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Merge branch 'master' of https://github.com/PX4/Firmware

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This commit is contained in:
Doug Weibel
2012-10-13 16:38:18 -06:00
parent 77e6375920 4dbf7befe3
commit 0a0215338a
24 changed files with 498 additions and 265 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+33 -31
View File
@@ -165,8 +165,30 @@ mc_thread_main(int argc, char *argv[])
/** STEP 1: Define which input is the dominating control input */
if (state.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
printf("thrust_rate=%8.4f\n",offboard_sp.p4);
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
printf("thrust_att=%8.4f\n",offboard_sp.p4);
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
if (state.flag_control_manual_enabled) {
/* decide wether we want rate or position input */
}
else if (state.flag_control_manual_enabled) {
/* manual inputs, from RC control or joystick */
if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
@@ -188,7 +210,7 @@ mc_thread_main(int argc, char *argv[])
}
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
if (motor_test_mode) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
@@ -199,38 +221,19 @@ mc_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
} else if (state.flag_control_offboard_enabled) {
/* offboard inputs */
if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) {
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
} else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) {
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
}
/* decide wether we want rate or position input */
}
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
if (state.flag_control_rates_enabled) {
@@ -253,7 +256,6 @@ mc_thread_main(int argc, char *argv[])
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
}
perf_end(mc_loop_perf);
}
@@ -321,7 +323,7 @@ int multirotor_att_control_main(int argc, char *argv[])
mc_task = task_spawn("multirotor_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
6000,
mc_thread_main,
NULL);
exit(0);
apps/multirotor_att_control/multirotor_rate_control.c
+21 -67
View File
@@ -56,18 +56,21 @@
// PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 8.0f); /**< roughly < 500 deg/s limit */
struct mc_rate_control_params {
float yawrate_p;
float yawrate_d;
float yawrate_i;
float yawrate_awu;
float yawrate_lim;
float attrate_p;
float attrate_d;
float attrate_i;
float attrate_awu;
float attrate_lim;
@@ -79,11 +82,13 @@ struct mc_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_d;
param_t yawrate_awu;
param_t yawrate_lim;
param_t attrate_p;
param_t attrate_i;
param_t attrate_d;
param_t attrate_awu;
param_t attrate_lim;
};
@@ -106,11 +111,13 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
/* PID parameters */
h->yawrate_p = param_find("MC_YAWRATE_P");
h->yawrate_i = param_find("MC_YAWRATE_I");
h->yawrate_d = param_find("MC_YAWRATE_D");
h->yawrate_awu = param_find("MC_YAWRATE_AWU");
h->yawrate_lim = param_find("MC_YAWRATE_LIM");
h->attrate_p = param_find("MC_ATTRATE_P");
h->attrate_i = param_find("MC_ATTRATE_I");
h->attrate_d = param_find("MC_ATTRATE_D");
h->attrate_awu = param_find("MC_ATTRATE_AWU");
h->attrate_lim = param_find("MC_ATTRATE_LIM");
@@ -121,11 +128,13 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
{
param_get(h->yawrate_p, &(p->yawrate_p));
param_get(h->yawrate_i, &(p->yawrate_i));
param_get(h->yawrate_d, &(p->yawrate_d));
param_get(h->yawrate_awu, &(p->yawrate_awu));
param_get(h->yawrate_lim, &(p->yawrate_lim));
param_get(h->attrate_p, &(p->attrate_p));
param_get(h->attrate_i, &(p->attrate_i));
param_get(h->attrate_d, &(p->attrate_d));
param_get(h->attrate_awu, &(p->attrate_awu));
param_get(h->attrate_lim, &(p->attrate_lim));
@@ -135,6 +144,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators)
{
static float roll_control_last=0;
static float pitch_control_last=0;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
@@ -157,83 +168,26 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 2500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
printf("p.yawrate_p: %8.4f", (double)p.yawrate_p);
printf("p.yawrate_p: %8.4f\n", (double)p.yawrate_p);
}
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = 5 * deltaT * (rates[1] - rate_sp->pitch);
float pitch_control = p.attrate_p * deltaT *(rate_sp->pitch-rates[1])-p.attrate_d*(pitch_control_last);
pitch_control_last=pitch_control;
/* control roll (left/right) output */
float roll_control = p.attrate_p * deltaT * (rates[0] - rate_sp->roll);
float roll_control = p.attrate_p * deltaT * (rate_sp->roll-rates[0])-p.attrate_d*(roll_control_last);
roll_control_last=roll_control;
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * (rates[2] - rate_sp->yaw);
/*
* compensate the vertical loss of thrust
* when thrust plane has an angle.
* start with a factor of 1.0 (no change)
*/
float zcompensation = 1.0f;
// if (fabsf(att->roll) > 0.3f) {
// zcompensation *= 1.04675160154f;
// } else {
// zcompensation *= 1.0f / cosf(att->roll);
// }
// if (fabsf(att->pitch) > 0.3f) {
// zcompensation *= 1.04675160154f;
// } else {
// zcompensation *= 1.0f / cosf(att->pitch);
// }
float motor_thrust = 0.0f;
motor_thrust = rate_sp->thrust;
/* compensate thrust vector for roll / pitch contributions */
motor_thrust *= zcompensation;
// /* limit yaw rate output */
// if (yaw_rate_control > p.yawrate_lim) {
// yaw_rate_control = p.yawrate_lim;
// yaw_speed_controller.saturated = 1;
// }
// if (yaw_rate_control < -p.yawrate_lim) {
// yaw_rate_control = -p.yawrate_lim;
// yaw_speed_controller.saturated = 1;
// }
// if (pitch_control > p.attrate_lim) {
// pitch_control = p.attrate_lim;
// pitch_controller.saturated = 1;
// }
// if (pitch_control < -p.attrate_lim) {
// pitch_control = -p.attrate_lim;
// pitch_controller.saturated = 1;
// }
// if (roll_control > p.attrate_lim) {
// roll_control = p.attrate_lim;
// roll_controller.saturated = 1;
// }
// if (roll_control < -p.attrate_lim) {
// roll_control = -p.attrate_lim;
// roll_controller.saturated = 1;
// }
float yaw_rate_control = p.yawrate_p * deltaT * (rate_sp->yaw-rates[2] );
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;
actuators->control[2] = yaw_rate_control;
actuators->control[3] = motor_thrust;
actuators->control[3] = rate_sp->thrust;
motor_skip_counter++;
}