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mc_att_control: ATTRATE_I / YAWRATE_I implemented

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This commit is contained in:
Anton Babushkin
2014-01-20 10:17:16 +01:00
parent 8f0cc47372
commit d811b0f0da
2 changed files with 57 additions and 36 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+51 -30
View File
@@ -86,6 +86,7 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THROTTLE 0.3f
#define YAW_DEADZONE 0.01f
#define RATES_I_LIMIT 0.5f
class MulticopterAttitudeControl
{
@@ -133,18 +134,21 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
math::Matrix<3, 3> _K; /**< diagonal gain matrix for position error */
math::Matrix<3, 3> _K_rate_p; /**< diagonal gain matrix for angular rate error */
math::Matrix<3, 3> _K_rate_d; /**< diagonal gain matrix for angular rate derivative */
math::Vector<3> _K_p; /**< P gain for position error */
math::Vector<3> _K_rate_p; /**< P gain for angular rate error */
math::Vector<3> _K_rate_i; /**< I gain for angular rate error */
math::Vector<3> _K_rate_d; /**< D gain for angular rate error */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
struct {
param_t att_p;
param_t att_rate_p;
param_t att_rate_d;
param_t yaw_p;
param_t att_rate_p;
param_t att_rate_i;
param_t att_rate_d;
param_t yaw_rate_p;
param_t yaw_rate_i;
param_t yaw_rate_d;
} _parameter_handles; /**< handles for interesting parameters */
@@ -229,17 +233,19 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
memset(&_control_mode, 0, sizeof(_control_mode));
memset(&_arming, 0, sizeof(_arming));
_K.zero();
_K_p.zero();
_K_rate_p.zero();
_K_rate_d.zero();
_rates_prev.zero();
_parameter_handles.att_p = param_find("MC_ATT_P");
_parameter_handles.yaw_p = param_find("MC_YAW_P");
_parameter_handles.att_rate_p = param_find("MC_ATTRATE_P");
_parameter_handles.att_rate_i = param_find("MC_ATTRATE_I");
_parameter_handles.att_rate_d = param_find("MC_ATTRATE_D");
_parameter_handles.yaw_p = param_find("MC_YAWPOS_P");
_parameter_handles.yaw_rate_p = param_find("MC_YAWRATE_P");
_parameter_handles.yaw_rate_i = param_find("MC_YAWRATE_I");
_parameter_handles.yaw_rate_d = param_find("MC_YAWRATE_D");
/* fetch initial parameter values */
@@ -273,31 +279,31 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
int
MulticopterAttitudeControl::parameters_update()
{
float att_p;
float att_rate_p;
float att_rate_d;
float yaw_p;
float yaw_rate_p;
float yaw_rate_d;
float v;
param_get(_parameter_handles.att_p, &att_p);
param_get(_parameter_handles.att_rate_p, &att_rate_p);
param_get(_parameter_handles.att_rate_d, &att_rate_d);
param_get(_parameter_handles.yaw_p, &yaw_p);
param_get(_parameter_handles.yaw_rate_p, &yaw_rate_p);
param_get(_parameter_handles.yaw_rate_d, &yaw_rate_d);
param_get(_parameter_handles.att_p, &v);
_K_p(0) = v;
_K_p(1) = v;
param_get(_parameter_handles.yaw_p, &v);
_K_p(2) = v;
_K(0, 0) = att_p;
_K(1, 1) = att_p;
_K(2, 2) = yaw_p;
param_get(_parameter_handles.att_rate_p, &v);
_K_rate_p(0) = v;
_K_rate_p(1) = v;
param_get(_parameter_handles.yaw_rate_p, &v);
_K_rate_p(2) = v;
_K_rate_p(0, 0) = att_rate_p;
_K_rate_p(1, 1) = att_rate_p;
_K_rate_p(2, 2) = yaw_rate_p;
param_get(_parameter_handles.att_rate_i, &v);
_K_rate_i(0) = v;
_K_rate_i(1) = v;
param_get(_parameter_handles.yaw_rate_i, &v);
_K_rate_i(2) = v;
_K_rate_d(0, 0) = att_rate_d;
_K_rate_d(1, 1) = att_rate_d;
_K_rate_d(2, 2) = yaw_rate_d;
param_get(_parameter_handles.att_rate_d, &v);
_K_rate_d(0) = v;
_K_rate_d(1) = v;
param_get(_parameter_handles.yaw_rate_d, &v);
_K_rate_d(2) = v;
return OK;
}
@@ -403,6 +409,10 @@ MulticopterAttitudeControl::task_main()
math::Vector<3> rates;
rates.zero();
/* angular rates integral error */
math::Vector<3> rates_int;
rates_int.zero();
/* identity matrix */
math::Matrix<3, 3> I;
I.identity();
@@ -621,13 +631,24 @@ MulticopterAttitudeControl::task_main()
}
/* angular rates setpoint*/
math::Vector<3> rates_sp = _K * e_R;
math::Vector<3> rates_sp = _K_p.emult(e_R);
/* feed forward yaw setpoint rate */
rates_sp(2) += yaw_sp_move_rate * yaw_w;
math::Vector<3> control = _K_rate_p * (rates_sp - rates) + _K_rate_d * (_rates_prev - rates) / fmaxf(dt, 0.003f);
math::Vector<3> rates_err = rates_sp - rates;
math::Vector<3> control = _K_rate_p.emult(rates_err) + _K_rate_d.emult(_rates_prev - rates) / fmaxf(dt, 0.003f) + rates_int;
_rates_prev = rates;
/* update integral */
for (int i = 0; i < 3; i++) {
float rate_i = rates_int(i) + _K_rate_i(i) * rates_err(i) * dt;
if (isfinite(rate_i)) {
if (rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && control(i) > -RATES_I_LIMIT && control(i) < RATES_I_LIMIT) {
rates_int(i) = rate_i;
}
}
}
/* publish the attitude rates setpoint */
_rates_sp.roll = rates_sp(0);
_rates_sp.pitch = rates_sp(1);
src/modules/mc_att_control/mc_att_control_params.c
+6 -6
View File
@@ -41,13 +41,13 @@
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);