)
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// printf("horizontal thrust: %.4f\n", horizontal_thrust);
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/* Get total thrust (from remote for now) */
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if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
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thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
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global_data_unlock(&global_data_rc_channels->access_conf);
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}
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const float max_gas = 500.0f;
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thrust_total *= max_gas / 20000.0f; //TODO: check this
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thrust_total += max_gas / 2.0f;
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if (horizontal_thrust > thrust_total) {
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horizontal_thrust = thrust_total;
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} else if (horizontal_thrust < -thrust_total) {
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horizontal_thrust = -thrust_total;
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}
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//TODO: maybe we want to add a speed controller later...
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/* Calclulate thrust in east and north direction */
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float thrust_north = cosf(bearing) * horizontal_thrust;
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float thrust_east = sinf(bearing) * horizontal_thrust;
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if (counter % 10 == 0) {
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printf("thrust north: %.4f\n", thrust_north);
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printf("thrust east: %.4f\n", thrust_east);
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fflush(stdout);
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}
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/* Get current attitude */
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if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
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pitch_current = global_data_attitude->pitch;
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global_data_unlock(&global_data_attitude->access_conf);
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}
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/* Get desired pitch & roll */
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float pitch_desired = 0.0f;
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float roll_desired = 0.0f;
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if (thrust_total != 0) {
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float pitch_fraction = -thrust_north / thrust_total;
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float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
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if (roll_fraction < -1) {
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roll_fraction = -1;
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} else if (roll_fraction > 1) {
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roll_fraction = 1;
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}
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// if(counter % 5 == 0)
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// {
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// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
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// fflush(stdout);
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// }
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pitch_desired = asinf(pitch_fraction);
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roll_desired = asinf(roll_fraction);
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}
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/*Broadcast desired angles */
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global_data_lock(&global_data_ardrone_control->access_conf);
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global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller[0] = roll_desired;
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global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller[1] = pitch_desired;
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global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller[2] = bearing; //TODO: add yaw setpoint
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global_data_unlock(&global_data_ardrone_control->access_conf);
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global_data_broadcast(&global_data_ardrone_control->access_conf);
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counter++;
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}
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