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fixed Rate controller

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This commit is contained in:
tnaegeli 2012-10-04 09:28:04 +02:00
parent 147c5bb664
commit 733975ed2d
4 changed files with 63 additions and 58 deletions
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15
apps/commander/commander.c
View File

@ -1307,18 +1307,19 @@ int commander_thread_main(int argc, char *argv[])
//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.override_mode_switch < -STICK_ON_OFF_LIMIT) {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
//update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
} else {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}

75
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -94,24 +94,26 @@ static void *rate_control_thread_main(void *arg)
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
struct pollfd fds = { .fd = att_sub, .events = POLLIN };
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
// struct pollfd fds = { .fd = att_sub, .events = POLLIN };
struct vehicle_attitude_s vehicle_attitude;
struct vehicle_rates_setpoint_s rates_sp;
memset(&rates_sp, 0, sizeof(rates_sp));
float gyro_lp[3] = {0.0f, 0.0f, 0.0f};
while (!thread_should_exit) {
/* rate control at maximum rate */
/* wait for a sensor update, check for exit condition every 1000 ms */
int ret = poll(&fds, 1, 1000);
if (ret < 0) {
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* XXX this means no sensor data - should be critical or emergency */
printf("[mc att control] WARNING: Not getting gyro data, no rate control\n");
} else {
while (true) {
// /* rate control at maximum rate */
// /* wait for a sensor update, check for exit condition every 1000 ms */
// int ret = poll(&fds, 1, 1000);
//
// if (ret < 0) {
// /* XXX this is seriously bad - should be an emergency */
// } else if (ret == 0) {
// /* XXX this means no sensor data - should be critical or emergency */
// printf("[mc att control] WARNING: Not getting gyro data, no rate control\n");
// } else {
/* get current angular rate */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &vehicle_attitude);
/* get current rate setpoint */
@ -124,18 +126,19 @@ static void *rate_control_thread_main(void *arg)
/* perform local lowpass */
/* apply controller */
if (state.flag_control_rates_enabled) {
// if (state.flag_control_rates_enabled) {
/* lowpass gyros */
// XXX
gyro_lp[0] = vehicle_attitude.rollspeed;
gyro_lp[1] = vehicle_attitude.pitchspeed;
gyro_lp[2] = vehicle_attitude.yawspeed;
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
//multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
printf(".\n");
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
}
}
usleep(2000);
// }
// }
usleep(5000);
}
return NULL;
@ -184,7 +187,7 @@ mc_thread_main(int argc, char *argv[])
actuators.control[i] = 0.0f;
}
actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
@ -197,7 +200,7 @@ mc_thread_main(int argc, char *argv[])
/* ready, spawn pthread */
pthread_attr_t rate_control_attr;
pthread_attr_init(&rate_control_attr);
pthread_attr_setstacksize(&rate_control_attr, 2048);
pthread_attr_setstacksize(&rate_control_attr, 4096);
pthread_t rate_control_thread;
pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
@ -277,15 +280,31 @@ mc_thread_main(int argc, char *argv[])
/** STEP 3: Identify the controller setup to run and set up the inputs correctly */
/* run attitude controller */
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
// /* run attitude controller */
// if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
// orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
// } else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
// multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
// orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
// }
float gyro_lp[3] = {0.0f, 0.0f, 0.0f};
gyro_lp[0] = att.rollspeed;
gyro_lp[1] = att.pitchspeed;
gyro_lp[2] = att.yawspeed;
rates_sp.roll = manual.roll;
rates_sp.pitch = manual.pitch;
rates_sp.yaw = manual.yaw; // XXX Hack, remove, switch to yaw rate controller
/* set yaw rate */
rates_sp.yaw = manual.yaw;
rates_sp.thrust = manual.throttle;
rates_sp.timestamp = hrt_absolute_time();
multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
perf_end(mc_loop_perf);
}
@ -356,7 +375,7 @@ int multirotor_att_control_main(int argc, char *argv[])
mc_task = task_spawn("multirotor_att_control",
SCHED_RR,
SCHED_PRIORITY_MAX - 15,
4096,
6000,
mc_thread_main,
NULL);
exit(0);

27
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -150,11 +150,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
static int motor_skip_counter = 0;
// static PID_t yaw_pos_controller;
static PID_t yaw_speed_controller;
static PID_t pitch_controller;
static PID_t roll_controller;
static struct mc_rate_control_params p;
static struct mc_rate_control_param_handles h;
@ -166,13 +161,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
if (motor_skip_counter % 500 == 0) {
/* update parameters from storage */
parameters_update(&h, &p);
/* apply parameters */
pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu);
pid_set_parameters(&pitch_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
pid_set_parameters(&roll_controller, p.attrate_p, p.attrate_i, 0, p.attrate_awu);
}
/* calculate current control outputs */
@ -183,15 +171,12 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
float setPitchRate=rate_sp->pitch;
float setYawRate=rate_sp->yaw;
//x-axis
setpointXrate=p.attrate_p*(setRollRate-gyro_filtered[0]);
//Y-axis
setpointYrate=p.attrate_p*(setPitchRate-gyro_filtered[1]);
//Z-axis
setpointZrate=p.yawrate_p*(setYawRate-gyro_filtered[2]);
//x-axis
setpointXrate=p.attrate_p*(setRollRate-rates[0]);
//Y-axis
setpointYrate=p.attrate_p*(setPitchRate-rates[1]);
//Z-axis
setpointZrate=p.yawrate_p*(setYawRate-rates[2]);
actuators->control[0] = setpointXrate; //roll
actuators->control[1] = setpointYrate; //pitch

4
nuttx/configs/px4fmu/nsh/defconfig
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@ -236,11 +236,11 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
CONFIG_SERIAL_TERMIOS=y
CONFIG_SERIAL_CONSOLE_REINIT=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART1_SERIAL_CONSOLE=n
CONFIG_USART2_SERIAL_CONSOLE=n
CONFIG_USART3_SERIAL_CONSOLE=n
CONFIG_UART4_SERIAL_CONSOLE=n
CONFIG_UART5_SERIAL_CONSOLE=n
CONFIG_UART5_SERIAL_CONSOLE=y
CONFIG_USART6_SERIAL_CONSOLE=n
#Mavlink messages can be bigger than 128