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Merged fixed wing branches

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Lorenz Meier
2012-11-26 21:02:36 +01:00
parent eca12343fd 4366d9e319
commit 80b84819d2
5 changed files with 56 additions and 27 deletions
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apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+46 -15
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@@ -68,10 +68,13 @@
* Controller parameters, accessible via MAVLink
*
*/
PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track
PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians
PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians
@@ -79,6 +82,7 @@ struct fw_pos_control_params {
float heading_p;
float headingr_p;
float headingr_i;
float headingr_lim;
float xtrack_p;
float altitude_p;
float roll_lim;
@@ -89,6 +93,7 @@ struct fw_pos_control_param_handles {
param_t heading_p;
param_t headingr_p;
param_t headingr_i;
param_t headingr_lim;
param_t xtrack_p;
param_t altitude_p;
param_t roll_lim;
@@ -142,9 +147,10 @@ static int deamon_task; /**< Handle of deamon task / thread */
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->heading_p = param_find("FW_HEAD_P");
h->headingr_p = param_find("FW_HEADR_P");
h->headingr_i = param_find("FW_HEADR_I");
h->headingr_lim = param_find("FW_HEADR_LIM");
h->xtrack_p = param_find("FW_XTRACK_P");
h->altitude_p = param_find("FW_ALT_P");
h->roll_lim = param_find("FW_ROLL_LIM");
@@ -159,6 +165,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
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->headingr_lim, &(p->headingr_lim));
param_get(h->xtrack_p, &(p->xtrack_p));
param_get(h->altitude_p, &(p->altitude_p));
param_get(h->roll_lim, &(p->roll_lim));
@@ -273,6 +280,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* only run controller if attitude changed */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* check if there is a new position or setpoint */
bool pos_updated;
orb_check(global_pos_sub, &pos_updated);
@@ -282,17 +294,17 @@ 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);
}
if (global_sp_updated) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
// printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
// printf("delta_psi_c %.4f ", (double)delta_psi_c);
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
global_sp_updated_set_once = true;
@@ -309,34 +321,53 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* 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 = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
// printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
// printf("delta_psi_c %.4f ", (double)delta_psi_c);
float psi_c = psi_track + delta_psi_c;
// printf("psi_c %.4f ", (double)psi_c);
// printf("att.yaw %.4f ", (double)att.yaw);
float psi_e = psi_c - att.yaw;
// printf("psi_e %.4f ", (double)psi_e);
/* shift error to prevent wrapping issues */
psi_e = _wrap_pi(psi_e);
/* calculate roll setpoint, do this artificially around zero */
//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
//limit turn rate
if(psi_rate_c > p.headingr_lim)
psi_rate_c = p.headingr_lim;
else if(psi_rate_c < -p.headingr_lim)
psi_rate_c = - p.headingr_lim;
// printf("psi_rate_c %.4f ", (double)psi_rate_c);
float psi_rate_e = psi_rate_c - att.yawspeed;
float psi_rate_e_scaled = psi_rate_e * sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) / 9.81f; //* V_gr / g
float psi_rate_e_scaled = psi_rate_e * sqrtf(powf(global_pos.vx, 2.0f) + powf(global_pos.vy, 2.0f)) / 9.81f; //* V_gr / g
attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
// printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);\
// printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
// if (counter % 100 == 0)
// printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);