Wip on inner rate loop

.gitignore

@@ -10,6 +10,7 @@ apps/namedapp/namedapp_proto.h
 Make.dep
 *.o
 *.a
+*~
 Images/*.bin
 Images/*.px4
 nuttx/Make.defs

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -293,12 +293,13 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					gyro_offsets[0] += raw.gyro_rad_s[0];
 					gyro_offsets[1] += raw.gyro_rad_s[1];
 					gyro_offsets[2] += raw.gyro_rad_s[2];
-
+					offset_count+=1;
 					if (hrt_absolute_time() - start_time > 3000000LL) {
 						initialized = true;
 						gyro_offsets[0] /= offset_count;
 						gyro_offsets[1] /= offset_count;
 						gyro_offsets[2] /= offset_count;
+						printf("pipapo %d\n",(int)(gyro_offsets[2]*1000) );
 					}
 				} else {
 
@@ -315,9 +316,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
 
-					z_k[0] =  raw.gyro_rad_s[0];
-					z_k[1] =  raw.gyro_rad_s[1];
-					z_k[2] =  raw.gyro_rad_s[2];
+					z_k[0] =  raw.gyro_rad_s[0]-gyro_offsets[0];
+					z_k[1] =  raw.gyro_rad_s[1]-gyro_offsets[1];
+					z_k[2] =  raw.gyro_rad_s[2]-gyro_offsets[2];
 
 					/* update accelerometer measurements */
 					if (sensor_last_count[1] != raw.accelerometer_counter) {

apps/commander/state_machine_helper.c

@@ -504,7 +504,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
 	current_status->flag_control_manual_enabled = true;
 	/* enable attitude control per default */
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = false; // XXX
+	current_status->flag_control_rates_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -519,7 +519,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
 	current_status->flag_control_manual_enabled = true;
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = false; // XXX
+	current_status->flag_control_rates_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -534,7 +534,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
 	current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
 	current_status->flag_control_manual_enabled = true;
 	current_status->flag_control_attitude_enabled = true;
-	current_status->flag_control_rates_enabled = false; // XXX
+	current_status->flag_control_rates_enabled = true;
 	if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
 
 	if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {

apps/multirotor_att_control/multirotor_rate_control.c

@@ -1,8 +1,8 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
+ *           Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +35,11 @@
 
 /**
  * @file multirotor_rate_control.c
+ *
  * Implementation of rate controller
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include "multirotor_rate_control.h"
@@ -50,10 +54,11 @@
 #include <systemlib/param/param.h>
 #include <arch/board/up_hrt.h>
 
- PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
- PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
- PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
- PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 20.0f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
+PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 40.0f);
 
 PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 40.0f); /* 0.15 F405 Flamewheel */
 PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f);
@@ -144,8 +149,8 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	const float rates[], struct actuator_controls_s *actuators)
 {
-	static float roll_control_last=0;
-	static float pitch_control_last=0;
+	static float roll_control_last  = 0;
+	static float pitch_control_last = 0;
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
 	last_run = hrt_absolute_time();
@@ -174,15 +179,25 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	/* calculate current control outputs */
 	
 	/* control pitch (forward) output */
-
 	float pitch_control = p.attrate_p * deltaT *((rate_sp->pitch)*p.attrate_lim-rates[1])-p.attrate_d*(pitch_control_last);
-	pitch_control_last=pitch_control;
-	/* control roll (left/right) output */
+	/* increase resilience to faulty control inputs */
+	if (isfinite(pitch_control)) {
+		pitch_control_last = pitch_control;
+	} else {
+		pitch_control = 0.0f;
+	}
 
+	/* control roll (left/right) output */
 	float roll_control = p.attrate_p * deltaT * ((rate_sp->roll)*p.attrate_lim-rates[0])-p.attrate_d*(roll_control_last);
-	roll_control_last=roll_control;
+	/* increase resilience to faulty control inputs */
+	if (isfinite(roll_control)) {
+		roll_control_last = roll_control;
+	} else {
+		roll_control = 0.0f;
+	}
+
 	/* control yaw rate */
-	float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]  );
+	float yaw_rate_control = p.yawrate_p * deltaT * ((rate_sp->yaw)*p.attrate_lim-rates[2]);
 
 	actuators->control[0] = roll_control;
 	actuators->control[1] = pitch_control;