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Added feedforward throttle to pitch compensation, heading from position controller still broken

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Lorenz Meier
2012-11-27 18:11:48 +01:00
parent cc1e0ef235
commit 54d624f7c7
4 changed files with 59 additions and 58 deletions
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apps/fixedwing_att_control/fixedwing_att_control_att.c
+3 -2
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@@ -152,8 +152,9 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
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);
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) */
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))
apps/fixedwing_att_control/fixedwing_att_control_main.c
-25
View File
@@ -68,31 +68,6 @@
#include <fixedwing_att_control_rate.h>
#include <fixedwing_att_control_att.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
// Roll control parameters
PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
//Yaw control parameters //XXX TODO this is copy paste, asign correct values
PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec
/* Prototypes */
/**
* Deamon management function.
apps/fixedwing_att_control/fixedwing_att_control_rate.c
+38 -11
View File
@@ -61,9 +61,33 @@
#include <systemlib/geo/geo.h>
#include <systemlib/systemlib.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
// Roll control parameters
PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller
PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
//Pitch control parameters
PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller
PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
//Yaw control parameters //XXX TODO this is copy paste, asign correct values
PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec
/* feedforward compensation */
PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */
struct fw_rate_control_params {
float rollrate_p;
@@ -75,7 +99,7 @@ struct fw_rate_control_params {
float yawrate_p;
float yawrate_i;
float yawrate_awu;
float pitch_thr_ff;
};
struct fw_rate_control_param_handles {
@@ -88,7 +112,7 @@ struct fw_rate_control_param_handles {
param_t yawrate_p;
param_t yawrate_i;
param_t yawrate_awu;
param_t pitch_thr_ff;
};
@@ -100,17 +124,18 @@ static int parameters_update(const struct fw_rate_control_param_handles *h, stru
static int parameters_init(struct fw_rate_control_param_handles *h)
{
/* PID parameters */
h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing
h->rollrate_i = param_find("FW_ROLLR_I");
h->rollrate_awu = param_find("FW_ROLLR_AWU");
h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing
h->rollrate_i = param_find("FW_ROLLR_I");
h->rollrate_awu = param_find("FW_ROLLR_AWU");
h->pitchrate_p = param_find("FW_PITCHR_P");
h->pitchrate_i = param_find("FW_PITCHR_I");
h->pitchrate_p = param_find("FW_PITCHR_P");
h->pitchrate_i = param_find("FW_PITCHR_I");
h->pitchrate_awu = param_find("FW_PITCHR_AWU");
h->yawrate_p = param_find("FW_YAWR_P");
h->yawrate_i = param_find("FW_YAWR_I");
h->yawrate_awu = param_find("FW_YAWR_AWU");
h->yawrate_p = param_find("FW_YAWR_P");
h->yawrate_i = param_find("FW_YAWR_I");
h->yawrate_awu = param_find("FW_YAWR_AWU");
h->pitch_thr_ff = param_find("FW_PITCH_THR_P");
return OK;
}
@@ -126,7 +151,7 @@ static int parameters_update(const struct fw_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_awu, &(p->yawrate_awu));
param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
return OK;
}
@@ -173,6 +198,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
/* pitch rate (PI) */
actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
/* set pitch minus feedforward throttle compensation (nose pitches up from throttle */
actuators->control[1] += (-1.0f) * p.pitch_thr_ff * rate_sp->thrust;
/* yaw rate (PI) */
actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);