mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 10:17:45 +08:00
mc atune: add multicopter attitude auto-tuner module
This commit is contained in:
bresch
Daniel Agar
@@ -45,6 +45,7 @@ set(msg_files
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airspeed.msg
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airspeed.msg
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airspeed_validated.msg
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airspeed_validated.msg
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airspeed_wind.msg
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airspeed_wind.msg
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autotune_attitude_control_status.msg
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battery_status.msg
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battery_status.msg
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camera_capture.msg
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camera_capture.msg
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camera_status.msg
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camera_status.msg
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@@ -0,0 +1,35 @@
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uint64 timestamp # time since system start (microseconds)
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float32[5] coeff # coefficients of the identified discrete-time model
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float32[5] coeff_var # coefficients' variance of the identified discrete-time model
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float32 fitness # fitness of the parameter estimate
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float32 innov
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float32 dt_model
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float32 kc
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float32 ki
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float32 kd
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float32 kff
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float32 att_p
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float32[3] rate_sp
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float32 u_filt
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float32 y_filt
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uint8 STATE_IDLE = 0
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uint8 STATE_INIT = 1
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uint8 STATE_ROLL = 2
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uint8 STATE_ROLL_PAUSE = 3
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uint8 STATE_PITCH = 4
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uint8 STATE_PITCH_PAUSE = 5
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uint8 STATE_YAW = 6
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uint8 STATE_YAW_PAUSE = 7
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uint8 STATE_VERIFICATION = 8
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uint8 STATE_APPLY = 9
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uint8 STATE_TEST = 10
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uint8 STATE_COMPLETE = 11
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uint8 STATE_FAIL = 12
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uint8 STATE_WAIT_FOR_DISARM = 13
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uint8 state
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@@ -55,6 +55,7 @@ void LoggedTopics::add_default_topics()
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add_topic("actuator_controls_status_0", 300);
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add_topic("actuator_controls_status_0", 300);
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add_topic("airspeed", 1000);
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add_topic("airspeed", 1000);
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add_topic("airspeed_validated", 200);
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add_topic("airspeed_validated", 200);
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add_topic("autotune_attitude_control_status", 100);
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add_topic("camera_capture");
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add_topic("camera_capture");
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add_topic("camera_trigger");
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add_topic("camera_trigger");
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add_topic("cellular_status", 200);
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add_topic("cellular_status", 200);
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@@ -0,0 +1,48 @@
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############################################################################
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#
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# Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
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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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|
# are met:
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||||||
|
#
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|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
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||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
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||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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|
# POSSIBILITY OF SUCH DAMAGE.
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|
#
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############################################################################
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px4_add_module(
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MODULE mc_autotune_attitude_control
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MAIN mc_autotune_attitude_control
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COMPILE_FLAGS
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${MAX_CUSTOM_OPT_LEVEL}
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SRCS
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mc_autotune_attitude_control.cpp
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mc_autotune_attitude_control.hpp
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DEPENDS
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hysteresis
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mathlib
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px4_work_queue
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SystemIdentification
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PidDesign
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)
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,206 @@
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/****************************************************************************
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*
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* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
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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
|
||||||
|
* are met:
|
||||||
|
*
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||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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|
* POSSIBILITY OF SUCH DAMAGE.
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||||||
|
*
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|
****************************************************************************/
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/**
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* @file mc_autotune_attitude_control.hpp
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*
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* @author Mathieu Bresciani <mathieu@auterion.com>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/perf/perf_counter.h>
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#include <lib/pid_design/pid_design.hpp>
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#include <lib/system_identification/system_identification.hpp>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/autotune_attitude_control_status.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_status.h>
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#include <mathlib/mathlib.h>
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using namespace time_literals;
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class McAutotuneAttitudeControl : public ModuleBase<McAutotuneAttitudeControl>, public ModuleParams,
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public px4::WorkItem
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{
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public:
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McAutotuneAttitudeControl();
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~McAutotuneAttitudeControl() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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/** @see ModuleBase::print_status() */
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int print_status() override;
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private:
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void Run() override;
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void reset();
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void checkFilters();
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void updateStateMachine(hrt_abstime now);
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bool registerActuatorControlsCallback();
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void stopAutotune();
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bool areAllSmallerThan(const matrix::Vector<float, 5> &vect, float threshold) const;
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void copyGains(int index);
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bool areGainsGood() const;
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void saveGainsToParams();
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void backupAndSaveGainsToParams();
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void revertParamGains();
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const matrix::Vector3f getIdentificationSignal();
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uORB::SubscriptionCallbackWorkItem _actuator_controls_sub{this, ORB_ID(actuator_controls_0)};
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uORB::SubscriptionCallbackWorkItem _parameter_update_sub{this, ORB_ID(parameter_update)};
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uORB::Subscription _actuator_controls_status_sub{ORB_ID(actuator_controls_status_0)};
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::PublicationData<autotune_attitude_control_status_s> _autotune_attitude_control_status_pub{ORB_ID(autotune_attitude_control_status)};
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SystemIdentification _sys_id;
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enum class state {
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idle = autotune_attitude_control_status_s::STATE_IDLE,
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init = autotune_attitude_control_status_s::STATE_INIT,
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roll = autotune_attitude_control_status_s::STATE_ROLL,
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roll_pause = autotune_attitude_control_status_s::STATE_ROLL_PAUSE,
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pitch = autotune_attitude_control_status_s::STATE_PITCH,
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pitch_pause = autotune_attitude_control_status_s::STATE_PITCH_PAUSE,
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yaw = autotune_attitude_control_status_s::STATE_YAW,
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yaw_pause = autotune_attitude_control_status_s::STATE_YAW_PAUSE,
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apply = autotune_attitude_control_status_s::STATE_APPLY,
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test = autotune_attitude_control_status_s::STATE_TEST,
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verification = autotune_attitude_control_status_s::STATE_VERIFICATION,
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complete = autotune_attitude_control_status_s::STATE_COMPLETE,
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fail = autotune_attitude_control_status_s::STATE_FAIL,
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wait_for_disarm = autotune_attitude_control_status_s::STATE_WAIT_FOR_DISARM
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} _state{state::idle};
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hrt_abstime _state_start_time{0};
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uint8_t _steps_counter{0};
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uint8_t _max_steps{5};
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int8_t _signal_sign{0};
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bool _armed{false};
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matrix::Vector3f _kid{};
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matrix::Vector3f _rate_k{};
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matrix::Vector3f _rate_i{};
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matrix::Vector3f _rate_d{};
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float _attitude_p{0.f};
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matrix::Vector3f _att_p{};
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matrix::Vector3f _control_power{};
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bool _gains_backup_available{false}; // true if a backup of the parameters has been done
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/**
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|
* Scale factor applied to the input data to have the same input/output range
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* When input and output scales are a lot different, some elements of the covariance
|
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|
* matrix will collapse much faster than other ones, creating an ill-conditionned matrix
|
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|
*/
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float _input_scale{1.f};
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|
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hrt_abstime _last_run{0};
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hrt_abstime _last_publish{0};
|
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hrt_abstime _last_model_update{0};
|
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|
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|
float _interval_sum{0.f};
|
||||||
|
float _interval_count{0.f};
|
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|
float _sample_interval_avg{0.01f};
|
||||||
|
float _filter_dt{0.01f};
|
||||||
|
bool _are_filters_initialized{false};
|
||||||
|
|
||||||
|
AlphaFilter<float> _signal_filter; ///< used to create a wash-out filter
|
||||||
|
|
||||||
|
static constexpr float _model_dt_min{2e-3f}; // 2ms = 500Hz
|
||||||
|
static constexpr float _model_dt_max{10e-3f}; // 10ms = 100Hz
|
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|
int _model_update_scaler{1};
|
||||||
|
int _model_update_counter{0};
|
||||||
|
|
||||||
|
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
|
||||||
|
|
||||||
|
DEFINE_PARAMETERS(
|
||||||
|
(ParamBool<px4::params::MC_AT_START>) _param_mc_at_start,
|
||||||
|
(ParamFloat<px4::params::MC_AT_SYSID_AMP>) _param_mc_at_sysid_amp,
|
||||||
|
(ParamInt<px4::params::MC_AT_APPLY>) _param_mc_at_apply,
|
||||||
|
(ParamFloat<px4::params::MC_AT_RISE_TIME>) _param_mc_at_rise_time,
|
||||||
|
|
||||||
|
(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
|
||||||
|
|
||||||
|
(ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
|
||||||
|
(ParamFloat<px4::params::MC_ROLLRATE_K>) _param_mc_rollrate_k,
|
||||||
|
(ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,
|
||||||
|
(ParamFloat<px4::params::MC_ROLLRATE_D>) _param_mc_rollrate_d,
|
||||||
|
(ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
|
||||||
|
(ParamFloat<px4::params::MC_PITCHRATE_P>) _param_mc_pitchrate_p,
|
||||||
|
(ParamFloat<px4::params::MC_PITCHRATE_K>) _param_mc_pitchrate_k,
|
||||||
|
(ParamFloat<px4::params::MC_PITCHRATE_I>) _param_mc_pitchrate_i,
|
||||||
|
(ParamFloat<px4::params::MC_PITCHRATE_D>) _param_mc_pitchrate_d,
|
||||||
|
(ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,
|
||||||
|
(ParamFloat<px4::params::MC_YAWRATE_P>) _param_mc_yawrate_p,
|
||||||
|
(ParamFloat<px4::params::MC_YAWRATE_K>) _param_mc_yawrate_k,
|
||||||
|
(ParamFloat<px4::params::MC_YAWRATE_I>) _param_mc_yawrate_i,
|
||||||
|
(ParamFloat<px4::params::MC_YAWRATE_D>) _param_mc_yawrate_d,
|
||||||
|
(ParamFloat<px4::params::MC_YAW_P>) _param_mc_yaw_p
|
||||||
|
)
|
||||||
|
|
||||||
|
static constexpr float _publishing_dt_s = 100e-3f;
|
||||||
|
static constexpr hrt_abstime _publishing_dt_hrt = 100_ms;
|
||||||
|
};
|
||||||
@@ -0,0 +1,98 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file autotune_attitude_control_params.c
|
||||||
|
*
|
||||||
|
* Parameters used by the attitude auto-tuner
|
||||||
|
*
|
||||||
|
* @author Mathieu Bresciani <mathieu@auterion.com>
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Start the autotuning sequence
|
||||||
|
*
|
||||||
|
* WARNING: this will inject steps to the rate controller
|
||||||
|
* and can be dangerous. Only activate if you know what you
|
||||||
|
* are doing, and in a safe environment.
|
||||||
|
*
|
||||||
|
* Any motion of the remote stick will abord the signal
|
||||||
|
* injection and reset this parameter
|
||||||
|
* Best is to perform the identification in position or
|
||||||
|
* hold mode.
|
||||||
|
* Increase the amplitude of the injected signal using
|
||||||
|
* MC_AT_SYSID_AMP for more signal/noise ratio
|
||||||
|
*
|
||||||
|
* @boolean
|
||||||
|
* @group Autotune
|
||||||
|
*/
|
||||||
|
PARAM_DEFINE_INT32(MC_AT_START, 0);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Amplitude of the injected signal
|
||||||
|
*
|
||||||
|
* @min 0.1
|
||||||
|
* @max 6.0
|
||||||
|
* @decimal 1
|
||||||
|
* @group Autotune
|
||||||
|
*/
|
||||||
|
PARAM_DEFINE_FLOAT(MC_AT_SYSID_AMP, 0.7);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Controls when to apply the new gains
|
||||||
|
*
|
||||||
|
* After the auto-tuning sequence is completed,
|
||||||
|
* a new set of gains is available and can be applied
|
||||||
|
* immediately or after landing.
|
||||||
|
*
|
||||||
|
* WARNING Applying the gains in air is dangerous as there is no
|
||||||
|
* guarantee that those new gains will be able to stabilize
|
||||||
|
* the drone properly.
|
||||||
|
*
|
||||||
|
* @value 0 Do not apply the new gains (logging only)
|
||||||
|
* @value 1 Apply the new gains after disarm
|
||||||
|
* @value 2 WARNING Apply the new gains in air
|
||||||
|
* @group Autotune
|
||||||
|
*/
|
||||||
|
PARAM_DEFINE_INT32(MC_AT_APPLY, 1);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Desired angular rate closed-loop rise time
|
||||||
|
*
|
||||||
|
* @min 0.01
|
||||||
|
* @max 0.5
|
||||||
|
* @decimal 2
|
||||||
|
* @unit s
|
||||||
|
* @group Autotune
|
||||||
|
*/
|
||||||
|
PARAM_DEFINE_FLOAT(MC_AT_RISE_TIME, 0.14);
|
||||||
Reference in New Issue
Block a user