fw_controller testing

apps/fixedwing_att_control/fixedwing_att_control_att.c

@@ -146,13 +146,16 @@ int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att
 	/* Roll (P) */
 	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
 
+
 	/* Pitch (P) */
 	float pitch_sp_rollcompensation = att_sp->pitch_body + p.pitch_roll_compensation_p * att_sp->roll_body;
 	rates_sp->pitch = pid_calculate(&pitch_controller, pitch_sp_rollcompensation, att->pitch, 0, 0);
 
 	/* Yaw (from coordinated turn constraint or lateral force) */
 	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
-			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[1] * sinf(att->pitch));
+			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
+
+//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
 
 	counter++;
 

apps/fixedwing_att_control/fixedwing_att_control_main.c

@@ -230,8 +230,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 				//REMOVEME XXX
 				actuators.control[3] = 0.7f;
 
-	//			debug_output.value = rates_sp.pitch;
-	//			orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
+				debug_output.value = rates_sp.pitch;
+				orb_publish(ORB_ID(debug_key_value), debug_pub, &debug_output);
 			} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
 				/* directly pass through values */
 				actuators.control[0] = manual_sp.roll;

apps/fixedwing_att_control/fixedwing_att_control_rate.c

@@ -169,10 +169,8 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 
 	/* Roll Rate (PI) */
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
-
-
-	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
-	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT);
+	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT);
 
 	counter++;
 

apps/fixedwing_pos_control/fixedwing_pos_control_main.c

@@ -66,10 +66,13 @@
  * Controller parameters, accessible via MAVLink
  *
  */
-PARAM_DEFINE_FLOAT(FW_HEADING_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
+PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
 PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
 PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
+PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
 PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	// Pitch angle limit in radians
 
 
@@ -77,6 +80,7 @@ struct fw_pos_control_params {
 	float heading_p;
 	float headingr_p;
 	float headingr_i;
+	float headingr_lim;
 	float xtrack_p;
 	float altitude_p;
 	float roll_lim;
@@ -87,6 +91,7 @@ struct fw_pos_control_param_handles {
 	param_t heading_p;
 	param_t headingr_p;
 	param_t headingr_i;
+	param_t headingr_lim;
 	param_t xtrack_p;
 	param_t altitude_p;
 	param_t roll_lim;
@@ -140,9 +145,10 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static int parameters_init(struct fw_pos_control_param_handles *h)
 {
 	/* PID parameters */
-	h->heading_p 	=	param_find("FW_HEADING_P");
-	h->headingr_p 	=	param_find("FW_HEADINGR_P");
-	h->headingr_i 	=	param_find("FW_HEADINGR_I");
+	h->heading_p 	=	param_find("FW_HEAD_P");
+	h->headingr_p 	=	param_find("FW_HEADR_P");
+	h->headingr_i 	=	param_find("FW_HEADR_I");
+	h->headingr_lim 	=	param_find("FW_HEADR_LIM");
 	h->xtrack_p 	=	param_find("FW_XTRACK_P");
 	h->altitude_p 	=	param_find("FW_ALT_P");
 	h->roll_lim 	=	param_find("FW_ROLL_LIM");
@@ -157,6 +163,7 @@ static int parameters_update(const struct fw_pos_control_param_handles *h, struc
 	param_get(h->heading_p, &(p->heading_p));
 	param_get(h->headingr_p, &(p->headingr_p));
 	param_get(h->headingr_i, &(p->headingr_i));
+	param_get(h->headingr_lim, &(p->headingr_lim));
 	param_get(h->xtrack_p, &(p->xtrack_p));
 	param_get(h->altitude_p, &(p->altitude_p));
 	param_get(h->roll_lim, &(p->roll_lim));
@@ -239,7 +246,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				parameters_init(&h);
 				parameters_update(&h, &p);
 				pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit
-				pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE);
+				pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f,  1.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); //TODO: integrator limit
 				pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE);
 				pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f*M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value
 				initialized = true;
@@ -250,7 +257,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 				/* update parameters from storage */
 				parameters_update(&h, &p);
 				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
-				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
+				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 1.0f, p.roll_lim); //TODO: integrator limit
 				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
 				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f*M_DEG_TO_RAD); //TODO: remove hardcoded value
 
@@ -293,28 +300,47 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
 
 				if(!(distance_res != OK || xtrack_err.past_end)) {
 
-					float delta_psi_c = -pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
+//					printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
+
+					float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
+
+//					printf("delta_psi_c %.4f ", (double)delta_psi_c);
 
 					float psi_c = psi_track + delta_psi_c;
 
+//					printf("psi_c %.4f ", (double)psi_c);
+
+//					printf("att.yaw %.4f ", (double)att.yaw);
+
 					float psi_e = psi_c - att.yaw;
 
+//					printf("psi_e %.4f ", (double)psi_e);
+
 					/* shift error to prevent wrapping issues */
 					psi_e = _wrap_pi(psi_e);
 
 					/* calculate roll setpoint, do this artificially around zero */
-					//TODO: psi rate loop incomplete
 					float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
 					float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
 					float psi_rate_c = delta_psi_rate_c + psi_rate_track;
 
-					//TODO limit turn rate
+					//limit turn rate
+					if(psi_rate_c > p.headingr_lim)
+						psi_rate_c =  p.headingr_lim;
+					else if(psi_rate_c <  -p.headingr_lim)
+						psi_rate_c = - p.headingr_lim;
+
+//					printf("psi_rate_c %.4f ", (double)psi_rate_c);
 
 					float psi_rate_e = psi_rate_c - att.yawspeed;
 
-					float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g
+					float psi_rate_e_scaled = psi_rate_e * sqrtf(powf(global_pos.vx, 2.0f) + powf(global_pos.vy, 2.0f)) / 9.81f; //* V_gr / g
+
+//					printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
+
+					attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);\
 
-					attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
+//					printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
 
 //					if (counter % 100 == 0)
 //						printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n",xtrack_err.distance, delta_psi_c);

apps/mavlink/mavlink_receiver.c

@@ -300,7 +300,7 @@ handle_message(mavlink_message_t *msg)
 			//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
 
 			if(mavlink_system.type == MAV_TYPE_FIXED_WING) {
-				//TODO: asuming low pitch and roll for now
+				//TODO: assuming low pitch and roll values for now
 				hil_attitude.R[0][0] = cosf(hil_state.yaw);
 				hil_attitude.R[0][1] = sinf(hil_state.yaw);
 				hil_attitude.R[0][2] = 0.0f;