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Merge branch 'master' into new_state_machine
compiling again Conflicts: src/modules/fixedwing_att_control/fixedwing_att_control_att.c src/modules/fixedwing_att_control/fixedwing_att_control_rate.c src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c src/modules/mavlink/orb_listener.c src/modules/multirotor_att_control/multirotor_attitude_control.c src/modules/multirotor_att_control/multirotor_rate_control.c src/modules/systemlib/pid/pid.c src/modules/systemlib/pid/pid.h src/modules/uORB/objects_common.cpp
This commit is contained in:
Julian Oes
@@ -439,7 +439,7 @@ int multirotor_att_control_main(int argc, char *argv[])
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if (!strcmp(argv[1 + optioncount], "start")) {
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thread_should_exit = false;
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mc_task = task_spawn("multirotor_att_control",
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mc_task = task_spawn_cmd("multirotor_att_control",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 15,
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2048,
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@@ -1,12 +1,12 @@
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/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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* Laurens Mackay <mackayl@student.ethz.ch>
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* Tobias Naegeli <naegelit@student.ethz.ch>
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* Martin Rutschmann <rutmarti@student.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -39,7 +39,15 @@
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/*
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* @file multirotor_attitude_control.c
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* Implementation of attitude controller
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*
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* Implementation of attitude controller for multirotors.
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include "multirotor_attitude_control.h"
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@@ -129,16 +137,12 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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static uint64_t last_run = 0;
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static uint64_t last_input = 0;
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float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
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last_run = hrt_absolute_time();
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if (last_input != att_sp->timestamp) {
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last_input = att_sp->timestamp;
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}
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// static int sensor_delay;
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// sensor_delay = hrt_absolute_time() - att->timestamp;
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static int motor_skip_counter = 0;
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static PID_t pitch_controller;
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@@ -156,8 +160,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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parameters_init(&h);
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parameters_update(&h, &p);
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pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
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pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f, PID_MODE_DERIVATIV_SET);
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pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f);
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pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f);
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initialized = true;
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}
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@@ -168,8 +172,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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parameters_update(&h, &p);
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/* apply parameters */
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pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
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pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, 1.0f);
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pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
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pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f);
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}
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/* reset integral if on ground */
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@@ -1,12 +1,12 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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* Laurens Mackay <mackayl@student.ethz.ch>
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* Tobias Naegeli <naegelit@student.ethz.ch>
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* Martin Rutschmann <rutmarti@student.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -39,7 +39,15 @@
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/*
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* @file multirotor_attitude_control.h
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* Attitude control for multi rotors.
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*
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* Definition of attitude controller for multirotors.
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_
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@@ -1,8 +1,10 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
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* Author: Tobias Naegeli <naegelit@student.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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* Anton Babushkin <anton.babushkin@me.com>
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* Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -36,10 +38,12 @@
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/**
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* @file multirotor_rate_control.c
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*
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* Implementation of rate controller
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* Implementation of rate controller for multirotors.
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#include "multirotor_rate_control.h"
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@@ -158,8 +162,6 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
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static uint64_t last_input = 0;
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// float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f;
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if (last_input != rate_sp->timestamp) {
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last_input = rate_sp->timestamp;
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}
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@@ -187,8 +189,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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parameters_update(&h, &p);
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initialized = true;
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pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP);
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pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor, PID_MODE_DERIVATIV_CALC_NO_SP);
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pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
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pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
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}
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@@ -196,8 +198,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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if (motor_skip_counter % 2500 == 0) {
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/* update parameters from storage */
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parameters_update(&h, &p);
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pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor);
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pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, diff_filter_factor);
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pid_set_parameters(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
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pid_set_parameters(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f);
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}
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/* reset integral if on ground */
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@@ -208,31 +210,15 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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/* control pitch (forward) output */
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float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
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rates[1], 0.0f, deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
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rates[1], 0.0f, deltaT,
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&control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
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/* control roll (left/right) output */
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float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
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rates[0], 0.0f, deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
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rates[0], 0.0f, deltaT,
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&control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
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/* increase resilience to faulty control inputs */
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if (isfinite(pitch_control)) {
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pitch_control_last = pitch_control;
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} else {
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pitch_control = pitch_control_last;
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warnx("rej. NaN ctrl pitch");
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}
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/* increase resilience to faulty control inputs */
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if (isfinite(roll_control)) {
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roll_control_last = roll_control;
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} else {
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roll_control = roll_control_last;
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warnx("rej. NaN ctrl roll");
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}
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/* control yaw rate */ //XXX use library here and use rates_acc[2]
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/* control yaw rate */ //XXX use library here
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float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
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/* increase resilience to faulty control inputs */
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@@ -1,12 +1,12 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
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* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
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* Julian Oes <joes@student.ethz.ch>
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* Laurens Mackay <mackayl@student.ethz.ch>
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* Tobias Naegeli <naegelit@student.ethz.ch>
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* Martin Rutschmann <rutmarti@student.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -39,7 +39,15 @@
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/*
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* @file multirotor_attitude_control.h
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* Attitude control for multi rotors.
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*
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* Definition of rate controller for multirotors.
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Laurens Mackay <mackayl@student.ethz.ch>
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Martin Rutschmann <rutmarti@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#ifndef MULTIROTOR_RATE_CONTROL_H_
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