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Cleaned up PI wrapping code, still subject to testing

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Lorenz Meier
2012-11-20 15:19:51 +01:00
parent 129e6d73de
commit 6ff4520904
10 changed files with 121 additions and 174 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+12 -15
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);
}
apps/multirotor_att_control/multirotor_attitude_control.c
+12 -10
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;
apps/multirotor_att_control/multirotor_attitude_control.h
+1 -1
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_ */