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https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 03:13:44 +08:00
Ported attitude controller to new param interface
This commit is contained in:
Lorenz Meier
@@ -54,23 +54,138 @@
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#include <systemlib/param/param.h>
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#include <arch/board/up_hrt.h>
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PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
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PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.02f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.0f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.02f);
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PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.1f);
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PARAM_DEFINE_FLOAT(MC_ATT_P, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATT_P, 0.3f);
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PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATT_D, 0.1f);
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PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
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PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.3f);
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PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f);
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PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f);
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struct mc_att_control_params {
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float yaw_p;
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float yaw_i;
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float yaw_d;
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float yaw_awu;
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float yaw_lim;
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float yawrate_p;
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float yawrate_i;
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float yawrate_d;
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float yawrate_awu;
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float yawrate_lim;
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float att_p;
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float att_i;
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float att_d;
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float att_awu;
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float att_lim;
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float att_xoff;
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float att_yoff;
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};
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struct mc_att_control_param_handles {
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param_t yaw_p;
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param_t yaw_i;
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param_t yaw_d;
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param_t yaw_awu;
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param_t yaw_lim;
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param_t yawrate_p;
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param_t yawrate_i;
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param_t yawrate_d;
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param_t yawrate_awu;
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param_t yawrate_lim;
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param_t att_p;
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param_t att_i;
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param_t att_d;
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param_t att_awu;
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param_t att_lim;
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param_t att_xoff;
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param_t att_yoff;
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};
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/**
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* Initialize all parameter handles and values
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*
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*/
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static int parameters_init(struct mc_att_control_param_handles *h);
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/**
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* Update all parameters
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*
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*/
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static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p);
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static int parameters_init(struct mc_att_control_param_handles *h)
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{
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/* PID parameters */
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h->yaw_p = param_find("MC_YAWPOS_P");
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h->yaw_i = param_find("MC_YAWPOS_I");
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h->yaw_d = param_find("MC_YAWPOS_D");
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h->yaw_awu = param_find("MC_YAWPOS_AWU");
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h->yaw_lim = param_find("MC_YAWPOS_LIM");
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h->yawrate_p = param_find("MC_YAWRATE_P");
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h->yawrate_i = param_find("MC_YAWRATE_I");
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h->yawrate_d = param_find("MC_YAWRATE_D");
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h->yawrate_awu = param_find("MC_YAWRATE_AWU");
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h->yawrate_lim = param_find("MC_YAWRATE_LIM");
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h->att_p = param_find("MC_ATT_P");
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h->att_i = param_find("MC_ATT_I");
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h->att_d = param_find("MC_ATT_D");
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h->att_awu = param_find("MC_ATT_AWU");
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h->att_lim = param_find("MC_ATT_LIM");
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h->att_xoff = param_find("MC_ATT_XOFF");
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h->att_yoff = param_find("MC_ATT_YOFF");
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return OK;
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}
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static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p)
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{
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param_get(h->yaw_p, &(p->yaw_p));
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param_get(h->yaw_i, &(p->yaw_i));
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param_get(h->yaw_d, &(p->yaw_d));
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param_get(h->yaw_awu, &(p->yaw_awu));
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param_get(h->yaw_lim, &(p->yaw_lim));
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param_get(h->yawrate_p, &(p->yawrate_p));
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param_get(h->yawrate_i, &(p->yawrate_i));
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param_get(h->yawrate_d, &(p->yawrate_d));
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param_get(h->yawrate_awu, &(p->yawrate_awu));
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param_get(h->yawrate_lim, &(p->yawrate_lim));
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param_get(h->att_p, &(p->att_p));
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param_get(h->att_i, &(p->att_i));
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param_get(h->att_d, &(p->att_d));
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param_get(h->att_awu, &(p->att_awu));
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param_get(h->att_lim, &(p->att_lim));
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param_get(h->att_xoff, &(p->att_xoff));
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param_get(h->att_yoff, &(p->att_yoff));
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return OK;
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}
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void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
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const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
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@@ -87,90 +202,49 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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static PID_t pitch_controller;
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static PID_t roll_controller;
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static float pid_yawpos_lim;
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static float pid_yawspeed_lim;
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static float pid_att_lim;
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static struct mc_att_control_params p;
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static struct mc_att_control_param_handles h;
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static bool initialized = false;
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/* initialize the pid controllers when the function is called for the first time */
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if (initialized == false) {
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parameters_init(&h);
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parameters_update(&h, &p);
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pid_init(&yaw_pos_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU],
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PID_MODE_DERIVATIV_CALC, 154);
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pid_init(&yaw_speed_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU],
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PID_MODE_DERIVATIV_CALC, 155);
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pid_init(&pitch_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
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PID_MODE_DERIVATIV_SET, 156);
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pid_init(&roll_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU],
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PID_MODE_DERIVATIV_SET, 157);
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pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
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pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
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pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
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pid_init(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu,
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PID_MODE_DERIVATIV_CALC, 154);
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pid_init(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu,
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PID_MODE_DERIVATIV_CALC, 155);
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pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu,
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PID_MODE_DERIVATIV_SET, 156);
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pid_init(&roll_controller, p.att_d, p.att_i, p.att_d, p.att_awu,
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PID_MODE_DERIVATIV_SET, 157);
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initialized = true;
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}
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/* load new parameters with lower rate */
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if (motor_skip_counter % 50 == 0) {
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pid_set_parameters(&yaw_pos_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_AWU]);
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pid_set_parameters(&yaw_speed_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_AWU]);
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pid_set_parameters(&pitch_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
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pid_set_parameters(&roll_controller,
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_P],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_I],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_D],
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global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_AWU]);
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pid_yawpos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWPOS_LIM];
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pid_yawspeed_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_YAWSPEED_LIM];
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pid_att_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_ATT_LIM];
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/* update parameters from storage */
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parameters_update(&h, &p);
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/* apply parameters */
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pid_set_parameters(&yaw_pos_controller, p.yaw_p, p.yaw_i, p.yaw_d, p.yaw_awu);
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pid_set_parameters(&yaw_speed_controller, p.yawrate_p, p.yawrate_d, p.yawrate_i, p.yawrate_awu);
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pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
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pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, p.att_awu);
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}
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/*Calculate Controllers*/
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//control Nick
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float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_YOFFSET],
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/* calculate current control outputs */
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/* control pitch (forward) output */
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float pitch_control = pid_calculate(&pitch_controller, att_sp->pitch_body + p.att_xoff,
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att->pitch, att->pitchspeed, deltaT);
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//control Roll
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float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + global_data_parameter_storage->pm.param_values[PARAM_ATT_XOFFSET],
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/* control roll (left/right) output */
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float roll_control = pid_calculate(&roll_controller, att_sp->roll_body + p.att_yoff,
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att->roll, att->rollspeed, deltaT);
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//control Yaw Speed
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float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT); //attitude_setpoint_bodyframe.z is yaw speed!
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/* control yaw rate */
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float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT);
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/*
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* compensate the vertical loss of thrust
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@@ -195,43 +269,40 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
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float motor_thrust = 0.0f;
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// FLYING MODES
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motor_thrust = att_sp->thrust;
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//printf("mot0: %3.1f\n", motor_thrust);
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/* compensate thrust vector for roll / pitch contributions */
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motor_thrust *= zcompensation;
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/* limit yaw rate output */
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if (yaw_rate_control > pid_yawspeed_lim) {
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yaw_rate_control = pid_yawspeed_lim;
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if (yaw_rate_control > p.yawrate_lim) {
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yaw_rate_control = p.yawrate_lim;
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yaw_speed_controller.saturated = 1;
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}
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if (yaw_rate_control < -pid_yawspeed_lim) {
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yaw_rate_control = -pid_yawspeed_lim;
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if (yaw_rate_control < -p.yawrate_lim) {
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yaw_rate_control = -p.yawrate_lim;
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yaw_speed_controller.saturated = 1;
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}
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if (pitch_control > pid_att_lim) {
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pitch_control = pid_att_lim;
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if (pitch_control > p.att_lim) {
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pitch_control = p.att_lim;
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pitch_controller.saturated = 1;
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}
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if (pitch_control < -pid_att_lim) {
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pitch_control = -pid_att_lim;
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if (pitch_control < -p.att_lim) {
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pitch_control = -p.att_lim;
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pitch_controller.saturated = 1;
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}
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if (roll_control > pid_att_lim) {
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roll_control = pid_att_lim;
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if (roll_control > p.att_lim) {
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roll_control = p.att_lim;
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roll_controller.saturated = 1;
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}
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if (roll_control < -pid_att_lim) {
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roll_control = -pid_att_lim;
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if (roll_control < -p.att_lim) {
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roll_control = -p.att_lim;
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roll_controller.saturated = 1;
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}
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