forked from Archive/PX4-Autopilot
225 lines
6.9 KiB
C
225 lines
6.9 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Tobias Naegeli <naegelit@student.ethz.ch>
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* Lorenz Meier <lm@inf.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 multirotor_rate_control.c
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*
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* Implementation of rate controller
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include "multirotor_rate_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 <stdbool.h>
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#include <float.h>
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#include <math.h>
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#include <systemlib/pid/pid.h>
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#include <systemlib/param/param.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */
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PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
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//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
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//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
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PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */
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PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
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//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
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//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */
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struct mc_rate_control_params {
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float yawrate_p;
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float yawrate_d;
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float yawrate_i;
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//float yawrate_awu;
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//float yawrate_lim;
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float attrate_p;
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float attrate_d;
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float attrate_i;
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//float attrate_awu;
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//float attrate_lim;
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float rate_lim;
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};
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struct mc_rate_control_param_handles {
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param_t yawrate_p;
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param_t yawrate_i;
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param_t yawrate_d;
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//param_t yawrate_awu;
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//param_t yawrate_lim;
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param_t attrate_p;
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param_t attrate_i;
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param_t attrate_d;
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//param_t attrate_awu;
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//param_t attrate_lim;
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};
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/**
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* Initialize all parameter handles and values
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*
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*/
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static int parameters_init(struct mc_rate_control_param_handles *h);
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/**
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* Update all parameters
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*
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*/
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static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p);
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static int parameters_init(struct mc_rate_control_param_handles *h)
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{
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/* PID parameters */
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h->yawrate_p = param_find("MC_YAWRATE_P");
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h->yawrate_i = param_find("MC_YAWRATE_I");
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h->yawrate_d = param_find("MC_YAWRATE_D");
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//h->yawrate_awu = param_find("MC_YAWRATE_AWU");
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//h->yawrate_lim = param_find("MC_YAWRATE_LIM");
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h->attrate_p = param_find("MC_ATTRATE_P");
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h->attrate_i = param_find("MC_ATTRATE_I");
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h->attrate_d = param_find("MC_ATTRATE_D");
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//h->attrate_awu = param_find("MC_ATTRATE_AWU");
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//h->attrate_lim = param_find("MC_ATTRATE_LIM");
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return OK;
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}
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static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p)
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{
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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_d, &(p->yawrate_d));
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//param_get(h->yawrate_awu, &(p->yawrate_awu));
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//param_get(h->yawrate_lim, &(p->yawrate_lim));
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param_get(h->attrate_p, &(p->attrate_p));
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param_get(h->attrate_i, &(p->attrate_i));
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param_get(h->attrate_d, &(p->attrate_d));
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//param_get(h->attrate_awu, &(p->attrate_awu));
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//param_get(h->attrate_lim, &(p->attrate_lim));
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return OK;
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}
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void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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const float rates[], struct actuator_controls_s *actuators)
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{
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static float roll_control_last = 0;
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static float pitch_control_last = 0;
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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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static uint64_t last_input = 0;
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float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
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if (last_input != rate_sp->timestamp) {
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last_input = rate_sp->timestamp;
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}
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last_run = hrt_absolute_time();
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static int motor_skip_counter = 0;
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static struct mc_rate_control_params p;
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static struct mc_rate_control_param_handles h;
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static bool initialized = false;
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/* initialize the pid controllers when the function is called for the first time */
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if (initialized == false) {
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parameters_init(&h);
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parameters_update(&h, &p);
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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 (motor_skip_counter % 2500 == 0) {
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/* update parameters from storage */
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parameters_update(&h, &p);
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// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
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// (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
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}
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/* calculate current control outputs */
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/* control pitch (forward) output */
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float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
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/* increase resilience to faulty control inputs */
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if (isfinite(pitch_control)) {
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pitch_control_last = pitch_control;
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} else {
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pitch_control = 0.0f;
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warnx("rej. NaN ctrl pitch");
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}
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/* control roll (left/right) output */
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float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
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/* increase resilience to faulty control inputs */
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if (isfinite(roll_control)) {
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roll_control_last = roll_control;
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} else {
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roll_control = 0.0f;
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warnx("rej. NaN ctrl roll");
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}
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/* control yaw rate */
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float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
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/* increase resilience to faulty control inputs */
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if (!isfinite(yaw_rate_control)) {
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yaw_rate_control = 0.0f;
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warnx("rej. NaN ctrl yaw");
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}
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actuators->control[0] = roll_control;
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actuators->control[1] = pitch_control;
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actuators->control[2] = yaw_rate_control;
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actuators->control[3] = rate_sp->thrust;
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motor_skip_counter++;
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}
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