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Merged with coordinated turn effort

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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_pos_control/fixedwing_pos_control_main.c
+43 -16
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@@ -77,6 +77,8 @@ PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
struct fw_pos_control_params {
float heading_p;
float headingr_p;
float headingr_i;
float xtrack_p;
float altitude_p;
float roll_lim;
@@ -85,6 +87,8 @@ struct fw_pos_control_params {
struct fw_pos_control_param_handles {
param_t heading_p;
param_t headingr_p;
param_t headingr_i;
param_t xtrack_p;
param_t altitude_p;
param_t roll_lim;
@@ -139,6 +143,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
{
/* PID parameters */
h->heading_p = param_find("FW_HEADING_P");
h->headingr_p = param_find("FW_HEADINGR_P");
h->headingr_i = param_find("FW_HEADINGR_I");
h->xtrack_p = param_find("FW_XTRACK_P");
h->altitude_p = param_find("FW_ALT_P");
h->roll_lim = param_find("FW_ROLL_LIM");
@@ -151,6 +157,8 @@ static int parameters_init(struct fw_pos_control_param_handles *h)
static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
{
param_get(h->heading_p, &(p->heading_p));
param_get(h->headingr_p, &(p->headingr_p));
param_get(h->headingr_i, &(p->headingr_i));
param_get(h->xtrack_p, &(p->xtrack_p));
param_get(h->altitude_p, &(p->altitude_p));
param_get(h->roll_lim, &(p->roll_lim));
@@ -221,12 +229,16 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
struct fw_pos_control_param_handles h;
PID_t heading_controller;
PID_t heading_rate_controller;
PID_t offtrack_controller;
PID_t altitude_controller;
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f,p.roll_lim,PID_MODE_DERIVATIV_NONE);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f,p.pitch_lim,PID_MODE_DERIVATIV_NONE);
pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
/* error and performance monitoring */
perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
@@ -252,8 +264,10 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* update parameters from storage */
parameters_update(&h, &p);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, p.roll_lim);
pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
}
/* only run controller if attitude changed */
@@ -268,6 +282,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* load local copies */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
}
@@ -282,27 +301,21 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
printf("psi_track: %0.4f\n", (double)psi_track);
}
/* simple horizontal control, execute if line between wps is known */
/* Simple Horizontal Control */
if(global_sp_updated_set_once)
{
// if (counter % 100 == 0)
// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
/* calculate crosstrack error */
// Only the case of a straight line track following handled so far
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
if(!(distance_res != OK || xtrack_err.past_end)) {
float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
if(delta_psi_c > 60.0f*M_DEG_TO_RAD_F)
delta_psi_c = 60.0f*M_DEG_TO_RAD_F;
if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
float psi_c = psi_track + delta_psi_c;
@@ -312,7 +325,18 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
psi_e = _wrap_pi(psi_e);
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
//TODO: psi rate loop incomplete
float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
float psi_rate_c = delta_psi_rate_c + psi_rate_track;
//TODO limit turn rate
float psi_rate_e = psi_rate_c - att.yawspeed;
float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g
attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
// if (counter % 100 == 0)
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
@@ -322,10 +346,13 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
}
// XXX SIMPLE ALTITUDE, BUT NO SPEED CONTROL
if (pos_updated) {
/* Very simple Altitude Control */
if(pos_updated)
{
//TODO: take care of relative vs. ab. altitude
attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
}
// XXX need speed control