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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Merge branch 'master' of github.com:PX4/Firmware into origin_integration
This commit is contained in:
Lorenz Meier
@@ -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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@@ -163,16 +171,12 @@ 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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@@ -190,10 +194,8 @@ 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,
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1000.0f, PID_MODE_DERIVATIV_SET);
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pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f,
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1000.0f, 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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@@ -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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@@ -150,14 +154,10 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
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void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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const float rates[], struct actuator_controls_s *actuators)
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{
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static float roll_control_last = 0;
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static float pitch_control_last = 0;
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static uint64_t last_run = 0;
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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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@@ -166,6 +166,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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static int motor_skip_counter = 0;
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static PID_t pitch_rate_controller;
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static PID_t roll_rate_controller;
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static struct mc_rate_control_params p;
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static struct mc_rate_control_param_handles h;
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@@ -176,43 +179,35 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
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parameters_init(&h);
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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, 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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/* load new parameters with lower rate */
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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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// warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz",
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// (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input));
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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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/* calculate current control outputs */
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/* reset integral if on ground */
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if (rate_sp->thrust < 0.01f) {
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pid_reset_integral(&pitch_rate_controller);
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pid_reset_integral(&roll_rate_controller);
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}
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/* control pitch (forward) output */
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float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last);
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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 = 0.0f;
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warnx("rej. NaN ctrl pitch");
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}
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float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
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rates[1], 0.0f, deltaT);
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/* control roll (left/right) output */
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float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last);
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float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
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rates[0], 0.0f, deltaT);
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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 = 0.0f;
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warnx("rej. NaN ctrl roll");
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}
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/* control yaw rate */
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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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