[work in progess]roll attitude and roll rate loop works

apps/fixedwing_att_control/fixedwing_att_control_att.c

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.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 fixedwing_att_control_rate.c
+ * Implementation of a fixed wing attitude controller.
+ */
+#include <fixedwing_att_control_rate.h>
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <systemlib/param/param.h>
+#include <systemlib/pid/pid.h>
+#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
+
+
+
+
+struct fw_att_control_params {
+	param_t roll_p;
+};
+
+
+
+/* Internal Prototypes */
+static int parameters_init(struct fw_att_control_params *h);
+static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p);
+
+static int parameters_init(struct fw_att_control_params *h)
+{
+	/* PID parameters */
+	h->roll_p 	=	param_find("FW_ROLL_POS_P");   //TODO define rate params for fixed wing
+
+
+//	if(h->attrate_i == PARAM_INVALID)
+//		printf("FATAL MC_ATTRATE_I does not exist\n");
+
+	return OK;
+}
+
+static int parameters_update(const struct fw_att_control_params *h, struct fw_att_control_params *p)
+{
+	param_get(h->roll_p, &(p->roll_p));
+
+	return OK;
+}
+
+int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+		const struct vehicle_attitude_s *att,
+		struct vehicle_rates_setpoint_s *rates_sp)
+{
+	static int counter = 0;
+	static bool initialized = false;
+
+	static struct fw_att_control_params p;
+	static struct fw_att_control_params h;
+
+	static uint64_t last_run = 0;
+	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
+	last_run = hrt_absolute_time();
+
+	if(!initialized)
+	{
+		parameters_init(&h);
+		parameters_update(&h, &p);
+		initialized = true;
+	}
+
+	/* load new parameters with lower rate */
+	if (counter % 2500 == 0) {
+		/* update parameters from storage */
+		parameters_update(&h, &p);
+	}
+
+	/* Roll (P) */
+	float roll_error = att_sp->roll_tait_bryan - att->roll;
+	rates_sp->roll = p.roll_p * roll_error;
+
+	counter++;
+
+	return 0;
+}
+
+
+

apps/fixedwing_att_control/fixedwing_att_control_att.h

@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.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 Main system state machine definition */
+
+#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
+#define FIXEDWING_ATT_CONTROL_ATT_H_
+
+#include <uORB/topics/vehicle_rates_setpoint.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_attitude.h>
+
+int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
+		const struct vehicle_attitude_s *att,
+		struct vehicle_rates_setpoint_s *rates_sp);
+
+#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */

apps/fixedwing_att_control/fixedwing_att_control_main.c

@@ -63,6 +63,7 @@
 #include <systemlib/systemlib.h>
 
 #include <fixedwing_att_control_rate.h>
+#include <fixedwing_att_control_att.h>
 
 /* Prototypes */
 /**
@@ -103,6 +104,8 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 		/* declare and safely initialize all structs */
 		struct vehicle_attitude_s att;
 		memset(&att, 0, sizeof(att));
+		struct vehicle_attitude_setpoint_s att_sp;
+		memset(&att_sp, 0, sizeof(att_sp));
 		struct vehicle_rates_setpoint_s rates_sp;
 		memset(&rates_sp, 0, sizeof(rates_sp));
 
@@ -117,8 +120,9 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 
 
 
-		/* subscribe to attitude (for attitude rate) and rate septoint */
+		/* subscribe  */
 		int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+		int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 
 		/* Setup of loop */
 		float gyro[3] = {0.0f, 0.0f, 0.0f};
@@ -140,8 +144,13 @@ int fixedwing_att_control_thread_main(int argc, char *argv[])
 			/* Control */
 
 			/* Attitude Control */
-			rates_sp.roll = 0.0f;
-			rates_sp.pitch = 0.0f;
+			att_sp.roll_tait_bryan = 0.0f; //REMOVEME TODO
+			att_sp.pitch_tait_bryan = 0.0f;
+			att_sp.yaw_tait_bryan = 0.0f;
+			fixedwing_att_control_attitude(&att_sp,
+					&att,
+					&rates_sp);
+			rates_sp.pitch = 0.0f; //REMOVEME TODO
 			rates_sp.yaw = 0.0f;
 
 			/* Attitude Rate Control */

apps/fixedwing_att_control/fixedwing_att_control_rate.c

@@ -155,8 +155,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	}
 
 	/* Roll Rate (PI) */
-	float roll_rate_error = rate_sp->roll - rates[0];
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);;
+	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
 
 	actuators->control[1] = 0;

apps/uORB/topics/vehicle_attitude_setpoint.h

@@ -56,9 +56,9 @@ struct vehicle_attitude_setpoint_s
 {
 	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	//float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	//float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
-	//float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float roll_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float pitch_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
+	float yaw_tait_bryan;			/**< Tait-Bryan angle in NED frame		*/
 	//float tait_bryan_valid;			/**< Set to true if Tait-Bryan angles are valid */
 
 	float roll_body;				/**< body angle in NED frame		*/