Lorenz Meier
13 years ago
5 changed files with 310 additions and 230 deletions
@ -1,235 +1,235 @@
@@ -1,235 +1,235 @@
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/****************************************************************************
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* |
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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* @author Laurens Mackay <mackayl@student.ethz.ch> |
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* @author Tobias Naegeli <naegelit@student.ethz.ch> |
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* @author Martin Rutschmann <rutmarti@student.ethz.ch> |
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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 |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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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 |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* 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 multirotor_position_control.c |
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* Implementation of the position control for a multirotor VTOL |
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*/ |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <stdint.h> |
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#include <math.h> |
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#include <stdbool.h> |
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#include <float.h> |
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#include <systemlib/pid/pid.h> |
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#include "multirotor_position_control.h" |
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void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, |
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const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, |
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const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) |
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{ |
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static PID_t distance_controller; |
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static int read_ret; |
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static global_data_position_t position_estimated; |
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static uint16_t counter; |
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static bool initialized; |
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static uint16_t pm_counter; |
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static float lat_next; |
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static float lon_next; |
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static float pitch_current; |
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static float thrust_total; |
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if (initialized == false) { |
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pid_init(&distance_controller, |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], |
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PID_MODE_DERIVATIV_CALC, 150);//150
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// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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thrust_total = 0.0f; |
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/* Position initialization */ |
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/* Wait for new position estimate */ |
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do { |
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read_ret = read_lock_position(&position_estimated); |
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} while (read_ret != 0); |
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lat_next = position_estimated.lat; |
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lon_next = position_estimated.lon; |
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/* attitude initialization */ |
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global_data_lock(&global_data_attitude->access_conf); |
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pitch_current = global_data_attitude->pitch; |
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global_data_unlock(&global_data_attitude->access_conf); |
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initialized = true; |
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} |
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/* load new parameters with 10Hz */ |
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if (counter % 50 == 0) { |
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if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { |
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/* check whether new parameters are available */ |
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if (global_data_parameter_storage->counter > pm_counter) { |
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pid_set_parameters(&distance_controller, |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], |
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global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); |
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//
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// pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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pm_counter = global_data_parameter_storage->counter; |
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printf("Position controller changed pid parameters\n"); |
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} |
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} |
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// /****************************************************************************
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// *
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// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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// * Author: @author Lorenz Meier <lm@inf.ethz.ch>
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// * @author Laurens Mackay <mackayl@student.ethz.ch>
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// * @author Tobias Naegeli <naegelit@student.ethz.ch>
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// * @author Martin Rutschmann <rutmarti@student.ethz.ch>
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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
|
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// * notice, this list of conditions and the following disclaimer.
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// * 2. Redistributions in binary form must reproduce the above copyright
|
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// * notice, this list of conditions and the following disclaimer in
|
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// * the documentation and/or other materials provided with the
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// * distribution.
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// * 3. Neither the name PX4 nor the names of its contributors may be
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// * used to endorse or promote products derived from this software
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// * without specific prior written permission.
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// *
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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
|
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// * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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// * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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// * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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// * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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// * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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// * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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// * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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// * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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// * 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 multirotor_position_control.c
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// * Implementation of the position control for a multirotor VTOL
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// */
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// #include <stdio.h>
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// #include <stdlib.h>
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// #include <stdio.h>
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// #include <stdint.h>
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// #include <math.h>
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// #include <stdbool.h>
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// #include <float.h>
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// #include <systemlib/pid/pid.h>
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// #include "multirotor_position_control.h"
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// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
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// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
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// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
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// {
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// static PID_t distance_controller;
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// static int read_ret;
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// static global_data_position_t position_estimated;
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// static uint16_t counter;
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// static bool initialized;
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// static uint16_t pm_counter;
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// static float lat_next;
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// static float lon_next;
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// static float pitch_current;
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// static float thrust_total;
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// if (initialized == false) {
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// pid_init(&distance_controller,
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU],
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// PID_MODE_DERIVATIV_CALC, 150);//150
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// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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// thrust_total = 0.0f;
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// /* Position initialization */
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// /* Wait for new position estimate */
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// do {
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// read_ret = read_lock_position(&position_estimated);
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// } while (read_ret != 0);
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// lat_next = position_estimated.lat;
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// lon_next = position_estimated.lon;
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// /* attitude initialization */
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// global_data_lock(&global_data_attitude->access_conf);
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// pitch_current = global_data_attitude->pitch;
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// global_data_unlock(&global_data_attitude->access_conf);
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// initialized = true;
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// }
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// /* load new parameters with 10Hz */
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// if (counter % 50 == 0) {
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// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) {
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// /* check whether new parameters are available */
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// if (global_data_parameter_storage->counter > pm_counter) {
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// pid_set_parameters(&distance_controller,
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P],
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I],
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D],
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// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]);
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// //
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// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM];
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// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM];
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// pm_counter = global_data_parameter_storage->counter;
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// printf("Position controller changed pid parameters\n");
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// }
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// }
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global_data_unlock(&global_data_parameter_storage->access_conf); |
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} |
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// global_data_unlock(&global_data_parameter_storage->access_conf);
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// }
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/* Wait for new position estimate */ |
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do { |
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read_ret = read_lock_position(&position_estimated); |
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} while (read_ret != 0); |
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// /* Wait for new position estimate */
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// do {
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// read_ret = read_lock_position(&position_estimated);
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// } while (read_ret != 0);
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/* Get next waypoint */ //TODO: add local copy
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// /* Get next waypoint */ //TODO: add local copy
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if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { |
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lat_next = global_data_position_setpoint->x; |
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lon_next = global_data_position_setpoint->y; |
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global_data_unlock(&global_data_position_setpoint->access_conf); |
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} |
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// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) {
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// lat_next = global_data_position_setpoint->x;
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// lon_next = global_data_position_setpoint->y;
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// global_data_unlock(&global_data_position_setpoint->access_conf);
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// }
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/* Get distance to waypoint */ |
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float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); |
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// if(counter % 5 == 0)
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// printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
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// /* Get distance to waypoint */
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// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next);
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// // if(counter % 5 == 0)
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// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint);
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/* Get bearing to waypoint (direction on earth surface to next waypoint) */ |
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float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); |
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// /* Get bearing to waypoint (direction on earth surface to next waypoint) */
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// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next);
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if (counter % 5 == 0) |
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printf("bearing: %.4f\n", bearing); |
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// if (counter % 5 == 0)
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// printf("bearing: %.4f\n", bearing);
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/* Calculate speed in direction of bearing (needed for controller) */ |
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float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); |
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// if(counter % 5 == 0)
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// printf("speed_norm: %.4f\n", speed_norm);
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float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
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// /* Calculate speed in direction of bearing (needed for controller) */
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// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy);
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// // if(counter % 5 == 0)
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// // printf("speed_norm: %.4f\n", speed_norm);
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// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller
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/* Control Thrust in bearing direction */ |
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float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, |
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CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
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// /* Control Thrust in bearing direction */
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// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint,
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// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else
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// if(counter % 5 == 0)
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// printf("horizontal thrust: %.4f\n", horizontal_thrust);
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// // if(counter % 5 == 0)
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// // printf("horizontal thrust: %.4f\n", horizontal_thrust);
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/* Get total thrust (from remote for now) */ |
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if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { |
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thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
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global_data_unlock(&global_data_rc_channels->access_conf); |
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} |
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// /* Get total thrust (from remote for now) */
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// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
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// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum?
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// global_data_unlock(&global_data_rc_channels->access_conf);
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// }
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const float max_gas = 500.0f; |
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thrust_total *= max_gas / 20000.0f; //TODO: check this
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thrust_total += max_gas / 2.0f; |
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// const float max_gas = 500.0f;
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// thrust_total *= max_gas / 20000.0f; //TODO: check this
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// thrust_total += max_gas / 2.0f;
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if (horizontal_thrust > thrust_total) { |
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horizontal_thrust = thrust_total; |
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// if (horizontal_thrust > thrust_total) {
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// horizontal_thrust = thrust_total;
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} else if (horizontal_thrust < -thrust_total) { |
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horizontal_thrust = -thrust_total; |
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} |
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// } else if (horizontal_thrust < -thrust_total) {
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// horizontal_thrust = -thrust_total;
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// }
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//TODO: maybe we want to add a speed controller later...
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// //TODO: maybe we want to add a speed controller later...
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/* Calclulate thrust in east and north direction */ |
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float thrust_north = cosf(bearing) * horizontal_thrust; |
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float thrust_east = sinf(bearing) * horizontal_thrust; |
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// /* Calclulate thrust in east and north direction */
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// float thrust_north = cosf(bearing) * horizontal_thrust;
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// float thrust_east = sinf(bearing) * horizontal_thrust;
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if (counter % 10 == 0) { |
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printf("thrust north: %.4f\n", thrust_north); |
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printf("thrust east: %.4f\n", thrust_east); |
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fflush(stdout); |
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} |
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// if (counter % 10 == 0) {
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// printf("thrust north: %.4f\n", thrust_north);
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// printf("thrust east: %.4f\n", thrust_east);
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// fflush(stdout);
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// }
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/* Get current attitude */ |
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if (0 == global_data_trylock(&global_data_attitude->access_conf)) { |
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pitch_current = global_data_attitude->pitch; |
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global_data_unlock(&global_data_attitude->access_conf); |
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} |
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// /* Get current attitude */
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// if (0 == global_data_trylock(&global_data_attitude->access_conf)) {
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// pitch_current = global_data_attitude->pitch;
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// global_data_unlock(&global_data_attitude->access_conf);
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// }
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/* Get desired pitch & roll */ |
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float pitch_desired = 0.0f; |
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float roll_desired = 0.0f; |
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// /* Get desired pitch & roll */
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// float pitch_desired = 0.0f;
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// float roll_desired = 0.0f;
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if (thrust_total != 0) { |
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float pitch_fraction = -thrust_north / thrust_total; |
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float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); |
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// if (thrust_total != 0) {
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// float pitch_fraction = -thrust_north / thrust_total;
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// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total);
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if (roll_fraction < -1) { |
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roll_fraction = -1; |
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// if (roll_fraction < -1) {
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// roll_fraction = -1;
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} else if (roll_fraction > 1) { |
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roll_fraction = 1; |
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} |
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// } else if (roll_fraction > 1) {
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// roll_fraction = 1;
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// }
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// if(counter % 5 == 0)
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// {
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// printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
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// fflush(stdout);
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// }
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// // if(counter % 5 == 0)
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// // {
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// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction);
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// // fflush(stdout);
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// // }
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pitch_desired = asinf(pitch_fraction); |
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roll_desired = asinf(roll_fraction); |
||||
} |
||||
// pitch_desired = asinf(pitch_fraction);
|
||||
// roll_desired = asinf(roll_fraction);
|
||||
// }
|
||||
|
||||
att_sp.roll = roll_desired; |
||||
att_sp.pitch = pitch_desired; |
||||
// att_sp.roll = roll_desired;
|
||||
// att_sp.pitch = pitch_desired;
|
||||
|
||||
counter++; |
||||
} |
||||
// counter++;
|
||||
// }
|
||||
|
||||
Loading…
Reference in new issue