Mirrors_Framework/PX4-Autopilot
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Merge remote-tracking branch 'upstream/ardrone'

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This commit is contained in:
Julian Oes
2012-09-25 18:19:12 +02:00
parent 5c00ca343f 705172d302
commit 0eae48d480
59 changed files with 2925 additions and 2113 deletions
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apps/systemlib/Makefile
+2 -1
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@@ -48,7 +48,8 @@ CSRCS = err.c \
#
ifeq ($(TARGET),px4fmu)
CSRCS += systemlib.c \
pid/pid.c
pid/pid.c \
geo/geo.c
endif
include $(APPDIR)/mk/app.mk
apps/systemlib/geo/geo.c
+88
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@@ -0,0 +1,88 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@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
* 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 geo.c
*
* Geo / math functions to perform geodesic calculations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <systemlib/geo/geo.h>
#include <math.h>
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
const double radius_earth = 6371000.0;
return radius_earth * c;
}
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
// XXX wrapping check is incomplete
if (theta < 0.0f) {
theta = theta + 2.0f * M_PI_F;
}
return theta;
}
apps/systemlib/geo/geo.h
+49
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@@ -0,0 +1,49 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@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
* 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 geo.h
*
* Definition of geo / math functions to perform geodesic calculations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
apps/systemlib/pid/pid.c
+68 -23
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@@ -40,34 +40,54 @@
*/
#include "pid.h"
#include <math.h>
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
uint8_t mode, uint8_t plot_i)
uint8_t mode)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
pid->mode = mode;
pid->plot_i = plot_i;
pid->count = 0;
pid->saturated = 0;
pid->last_output = 0;
pid->sp = 0;
pid->error_previous = 0;
pid->integral = 0;
}
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
// pid->mode = mode;
int ret = 0;
// pid->sp = 0;
// pid->error_previous = 0;
// pid->integral = 0;
if (isfinite(kp)) {
pid->kp = kp;
} else {
ret = 1;
}
if (isfinite(ki)) {
pid->ki = ki;
} else {
ret = 1;
}
if (isfinite(kd)) {
pid->kd = kd;
} else {
ret = 1;
}
if (isfinite(intmax)) {
pid->intmax = intmax;
} else {
ret = 1;
}
// pid->limit = limit;
return ret;
}
//void pid_set(PID_t *pid, float sp)
@@ -95,6 +115,11 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
goto start
*/
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt))
{
return pid->last_output;
}
float i, d;
pid->sp = sp;
float error = pid->sp - val;
@@ -111,7 +136,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
}
// Anti-Windup. Needed if we don't use the saturation above.
if (pid->intmax != 0.0) {
if (pid->intmax != 0.0f) {
if (i > pid->intmax) {
pid->integral = pid->intmax;
@@ -122,14 +147,6 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
} else {
pid->integral = i;
}
//Send Controller integrals
// Disabled because of new possibilities with debug_vect.
// Now sent in Main Loop at 5 Hz. 26.06.2010 Laurens
// if (pid->plot_i && (pid->count++ % 16 == 0)&&(global_data.param[PARAM_SEND_SLOT_DEBUG_2] == 1))
// {
// mavlink_msg_debug_send(MAVLINK_COMM_1, pid->plot_i, pid->integral);
// }
}
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
@@ -139,10 +156,38 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
d = -val_dot;
} else {
d = 0;
d = 0.0f;
}
pid->error_previous = error;
if (pid->kd == 0.0f) {
d = 0.0f;
}
return (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (pid->ki == 0.0f) {
i = 0;
}
float p;
if (pid->kp == 0.0f) {
p = 0.0f;
} else {
p = error;
}
if (isfinite(error)) {
pid->error_previous = error;
}
float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (isfinite(output)) {
pid->last_output = output;
}
if (!isfinite(pid->integral)) {
pid->integral = 0;
}
return pid->last_output;
}
apps/systemlib/pid/pid.h
+4 -3
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@@ -58,14 +58,15 @@ typedef struct {
float sp;
float integral;
float error_previous;
float last_output;
float limit;
uint8_t mode;
uint8_t plot_i;
uint8_t count;
uint8_t saturated;
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode, uint8_t plot_i);
__EXPORT void pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, uint8_t mode);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax);
//void pid_set(PID_t *pid, float sp);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);