mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-12 11:26:31 +08:00
Merge branch 'master' into new_state_machine
compiling again Conflicts: src/modules/fixedwing_att_control/fixedwing_att_control_att.c src/modules/fixedwing_att_control/fixedwing_att_control_rate.c src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c src/modules/mavlink/orb_listener.c src/modules/multirotor_att_control/multirotor_attitude_control.c src/modules/multirotor_att_control/multirotor_rate_control.c src/modules/systemlib/pid/pid.c src/modules/systemlib/pid/pid.h src/modules/uORB/objects_common.cpp
This commit is contained in:
Julian Oes
@@ -43,11 +43,7 @@
|
||||
#define CONVERSIONS_H_
|
||||
#include <float.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#define CONSTANTS_ONE_G 9.80665f // m/s^2
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||||
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f // kg/m^3
|
||||
#define CONSTANTS_AIR_GAS_CONST 287.1f // J/(kg * K)
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||||
#define CONSTANTS_ABSOLUTE_NULL_CELSIUS -273.15f // °C
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||||
#include <systemlib/geo/geo.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
/****************************************************************************
|
||||
* configs/px4fmu/src/up_leds.c
|
||||
* arch/arm/src/board/up_leds.c
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -15,7 +14,7 @@
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* 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.
|
||||
*
|
||||
@@ -34,18 +33,26 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file cpuload.c
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||||
*
|
||||
* Measurement of CPU load of each individual task.
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||||
*
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||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
*/
|
||||
#include <nuttx/config.h>
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#include <nuttx/sched.h>
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||||
|
||||
#include <sys/types.h>
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||||
#include <stdint.h>
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||||
#include <stdbool.h>
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||||
|
||||
#include <arch/arch.h>
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||||
|
||||
#include <debug.h>
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||||
|
||||
#include <sys/time.h>
|
||||
#include <sched.h>
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||||
|
||||
#include <arch/board/board.h>
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||||
#include <drivers/drv_hrt.h>
|
||||
@@ -54,26 +61,13 @@
|
||||
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
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||||
|
||||
/****************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
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||||
****************************************************************************/
|
||||
|
||||
__EXPORT void sched_note_start(FAR _TCB *tcb);
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||||
__EXPORT void sched_note_stop(FAR _TCB *tcb);
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__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
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||||
|
||||
/****************************************************************************
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||||
* Name:
|
||||
****************************************************************************/
|
||||
__EXPORT void sched_note_start(FAR struct tcb_s *tcb);
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__EXPORT void sched_note_stop(FAR struct tcb_s *tcb);
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||||
__EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb);
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||||
|
||||
__EXPORT struct system_load_s system_load;
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||||
|
||||
extern FAR _TCB *sched_gettcb(pid_t pid);
|
||||
extern FAR struct _TCB *sched_gettcb(pid_t pid);
|
||||
|
||||
void cpuload_initialize_once()
|
||||
{
|
||||
@@ -109,7 +103,7 @@ void cpuload_initialize_once()
|
||||
// }
|
||||
}
|
||||
|
||||
void sched_note_start(FAR _TCB *tcb)
|
||||
void sched_note_start(FAR struct tcb_s *tcb)
|
||||
{
|
||||
/* search first free slot */
|
||||
int i;
|
||||
@@ -128,7 +122,7 @@ void sched_note_start(FAR _TCB *tcb)
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||||
}
|
||||
}
|
||||
|
||||
void sched_note_stop(FAR _TCB *tcb)
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||||
void sched_note_stop(FAR struct tcb_s *tcb)
|
||||
{
|
||||
int i;
|
||||
|
||||
@@ -145,7 +139,7 @@ void sched_note_stop(FAR _TCB *tcb)
|
||||
}
|
||||
}
|
||||
|
||||
void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
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||||
void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pToTcb)
|
||||
{
|
||||
uint64_t new_time = hrt_absolute_time();
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012, 2013 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
|
||||
@@ -43,7 +43,7 @@ struct system_load_taskinfo_s {
|
||||
uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
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uint64_t curr_start_time; ///< Start time of the current scheduling slot
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uint64_t start_time; ///< FIRST start time of task
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||||
FAR struct _TCB *tcb; ///<
|
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FAR struct tcb_s *tcb; ///<
|
||||
bool valid; ///< Task is currently active / valid
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||||
};
|
||||
|
||||
@@ -60,4 +60,6 @@ __EXPORT extern struct system_load_s system_load;
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||||
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||||
__EXPORT void cpuload_initialize_once(void);
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||||
|
||||
__END_DECLS
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||||
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||||
#endif
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||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012, 2013 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
|
||||
@@ -61,7 +61,7 @@ const char *
|
||||
getprogname(void)
|
||||
{
|
||||
#if CONFIG_TASK_NAME_SIZE > 0
|
||||
_TCB *thisproc = sched_self();
|
||||
FAR struct tcb_s *thisproc = sched_self();
|
||||
|
||||
return thisproc->name;
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||||
#else
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||||
|
||||
@@ -45,9 +45,23 @@
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||||
* Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
|
||||
*/
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||||
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
|
||||
#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C 1.225f /* kg/m^3 */
|
||||
#define CONSTANTS_AIR_GAS_CONST 287.1f /* J/(kg * K) */
|
||||
#define CONSTANTS_ABSOLUTE_NULL_CELSIUS -273.15f /* °C */
|
||||
#define CONSTANTS_RADIUS_OF_EARTH 6371000 /* meters (m) */
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||||
|
||||
/* compatibility aliases */
|
||||
#define RADIUS_OF_EARTH CONSTANTS_RADIUS_OF_EARTH
|
||||
#define GRAVITY_MSS CONSTANTS_ONE_G
|
||||
|
||||
// XXX remove
|
||||
struct crosstrack_error_s {
|
||||
bool past_end; // Flag indicating we are past the end of the line/arc segment
|
||||
float distance; // Distance in meters to closest point on line/arc
|
||||
@@ -111,3 +125,5 @@ __EXPORT float _wrap_180(float bearing);
|
||||
__EXPORT float _wrap_360(float bearing);
|
||||
__EXPORT float _wrap_pi(float bearing);
|
||||
__EXPORT float _wrap_2pi(float bearing);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* Anton Babushkin <anton.babushkin@me.com>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -36,14 +38,21 @@
|
||||
|
||||
/**
|
||||
* @file pid.c
|
||||
* Implementation of generic PID control interface
|
||||
*
|
||||
* Implementation of generic PID control interface.
|
||||
*
|
||||
* @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#include "pid.h"
|
||||
#include <math.h>
|
||||
|
||||
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
|
||||
float limit, float diff_filter_factor, uint8_t mode)
|
||||
float limit, uint8_t mode, float dt_min)
|
||||
{
|
||||
pid->kp = kp;
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||||
pid->ki = ki;
|
||||
@@ -51,17 +60,15 @@ __EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
|
||||
pid->intmax = intmax;
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||||
pid->limit = limit;
|
||||
pid->mode = mode;
|
||||
pid->diff_filter_factor = diff_filter_factor;
|
||||
pid->dt_min = dt_min;
|
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pid->count = 0.0f;
|
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pid->saturated = 0.0f;
|
||||
pid->last_output = 0.0f;
|
||||
|
||||
pid->sp = 0.0f;
|
||||
pid->error_previous_filtered = 0.0f;
|
||||
pid->control_previous = 0.0f;
|
||||
pid->error_previous = 0.0f;
|
||||
pid->integral = 0.0f;
|
||||
}
|
||||
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor)
|
||||
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
|
||||
{
|
||||
int ret = 0;
|
||||
|
||||
@@ -100,13 +107,6 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
if (isfinite(diff_filter_factor)) {
|
||||
pid->diff_filter_factor = diff_filter_factor;
|
||||
|
||||
} else {
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -144,20 +144,16 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
|
||||
|
||||
// Calculated current error value
|
||||
float error = pid->sp - val;
|
||||
float error_filtered;
|
||||
|
||||
// Calculate or measured current error derivative
|
||||
|
||||
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
|
||||
d = (error - pid->error_previous) / fmaxf(dt, pid->dt_min);
|
||||
pid->error_previous = error;
|
||||
|
||||
error_filtered = pid->error_previous_filtered + (error - pid->error_previous_filtered) * pid->diff_filter_factor;
|
||||
d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f); // fail-safe for too low dt
|
||||
pid->error_previous_filtered = error_filtered;
|
||||
} else if (pid->mode == PID_MODE_DERIVATIV_CALC_NO_SP) {
|
||||
d = (-val - pid->error_previous) / fmaxf(dt, pid->dt_min);
|
||||
pid->error_previous = -val;
|
||||
|
||||
error_filtered = pid->error_previous_filtered + (- val - pid->error_previous_filtered) * pid->diff_filter_factor;
|
||||
d = (error_filtered - pid->error_previous_filtered) / fmaxf(dt, 0.003f); // fail-safe for too low dt
|
||||
pid->error_previous_filtered = error_filtered;
|
||||
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
|
||||
d = -val_dot;
|
||||
|
||||
@@ -165,6 +161,10 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
|
||||
d = 0.0f;
|
||||
}
|
||||
|
||||
if (!isfinite(d)) {
|
||||
d = 0.0f;
|
||||
}
|
||||
|
||||
// Calculate the error integral and check for saturation
|
||||
i = pid->integral + (error * dt);
|
||||
|
||||
@@ -175,7 +175,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
|
||||
|
||||
} else {
|
||||
if (!isfinite(i)) {
|
||||
i = 0;
|
||||
i = 0.0f;
|
||||
}
|
||||
|
||||
pid->integral = i;
|
||||
@@ -184,20 +184,18 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
|
||||
|
||||
// Calculate the output. Limit output magnitude to pid->limit
|
||||
float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
|
||||
if (output > pid->limit) output = pid->limit;
|
||||
|
||||
if (output < -pid->limit) output = -pid->limit;
|
||||
|
||||
if (isfinite(output)) {
|
||||
if (output > pid->limit) {
|
||||
output = pid->limit;
|
||||
|
||||
} else if (output < -pid->limit) {
|
||||
output = -pid->limit;
|
||||
}
|
||||
|
||||
pid->last_output = output;
|
||||
}
|
||||
|
||||
pid->control_previous = pid->last_output;
|
||||
|
||||
// if (isfinite(error)) { // Why is this necessary? DEW
|
||||
// pid->error_previous = error;
|
||||
// }
|
||||
|
||||
*ctrl_p = (error * pid->kp);
|
||||
*ctrl_i = (i * pid->ki);
|
||||
*ctrl_d = (d * pid->kd);
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* Anton Babushkin <anton.babushkin@me.com>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -36,7 +38,14 @@
|
||||
|
||||
/**
|
||||
* @file pid.h
|
||||
* Definition of generic PID control interface
|
||||
*
|
||||
* Definition of generic PID control interface.
|
||||
*
|
||||
* @author Laurens Mackay <mackayl@student.ethz.ch>
|
||||
* @author Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* @author Martin Rutschmann <rutmarti@student.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef PID_H_
|
||||
@@ -44,6 +53,8 @@
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
|
||||
* val_dot in pid_calculate() will be ignored */
|
||||
#define PID_MODE_DERIVATIV_CALC 0
|
||||
@@ -62,22 +73,22 @@ typedef struct {
|
||||
float intmax;
|
||||
float sp;
|
||||
float integral;
|
||||
float error_previous_filtered;
|
||||
float control_previous;
|
||||
float error_previous;
|
||||
float last_output;
|
||||
float limit;
|
||||
float dt_min;
|
||||
uint8_t mode;
|
||||
float diff_filter_factor;
|
||||
uint8_t count;
|
||||
uint8_t saturated;
|
||||
} PID_t;
|
||||
|
||||
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor, uint8_t mode);
|
||||
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, float diff_filter_factor);
|
||||
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode, float dt_min);
|
||||
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
|
||||
//void pid_set(PID_t *pid, float sp);
|
||||
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt, float *ctrl_p, float *ctrl_i, float *ctrl_d);
|
||||
|
||||
__EXPORT void pid_reset_integral(PID_t *pid);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
#endif /* PID_H_ */
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
|
||||
#include "systemlib.h"
|
||||
|
||||
static void kill_task(FAR _TCB *tcb, FAR void *arg);
|
||||
static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
|
||||
|
||||
void killall()
|
||||
{
|
||||
@@ -60,12 +60,12 @@ void killall()
|
||||
sched_foreach(kill_task, NULL);
|
||||
}
|
||||
|
||||
static void kill_task(FAR _TCB *tcb, FAR void *arg)
|
||||
static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
|
||||
{
|
||||
kill(tcb->pid, SIGUSR1);
|
||||
}
|
||||
|
||||
int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
|
||||
int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
|
||||
{
|
||||
int pid;
|
||||
|
||||
|
||||
@@ -42,11 +42,11 @@
|
||||
#include <float.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/** Reboots the board */
|
||||
extern void up_systemreset(void) noreturn_function;
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/** Sends SIGUSR1 to all processes */
|
||||
__EXPORT void killall(void);
|
||||
|
||||
@@ -58,7 +58,7 @@ __EXPORT void killall(void);
|
||||
#endif
|
||||
|
||||
/** Starts a task and performs any specific accounting, scheduler setup, etc. */
|
||||
__EXPORT int task_spawn(const char *name,
|
||||
__EXPORT int task_spawn_cmd(const char *name,
|
||||
int priority,
|
||||
int scheduler,
|
||||
int stack_size,
|
||||
|
||||
Reference in New Issue
Block a user