LibrePilot/flight/Modules/Autotune/autotune.c

/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup Autotuning module
 * @brief Reads from @ref ManualControlCommand and fakes a rate mode while 
 *        toggling the channels to relay mode
 * @{
 *
 * @file       autotune.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Module to handle all comms to the AHRS on a periodic basis.
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 ******************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

/**
 * Input objects: None, takes sensor data via pios
 * Output objects: @ref AttitudeRaw @ref AttitudeActual
 *
 * This module computes an attitude estimate from the sensor data
 *
 * The module executes in its own thread.
 *
 * UAVObjects are automatically generated by the UAVObjectGenerator from
 * the object definition XML file.
 *
 * Modules have no API, all communication to other modules is done through UAVObjects.
 * However modules may use the API exposed by shared libraries.
 * See the OpenPilot wiki for more details.
 * http://www.openpilot.org/OpenPilot_Application_Architecture
 *
 */

#include "pios.h"
#include "flightstatus.h"
#include "hwsettings.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "relaytuning.h"
#include "relaytuningsettings.h"
#include "stabilizationdesired.h"
#include "stabilizationsettings.h"
#include <pios_board_info.h>
 
// Private constants
#define STACK_SIZE_BYTES 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY+2)

// Private types
enum AUTOTUNE_STATE {AT_INIT, AT_START, AT_ROLL, AT_PITCH, AT_FINISHED, AT_SET};

// Private variables
static xTaskHandle taskHandle;
static bool autotuneEnabled;

// Private functions
static void AutotuneTask(void *parameters);
static void update_stabilization_settings();

/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t AutotuneInitialize(void)
{
	// Create a queue, connect to manual control command and flightstatus
#ifdef MODULE_AUTOTUNE_BUILTIN
	autotuneEnabled = true;
#else
	HwSettingsInitialize();
	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];

	HwSettingsOptionalModulesGet(optionalModules);

	if (optionalModules[HWSETTINGS_OPTIONALMODULES_AUTOTUNE] == HWSETTINGS_OPTIONALMODULES_ENABLED)
		autotuneEnabled = true;
	else
		autotuneEnabled = false;
#endif

	return 0;
}

/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t AutotuneStart(void)
{
	// Start main task if it is enabled
	if(autotuneEnabled) {
		xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);

		TaskMonitorAdd(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
		PIOS_WDG_RegisterFlag(PIOS_WDG_AUTOTUNE);
	}
	return 0;
}

MODULE_INITCALL(AutotuneInitialize, AutotuneStart)

/**
 * Module thread, should not return.
 */
static void AutotuneTask(void *parameters)
{
	//AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
	
	enum AUTOTUNE_STATE state = AT_INIT;

	portTickType lastUpdateTime = xTaskGetTickCount();

	while(1) {

		PIOS_WDG_UpdateFlag(PIOS_WDG_AUTOTUNE);
		// TODO:
		// 1. get from queue
		// 2. based on whether it is flightstatus or manualcontrol

		portTickType diffTime;

		const uint32_t PREPARE_TIME = 2000;
		const uint32_t MEAURE_TIME = 30000;

		FlightStatusData flightStatus;
		FlightStatusGet(&flightStatus);

		// Only allow this module to run when autotuning
		if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) {
			state = AT_INIT;
			vTaskDelay(50);
			continue;
		}

		StabilizationDesiredData stabDesired;
		StabilizationDesiredGet(&stabDesired);

		StabilizationSettingsData stabSettings;
		StabilizationSettingsGet(&stabSettings);

		ManualControlSettingsData manualSettings;
		ManualControlSettingsGet(&manualSettings);

		ManualControlCommandData manualControl;
		ManualControlCommandGet(&manualControl);

		RelayTuningSettingsData relaySettings;
		RelayTuningSettingsGet(&relaySettings);

		bool rate = relaySettings.Mode == RELAYTUNINGSETTINGS_MODE_RATE;

		if (rate) { // rate mode
			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;

			stabDesired.Roll = manualControl.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
			stabDesired.Pitch = manualControl.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
		} else {
			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;

			stabDesired.Roll = manualControl.Roll * stabSettings.RollMax;
			stabDesired.Pitch = manualControl.Pitch * stabSettings.PitchMax;
		}

		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW]   = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
		stabDesired.Yaw = manualControl.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
		stabDesired.Throttle = manualControl.Throttle;

		switch(state) {
			case AT_INIT:

				lastUpdateTime = xTaskGetTickCount();

				// Only start when armed and flying
				if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED && stabDesired.Throttle > 0)
					state = AT_START;
				break;

			case AT_START:

				diffTime = xTaskGetTickCount() - lastUpdateTime;

				// Spend the first block of time in normal rate mode to get airborne
				if (diffTime > PREPARE_TIME) {
					state = AT_ROLL;
					lastUpdateTime = xTaskGetTickCount();
				}
				break;

			case AT_ROLL:

				diffTime = xTaskGetTickCount() - lastUpdateTime;

				// Run relay mode on the roll axis for the measurement time
				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = rate ? STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE :
					STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE;
				if (diffTime > MEAURE_TIME) { // Move on to next state
					state = AT_PITCH;
					lastUpdateTime = xTaskGetTickCount();
				}
				break;

			case AT_PITCH:

				diffTime = xTaskGetTickCount() - lastUpdateTime;

				// Run relay mode on the pitch axis for the measurement time
				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = rate ? STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE :
					STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE;
				if (diffTime > MEAURE_TIME) { // Move on to next state
					state = AT_FINISHED;
					lastUpdateTime = xTaskGetTickCount();
				}
				break;

			case AT_FINISHED:

				// Wait until disarmed and landed before updating the settings
				if (flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED && stabDesired.Throttle <= 0)
					state = AT_SET;

				break;

			case AT_SET:
				update_stabilization_settings();
				state = AT_INIT;
				break;

			default:
				// Set an alarm or some shit like that
				break;
		}

		StabilizationDesiredSet(&stabDesired);

		vTaskDelay(10);
	}
}

/**
 * Called after measuring roll and pitch to update the
 * stabilization settings
 * 
 * takes in @ref RelayTuning and outputs @ref StabilizationSettings
 */
static void update_stabilization_settings()
{
	RelayTuningData relayTuning;
	RelayTuningGet(&relayTuning);

	RelayTuningSettingsData relaySettings;
	RelayTuningSettingsGet(&relaySettings);

	StabilizationSettingsData stabSettings;
	StabilizationSettingsGet(&stabSettings);

	// Eventually get these settings from RelayTuningSettings
	const float gain_ratio_r = 1.0f / 3.0f;
	const float zero_ratio_r = 1.0f / 3.0f;
	const float gain_ratio_p = 1.0f / 5.0f;
	const float zero_ratio_p = 1.0f / 5.0f;

	// For now just run over roll and pitch
	for (uint i = 0; i < 2; i++) {
		float wu = 1000.0f * 2 * M_PI / relayTuning.Period[i]; // ultimate freq = output osc freq (rad/s)

		float wc = wu * gain_ratio_r;      // target openloop crossover frequency (rad/s)
		float zc = wc * zero_ratio_r;      // controller zero location (rad/s)
		float kpu = 4.0f / M_PI / relayTuning.Gain[i];  // ultimate gain, i.e. the proportional gain for instablity
		float kp = kpu * gain_ratio_r;     // proportional gain
		float ki = zc * kp;                // integral gain

		// Now calculate gains for the next loop out knowing it is the integral of
	 	// the inner loop -- the plant is position/velocity = scale*1/s
		float wc2 = wc * gain_ratio_p;          // crossover of the attitude loop
		float kp2 = wc2;                       // kp of attitude
		float ki2 = wc2 * zero_ratio_p * kp2;  // ki of attitude

		switch(i) {
			case 0: // roll
				stabSettings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP] = kp;
				stabSettings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI] = ki;
				stabSettings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP] = kp2;
				stabSettings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI] = ki2;
				break;
			case 1: // Pitch
				stabSettings.PitchRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP] = kp;
				stabSettings.PitchRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI] = ki;
				stabSettings.PitchPI[STABILIZATIONSETTINGS_ROLLPI_KP] = kp2;
				stabSettings.PitchPI[STABILIZATIONSETTINGS_ROLLPI_KI] = ki2;
				break;
			default:
				// Oh shit oh shit oh shit
				break;
		}
	}
	switch(relaySettings.Behavior) {
		case RELAYTUNINGSETTINGS_BEHAVIOR_MEASURE:
			// Just measure, don't update the stab settings
			break;
		case RELAYTUNINGSETTINGS_BEHAVIOR_COMPUTE:
			StabilizationSettingsSet(&stabSettings);
			break;
		case RELAYTUNINGSETTINGS_BEHAVIOR_SAVE:
			StabilizationSettingsSet(&stabSettings);
			UAVObjSave(StabilizationSettingsHandle(), 0);
			break;
	}
	
}

/**
 * @}
 * @}
 */