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Use rollacc and pitchacc from the estimator instead of differentiating in the controller

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This commit is contained in:
Julian Oes
2013-06-19 09:35:59 +02:00
parent f3ce61d740
commit e2ff60b0a6
3 changed files with 19 additions and 12 deletions
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src/modules/multirotor_att_control/multirotor_att_control_main.c
+12 -5
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@@ -394,7 +394,8 @@ mc_thread_main(int argc, char *argv[])
/* measure in what intervals the controller runs */ /* measure in what intervals the controller runs */
perf_count(mc_interval_perf); perf_count(mc_interval_perf);
float gyro[3]; float rates[3];
float rates_acc[3];
/* get current rate setpoint */ /* get current rate setpoint */
bool rates_sp_valid = false; bool rates_sp_valid = false;
@@ -405,11 +406,17 @@ mc_thread_main(int argc, char *argv[])
} }
/* apply controller */ /* apply controller */
gyro[0] = att.rollspeed; rates[0] = att.rollspeed;
gyro[1] = att.pitchspeed; rates[1] = att.pitchspeed;
gyro[2] = att.yawspeed; rates[2] = att.yawspeed;
multirotor_control_rates(&rates_sp, gyro, &actuators, &control_debug_pub, &control_debug); rates_acc[0] = att.rollacc;
rates_acc[1] = att.pitchacc;
rates_acc[2] = att.yawacc;
multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
src/modules/multirotor_att_control/multirotor_rate_control.c
+6 -6
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@@ -151,7 +151,7 @@ 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, void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators, const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug)
{ {
static uint64_t last_run = 0; static uint64_t last_run = 0;
@@ -186,8 +186,8 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p); parameters_update(&h, &p);
initialized = true; initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_CALC); pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, 0.2f, PID_MODE_DERIVATIV_SET);
} }
@@ -201,11 +201,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
/* control pitch (forward) output */ /* control pitch (forward) output */
float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
rates[1], 0.0f, deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d);
/* control roll (left/right) output */ /* control roll (left/right) output */
float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
rates[0], 0.0f, deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d);
/* increase resilience to faulty control inputs */ /* increase resilience to faulty control inputs */
if (isfinite(pitch_control)) { if (isfinite(pitch_control)) {
@@ -225,7 +225,7 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
warnx("rej. NaN ctrl roll"); warnx("rej. NaN ctrl roll");
} }
/* control yaw rate */ /* control yaw rate */ //XXX use library here and use rates_acc[2]
float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]);
/* increase resilience to faulty control inputs */ /* increase resilience to faulty control inputs */
src/modules/multirotor_att_control/multirotor_rate_control.h
+1 -1
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@@ -52,7 +52,7 @@
#include <uORB/topics/vehicle_control_debug.h> #include <uORB/topics/vehicle_control_debug.h>
void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
const float rates[], struct actuator_controls_s *actuators, const float rates[], const float rates_acc[], struct actuator_controls_s *actuators,
const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug);
#endif /* MULTIROTOR_RATE_CONTROL_H_ */ #endif /* MULTIROTOR_RATE_CONTROL_H_ */