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Wip on inner rate loop

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daregger
2012-10-16 16:49:45 +02:00
parent 0b26ca84d4
commit b50bc7798a
4 changed files with 37 additions and 20 deletions
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apps/multirotor_att_control/multirotor_rate_control.c
Executable → Regular
+28 -13
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@@ -1,8 +1,8 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,7 +35,11 @@
/**
* @file multirotor_rate_control.c
*
* Implementation of rate controller
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "multirotor_rate_control.h"
@@ -50,10 +54,11 @@
#include <systemlib/param/param.h>
#include <arch/board/up_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 40.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 40.0f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
@@ -144,8 +149,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators)
{
static float roll_control_last=0;
static float pitch_control_last=0;
static float roll_control_last = 0;
static float pitch_control_last = 0;
static uint64_t last_run = 0;
const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
@@ -174,15 +179,25 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* calculate current control outputs */
/* control pitch (forward) output */
float pitch_control = p.attrate_p * deltaT *((rate_sp->pitch)*p.attrate_lim-rates[1])-p.attrate_d*(pitch_control_last);
pitch_control_last=pitch_control;
/* control roll (left/right) output */
/* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) {
pitch_control_last = pitch_control;
} else {
pitch_control = 0.0f;
}
/* control roll (left/right) output */
float roll_control = p.attrate_p * deltaT * ((rate_sp->roll)*p.attrate_lim-rates[0])-p.attrate_d*(roll_control_last);
roll_control_last=roll_control;
/* increase resilience to faulty control inputs */
if (isfinite(roll_control)) {
roll_control_last = roll_control;
} else {
roll_control = 0.0f;
}
/* control yaw rate */
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2] );
float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]);
actuators->control[0] = roll_control;
actuators->control[1] = pitch_control;