forked from Archive/PX4-Autopilot
184 lines
6.2 KiB
C
184 lines
6.2 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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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 PX4 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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/**
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* @file fixedwing_att_control_rate.c
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* Implementation of a fixed wing attitude controller.
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*/
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#include <fixedwing_att_control_rate.h>
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <math.h>
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#include <poll.h>
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#include <time.h>
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#include <drivers/drv_hrt.h>
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#include <arch/board/board.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <systemlib/param/param.h>
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#include <systemlib/pid/pid.h>
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#include <systemlib/geo/geo.h>
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#include <systemlib/systemlib.h>
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struct fw_rate_control_params {
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float rollrate_p;
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float rollrate_i;
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float rollrate_awu;
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float pitchrate_p;
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float pitchrate_i;
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float pitchrate_awu;
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float yawrate_p;
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float yawrate_i;
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float yawrate_awu;
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};
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struct fw_rate_control_param_handles {
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param_t rollrate_p;
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param_t rollrate_i;
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param_t rollrate_awu;
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param_t pitchrate_p;
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param_t pitchrate_i;
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param_t pitchrate_awu;
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param_t yawrate_p;
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param_t yawrate_i;
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param_t yawrate_awu;
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};
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/* Internal Prototypes */
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static int parameters_init(struct fw_rate_control_param_handles *h);
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static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
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static int parameters_init(struct fw_rate_control_param_handles *h)
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{
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/* PID parameters */
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h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing
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h->rollrate_i = param_find("FW_ROLLR_I");
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h->rollrate_awu = param_find("FW_ROLLR_AWU");
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h->pitchrate_p = param_find("FW_PITCHR_P");
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h->pitchrate_i = param_find("FW_PITCHR_I");
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h->pitchrate_awu = param_find("FW_PITCHR_AWU");
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h->yawrate_p = param_find("FW_YAWR_P");
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h->yawrate_i = param_find("FW_YAWR_I");
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h->yawrate_awu = param_find("FW_YAWR_AWU");
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return OK;
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}
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static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
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{
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param_get(h->rollrate_p, &(p->rollrate_p));
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param_get(h->rollrate_i, &(p->rollrate_i));
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param_get(h->rollrate_awu, &(p->rollrate_awu));
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param_get(h->pitchrate_p, &(p->pitchrate_p));
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param_get(h->pitchrate_i, &(p->pitchrate_i));
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param_get(h->pitchrate_awu, &(p->pitchrate_awu));
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param_get(h->yawrate_p, &(p->yawrate_p));
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param_get(h->yawrate_i, &(p->yawrate_i));
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param_get(h->yawrate_awu, &(p->yawrate_awu));
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return OK;
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}
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int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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const float rates[],
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struct actuator_controls_s *actuators)
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{
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static int counter = 0;
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static bool initialized = false;
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static struct fw_rate_control_params p;
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static struct fw_rate_control_param_handles h;
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static PID_t roll_rate_controller;
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static PID_t pitch_rate_controller;
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static PID_t yaw_rate_controller;
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static uint64_t last_run = 0;
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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last_run = hrt_absolute_time();
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if(!initialized)
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{
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parameters_init(&h);
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parameters_update(&h, &p);
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pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller
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pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
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pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
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initialized = true;
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}
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/* load new parameters with lower rate */
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if (counter % 100 == 0) {
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/* update parameters from storage */
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parameters_update(&h, &p);
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pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
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pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
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pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
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}
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/* Roll Rate (PI) */
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actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
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actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
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actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
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counter++;
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return 0;
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}
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