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Cleaned up PI wrapping code, still subject to testing

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This commit is contained in:
Lorenz Meier 2012-11-20 15:19:22 +01:00
parent 129e6d73de
commit 6ff4520904
10 changed files with 121 additions and 174 deletions
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4
apps/fixedwing_att_control/fixedwing_att_control_att.c
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@ -143,10 +143,10 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
}
/* Roll (P) */
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_tait_bryan, att->roll, 0, 0);
rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
/* Pitch (P) */
float pitch_sp_rollcompensation = att_sp->pitch_tait_bryan + p.pitch_roll_compensation_p * att_sp->roll_tait_bryan;
float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
/* Yaw (from coordinated turn constraint or lateral force) */

19
apps/fixedwing_pos_control/fixedwing_pos_control.h
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@ -42,26 +42,7 @@
#ifndef FIXEDWING_POS_CONTROL_H_
#define FIXEDWING_POS_CONTROL_H_
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#endif
struct planned_path_segments_s {
bool segment_type;
double start_lat; // Start of line or center of arc
double start_lon;
double end_lat;
double end_lon;
float radius; // Radius of arc
float arc_start_bearing; // Bearing from center to start of arc
float arc_sweep; // Angle (radians) swept out by arc around center.
// Positive for clockwise, negative for counter-clockwise
};
float _wrap180(float bearing);

96
apps/fixedwing_pos_control/fixedwing_pos_control_main.c
View File

@ -91,6 +91,19 @@ struct fw_pos_control_param_handles {
};
struct planned_path_segments_s {
bool segment_type;
double start_lat; // Start of line or center of arc
double start_lon;
double end_lat;
double end_lon;
float radius; // Radius of arc
float arc_start_bearing; // Bearing from center to start of arc
float arc_sweep; // Angle (radians) swept out by arc around center.
// Positive for clockwise, negative for counter-clockwise
};
/* Prototypes */
/* Internal Prototypes */
static int parameters_init(struct fw_pos_control_param_handles *h);
@ -177,9 +190,9 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
/* publish attitude setpoint */
attitude_setpoint.roll_tait_bryan = 0.0f;
attitude_setpoint.pitch_tait_bryan = 0.0f;
attitude_setpoint.yaw_tait_bryan = 0.0f;
attitude_setpoint.roll_body = 0.0f;
attitude_setpoint.pitch_body = 0.0f;
attitude_setpoint.yaw_body = 0.0f;
orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
/* subscribe */
@ -243,7 +256,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
global_sp_updated_set_once = true;
psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
printf("psi_track: %0.4f\n", psi_track);
printf("psi_track: %0.4f\n", (double)psi_track);
}
/* Control */
@ -265,21 +278,21 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
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)
delta_psi_c = 60.0f*M_DEG_TO_RAD;
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)
delta_psi_c = -60.0f*M_DEG_TO_RAD;
if(delta_psi_c < -60.0f*M_DEG_TO_RAD_F)
delta_psi_c = -60.0f*M_DEG_TO_RAD_F;
float psi_c = psi_track + delta_psi_c;
float psi_e = psi_c - att.yaw;
/* shift error to prevent wrapping issues */
psi_e = _wrapPI(psi_e);
psi_e = _wrap_pi(psi_e);
/* calculate roll setpoint, do this artificially around zero */
attitude_setpoint.roll_tait_bryan = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
attitude_setpoint.roll_body = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
// if (counter % 100 == 0)
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);
@ -296,7 +309,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
{
//TODO: take care of relative vs. ab. altitude
attitude_setpoint.pitch_tait_bryan = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
}
/*Publish the attitude setpoint */
@ -378,64 +391,3 @@ int fixedwing_pos_control_main(int argc, char *argv[])
usage("unrecognized command");
exit(1);
}
float _wrapPI(float bearing)
{
while (bearing > M_PI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing <= -M_PI_F) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap2PI(float bearing)
{
while (bearing >= M_TWOPI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing < 0.0f) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap180(float bearing)
{
while (bearing > 180.0f) {
bearing = bearing - 360.0f;
}
while (bearing <= -180.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}
float _wrap360(float bearing)
{
while (bearing >= 360.0f) {
bearing = bearing - 360.0f;
}
while (bearing < 0.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}

27
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -252,7 +252,7 @@ mc_thread_main(int argc, char *argv[])
if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
state.flag_control_manual_enabled != flag_control_manual_enabled ||
state.flag_system_armed != flag_system_armed) {
att_sp.yaw_tait_bryan = att.yaw;
att_sp.yaw_body = att.yaw;
}
static bool rc_loss_first_time = true;
@ -283,29 +283,28 @@ mc_thread_main(int argc, char *argv[])
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
/* set attitude if arming */
if (!flag_control_attitude_enabled && state.flag_system_armed) {
att_sp.yaw_body = att.yaw;
}
/* only move setpoint if manual input is != 0 */
if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
// XXX turn into param
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
} else if (manual.throttle <= 0.3f) {
att_sp.yaw_body = att.yaw;
}
control_yaw_position = true;
} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
rates_sp.yaw = manual.yaw;
control_yaw_position = false;
first_time_after_yaw_speed_control = true;
} else {
rates_sp.yaw = 0.0f;
if(first_time_after_yaw_speed_control) {
att_sp.yaw_tait_bryan = att.yaw;
if (first_time_after_yaw_speed_control) {
att_sp.yaw_body = att.yaw;
first_time_after_yaw_speed_control = false;
}
control_yaw_position = true;
}
} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
rates_sp.yaw = manual.yaw;
control_yaw_position = false;
}
att_sp.thrust = manual.throttle;
@ -330,9 +329,7 @@ mc_thread_main(int argc, char *argv[])
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
if (state.flag_control_attitude_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL, control_yaw_position);
multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}

22
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -158,7 +158,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
}
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators, bool control_yaw_position)
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position)
{
static uint64_t last_run = 0;
static uint64_t last_input = 0;
@ -201,8 +201,6 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
/* update parameters from storage */
parameters_update(&h, &p);
//printf("att ctrl: delays: %d us sens->ctrl, rate: %d Hz, input: %d Hz\n", sensor_delay, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
/* apply parameters */
pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
@ -220,15 +218,19 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
if(control_yaw_position) {
/* control yaw rate */
//rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_tait_bryan), sinf(att->yaw - att_sp->yaw_tait_bryan)) - (p.yaw_d * att->yawspeed);
yaw_error = att->yaw - att_sp->yaw_tait_bryan;
if ((double)yaw_error > M_PI) {
yaw_error -= M_PI;
} else if ((double)yaw_error < -M_PI) {
yaw_error += M_PI;
/* positive error: rotate to right, negative error, rotate to left (NED frame) */
// yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw);
yaw_error = att_sp->yaw_body - att->yaw;
if (yaw_error > M_PI_F) {
yaw_error -= M_TWOPI_F;
} else if (yaw_error < -M_PI_F) {
yaw_error += M_TWOPI_F;
}
rates_sp->yaw = - p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed);
}
rates_sp->thrust = att_sp->thrust;

2
apps/multirotor_att_control/multirotor_attitude_control.h
View File

@ -52,6 +52,6 @@
#include <uORB/topics/actuator_controls.h>
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *, bool control_yaw_position);
const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position);
#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */

2
apps/sensors/sensors.cpp
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@ -1059,7 +1059,7 @@ Sensors::task_main()
/* advertise the manual_control topic */
struct manual_control_setpoint_s manual_control;
manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_RATE;
manual_control.mode = MANUAL_CONTROL_MODE_ATT_YAW_POS;
manual_control.roll = 0.0f;
manual_control.pitch = 0.0f;
manual_control.yaw = 0.0f;

76
apps/systemlib/geo/geo.c
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@ -60,14 +60,7 @@ static double cos_phi_1;
static double lambda_0;
static double scale;
/**
* Initializes the map transformation.
*
* Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
__EXPORT void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
phi_1 = lat_0 / 180.0 * M_PI;
@ -105,14 +98,7 @@ __EXPORT static void map_projection_init(double lat_0, double lon_0) //lat_0, lo
}
/**
* Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT static void map_projection_project(double lat, double lon, float *x, float *y)
__EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
{
/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
double phi = lat / 180.0 * M_PI;
@ -135,15 +121,7 @@ __EXPORT static void map_projection_project(double lat, double lon, float *x, fl
// printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
}
/**
* Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
*
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT static void map_projection_reproject(float x, float y, double *lat, double *lon)
__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon)
{
/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
@ -228,7 +206,7 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
/* conscious mix of double and float trig function to maximize speed and efficiency */
float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
theta = _wrapPI(theta);
theta = _wrap_pi(theta);
return theta;
}
@ -257,7 +235,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
bearing_diff = bearing_track - bearing_end;
bearing_diff = _wrapPI(bearing_diff);
bearing_diff = _wrap_pi(bearing_diff);
// Return past_end = true if past end point of line
if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
@ -270,10 +248,10 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
if (sin(bearing_diff) >= 0) {
crosstrack_error->bearing = _wrapPI(bearing_track - M_PI_2_F);
crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
} else {
crosstrack_error->bearing = _wrapPI(bearing_track + M_PI_2_F);
crosstrack_error->bearing = _wrap_pi(bearing_track + M_PI_2_F);
}
return_value = OK;
@ -380,22 +358,36 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
return return_value;
}
float _wrapPI(float bearing)
__EXPORT float _wrap_pi(float bearing)
{
while (bearing > M_PI_F) {
bearing = bearing - M_TWOPI_F;
/* value is inf or NaN */
if (!isfinite(bearing) || bearing == 0) {
return bearing;
}
while (bearing <= -M_PI_F) {
bearing = bearing + M_TWOPI_F;
int c = 0;
while (bearing > M_PI_F && c < 30) {
bearing -= M_TWOPI_F;
c++;
}
c = 0;
while (bearing <= -M_PI_F && c < 30) {
bearing += M_TWOPI_F;
c++;
}
return bearing;
}
float _wrap2PI(float bearing)
__EXPORT float _wrap_2pi(float bearing)
{
/* value is inf or NaN */
if (!isfinite(bearing)) {
return bearing;
}
while (bearing >= M_TWOPI_F) {
bearing = bearing - M_TWOPI_F;
@ -408,8 +400,12 @@ float _wrap2PI(float bearing)
return bearing;
}
float _wrap180(float bearing)
__EXPORT float _wrap_180(float bearing)
{
/* value is inf or NaN */
if (!isfinite(bearing)) {
return bearing;
}
while (bearing > 180.0f) {
bearing = bearing - 360.0f;
@ -422,8 +418,12 @@ float _wrap180(float bearing)
return bearing;
}
float _wrap360(float bearing)
__EXPORT float _wrap_360(float bearing)
{
/* value is inf or NaN */
if (!isfinite(bearing)) {
return bearing;
}
while (bearing >= 360.0f) {
bearing = bearing - 360.0f;

38
apps/systemlib/geo/geo.h
View File

@ -54,24 +54,44 @@ struct crosstrack_error_s {
float bearing; // Bearing in radians to closest point on line/arc
} ;
__EXPORT static void map_projection_init(double lat_0, double lon_0);
/**
* Initializes the map transformation.
*
* Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT void map_projection_init(double lat_0, double lon_0);
__EXPORT static void map_projection_project(double lat, double lon, float *x, float *y);
/**
* Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT void map_projection_project(double lat, double lon, float *x, float *y);
__EXPORT static void map_projection_reproject(float x, float y, double *lat, double *lon);
/**
* Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
*
* @param x north
* @param y east
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
//
__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep);
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);
__EXPORT float _wrap_180(float bearing);
__EXPORT float _wrap_360(float bearing);
__EXPORT float _wrap_pi(float bearing);
__EXPORT float _wrap_2pi(float bearing);

9
apps/uORB/topics/vehicle_attitude_setpoint.h
View File

@ -56,18 +56,13 @@ struct vehicle_attitude_setpoint_s
{
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
float roll_tait_bryan; /**< Tait-Bryan angle in NED frame */
float pitch_tait_bryan; /**< Tait-Bryan angle in NED frame */
float yaw_tait_bryan; /**< Tait-Bryan angle in NED frame */
//float tait_bryan_valid; /**< Set to true if Tait-Bryan angles are valid */
float roll_body; /**< body angle in NED frame */
float pitch_body; /**< body angle in NED frame */
float yaw_body; /**< body angle in NED frame */
//float body_valid; /**< Set to true if body angles are valid */
//float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
//bool R_valid; /**< Set to true if rotation matrix is valid */
float R_body[9]; /**< Rotation matrix describing the setpoint as rotation from the current body frame */
bool R_valid; /**< Set to true if rotation matrix is valid */
float thrust; /**< Thrust in Newton the power system should generate */