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Merged with coordinated turn effort

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This commit is contained in:
Lorenz Meier
2012-11-25 17:10:49 +01:00
parent 20a29bff99 dd05426002
commit 2ca09ab3d1
6 changed files with 117 additions and 33 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+4 -2
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@@ -113,6 +113,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const float speed_body[],
struct vehicle_rates_setpoint_s *rates_sp)
{
static int counter = 0;
@@ -148,13 +149,14 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
/* Pitch (P) */
/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(att_sp->roll_body);
float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
/* set pitch plus feedforward roll compensation */
rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body + pitch_sp_rollcompensation,
att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */
//TODO
rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
counter++;
apps/fixedwing_att_control/fixedwing_att_control_att.h
+2
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@@ -41,9 +41,11 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const float speed_body[],
struct vehicle_rates_setpoint_s *rates_sp);
#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
apps/fixedwing_att_control/fixedwing_att_control_main.c
+41 -10
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@@ -58,6 +58,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/debug_key_value.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
@@ -135,13 +136,14 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
memset(&att_sp, 0, sizeof(att_sp));
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
struct manual_control_setpoint_s manual_sp;
memset(&manual_sp, 0, sizeof(manual_sp));
struct vehicle_status_s vstatus;
memset(&vstatus, 0, sizeof(vstatus));
// static struct debug_key_value_s debug_output;
// memset(&debug_output, 0, sizeof(debug_output));
struct debug_key_value_s debug_output;
memset(&debug_output, 0, sizeof(debug_output));
/* output structs */
struct actuator_controls_s actuators;
@@ -154,18 +156,19 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
}
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
// orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
// debug_output.key[0] = '1';
orb_advert_t debug_pub = orb_advertise(ORB_ID(debug_key_value), &debug_output);
strncpy(debug_output.key, "yaw_rate", sizeof(debug_output.key - 1));
/* subscribe */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
float speed_body[3] = {0.0f, 0.0f, 0.0f};
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
while(!thread_should_exit)
@@ -173,9 +176,35 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* wait for a sensor update, check for exit condition every 500 ms */
poll(&fds, 1, 500);
/* Check if there is a new position measurement or attitude setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
bool att_sp_updated;
orb_check(att_sp_sub, &att_sp_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
if(att_sp_updated)
orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
if(pos_updated)
{
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
if(att.R_valid)
{
speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
}
else
{
speed_body[0] = 0;
speed_body[1] = 0;
speed_body[2] = 0;
printf("FW ATT CONTROL: Did not get a valid R\n");
}
}
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
@@ -184,10 +213,10 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
gyro[2] = att.yawspeed;
/* Control */
if (vstatus.state_machine == SYSTEM_STATE_AUTO) {
/* attitude control */
fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* publish rate setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
@@ -219,7 +248,7 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
att_sp.timestamp = hrt_absolute_time();
}
fixedwing_att_control_attitude(&att_sp, &att, &rates_sp);
fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
/* publish rate setpoint */
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
@@ -242,6 +271,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
/* publish output */
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
debug_output.value = rates_sp.yaw;
orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
}
printf("[fixedwing_att_control] exiting, stopping all motors.\n");
apps/fixedwing_att_control/fixedwing_att_control_rate.c
+5 -4
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@@ -170,11 +170,12 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* Roll Rate (PI) */
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
actuators->control[2] = 0.0f;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); //XXX TODO disabled for now
/* pitch rate (PI) */
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* yaw rate (PI) */
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
counter++;