2011-09-13 07:25:03 +02:00
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/**
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******************************************************************************
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*
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* @file guidance.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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2013-05-18 14:17:26 +02:00
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* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
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2011-09-13 07:25:03 +02:00
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* and sets @ref AttitudeDesired. It only does this when the FlightMode field
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* of @ref ManualControlCommand is Auto.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input object: ActiveWaypoint
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2013-05-18 19:36:45 +02:00
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* Input object: PositionState
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2011-09-13 07:25:03 +02:00
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* Input object: ManualControlCommand
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* Output object: AttitudeDesired
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*
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* This module will periodically update the value of the AttitudeDesired object.
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*
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* The module executes in its own thread in this example.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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2013-05-02 23:31:14 +02:00
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#include <openpilot.h>
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2012-02-09 06:02:29 +01:00
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#include <math.h>
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2013-12-07 23:16:22 +01:00
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#include <pid.h>
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2013-05-03 01:15:13 +02:00
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#include <CoordinateConversions.h>
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#include <altitudeholdsettings.h>
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2013-05-18 14:17:26 +02:00
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#include <altitudeholddesired.h> // object that will be updated by the module
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2013-12-08 12:23:16 +01:00
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#include <altitudeholdstatus.h>
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2013-05-03 01:15:13 +02:00
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#include <flightstatus.h>
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#include <stabilizationdesired.h>
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2013-05-18 19:36:45 +02:00
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#include <accelstate.h>
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2013-05-03 01:15:13 +02:00
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#include <pios_constants.h>
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2013-07-14 22:20:22 +02:00
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#include <velocitystate.h>
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#include <positionstate.h>
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2011-09-13 07:25:03 +02:00
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// Private constants
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2013-12-07 23:16:22 +01:00
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2013-12-07 23:31:26 +01:00
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#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
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#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
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2013-12-07 23:16:22 +01:00
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2013-07-17 10:38:44 +02:00
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#define STACK_SIZE_BYTES 1024
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2013-07-19 13:28:48 +02:00
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#define DESIRED_UPDATE_RATE_MS 100 // milliseconds
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2011-09-13 07:25:03 +02:00
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// Private types
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// Private variables
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2013-12-07 23:16:22 +01:00
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static DelayedCallbackInfo *altitudeHoldCBInfo;
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2012-02-08 16:42:10 +01:00
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static AltitudeHoldSettingsData altitudeHoldSettings;
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2013-12-27 18:37:27 +01:00
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static struct pid pid0, pid1;
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2013-12-07 23:16:22 +01:00
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2011-09-13 07:25:03 +02:00
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// Private functions
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2013-12-07 23:16:22 +01:00
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static void altitudeHoldTask(void);
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2013-05-18 14:17:26 +02:00
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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2011-09-13 07:25:03 +02:00
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AltitudeHoldStart()
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{
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2013-05-18 14:17:26 +02:00
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// Start main task
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2013-12-07 23:16:22 +01:00
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SettingsUpdatedCb(NULL);
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DelayedCallbackDispatch(altitudeHoldCBInfo);
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2011-09-13 07:25:03 +02:00
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2013-05-18 14:17:26 +02:00
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return 0;
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2011-09-13 07:25:03 +02:00
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AltitudeHoldInitialize()
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{
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2013-05-18 14:17:26 +02:00
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AltitudeHoldSettingsInitialize();
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AltitudeHoldDesiredInitialize();
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2013-12-08 12:23:16 +01:00
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AltitudeHoldStatusInitialize();
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2011-09-13 07:25:03 +02:00
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2013-05-18 14:17:26 +02:00
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// Create object queue
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2012-02-08 16:42:10 +01:00
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2013-12-07 23:16:22 +01:00
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altitudeHoldCBInfo = DelayedCallbackCreate(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, STACK_SIZE_BYTES);
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2013-05-18 14:17:26 +02:00
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AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
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2012-02-08 16:42:10 +01:00
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2013-05-18 14:17:26 +02:00
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return 0;
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2011-09-13 07:25:03 +02:00
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}
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2013-06-04 05:37:40 +02:00
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MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart);
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2011-09-13 07:25:03 +02:00
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2012-02-12 07:35:19 +01:00
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2011-09-13 07:25:03 +02:00
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/**
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* Module thread, should not return.
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*/
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2013-12-07 23:16:22 +01:00
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static void altitudeHoldTask(void)
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2011-09-13 07:25:03 +02:00
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{
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2014-02-09 19:33:29 +01:00
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static float startThrust = 0.5f;
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2013-12-07 23:31:26 +01:00
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// make sure we run only when we are supposed to run
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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switch (flightStatus.FlightMode) {
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case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
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case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
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break;
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default:
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2013-12-27 18:37:27 +01:00
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pid_zero(&pid0);
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pid_zero(&pid1);
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2014-02-09 19:33:29 +01:00
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StabilizationDesiredThrustGet(&startThrust);
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2013-12-07 23:31:26 +01:00
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DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
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return;
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break;
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}
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2013-12-08 12:23:16 +01:00
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AltitudeHoldStatusData altitudeHoldStatus;
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AltitudeHoldStatusGet(&altitudeHoldStatus);
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2013-12-07 23:31:26 +01:00
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// do the actual control loop(s)
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AltitudeHoldDesiredData altitudeHoldDesired;
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AltitudeHoldDesiredGet(&altitudeHoldDesired);
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float positionStateDown;
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PositionStateDownGet(&positionStateDown);
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float velocityStateDown;
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VelocityStateDownGet(&velocityStateDown);
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2014-01-15 18:43:47 +01:00
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switch (altitudeHoldDesired.ControlMode) {
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case ALTITUDEHOLDDESIRED_CONTROLMODE_ALTITUDE:
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2014-01-11 10:51:47 +01:00
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// altitude control loop
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2014-01-15 18:43:47 +01:00
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altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, 1.0f, altitudeHoldDesired.SetPoint, positionStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS);
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2014-01-11 10:51:47 +01:00
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break;
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2014-01-15 18:43:47 +01:00
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case ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY:
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altitudeHoldStatus.VelocityDesired = altitudeHoldDesired.SetPoint;
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2014-01-11 10:51:47 +01:00
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break;
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default:
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altitudeHoldStatus.VelocityDesired = 0;
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break;
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}
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2013-12-07 23:31:26 +01:00
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2013-12-29 19:09:54 +01:00
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AltitudeHoldStatusSet(&altitudeHoldStatus);
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2014-02-09 19:33:29 +01:00
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float thrust;
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2014-01-15 18:43:47 +01:00
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switch (altitudeHoldDesired.ControlMode) {
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2014-02-09 19:33:29 +01:00
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case ALTITUDEHOLDDESIRED_CONTROLMODE_THRUST:
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thrust = altitudeHoldDesired.SetPoint;
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2014-01-11 10:51:47 +01:00
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break;
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default:
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// velocity control loop
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2014-02-09 19:33:29 +01:00
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thrust = startThrust - pid_apply_setpoint(&pid1, 1.0f, altitudeHoldStatus.VelocityDesired, velocityStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS);
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2014-01-11 10:51:47 +01:00
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2014-02-09 19:33:29 +01:00
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if (thrust >= 1.0f) {
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thrust = 1.0f;
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2014-01-11 10:51:47 +01:00
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}
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2014-02-09 19:33:29 +01:00
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if (thrust <= 0.0f) {
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thrust = 0.0f;
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2014-01-11 10:51:47 +01:00
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}
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break;
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2013-12-29 19:09:54 +01:00
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}
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2013-12-07 23:31:26 +01:00
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StabilizationDesiredData stab;
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StabilizationDesiredGet(&stab);
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2014-02-09 19:33:29 +01:00
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stab.Roll = altitudeHoldDesired.Roll;
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stab.Pitch = altitudeHoldDesired.Pitch;
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stab.Yaw = altitudeHoldDesired.Yaw;
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stab.Thrust = thrust;
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2013-12-07 23:31:26 +01:00
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stab.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stab.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stab.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
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StabilizationDesiredSet(&stab);
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DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
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2013-12-07 23:16:22 +01:00
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}
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2013-06-10 23:48:08 +02:00
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2013-05-05 09:02:24 +02:00
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static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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2012-01-03 00:19:14 +01:00
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{
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2013-05-18 14:17:26 +02:00
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AltitudeHoldSettingsGet(&altitudeHoldSettings);
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2013-12-27 18:37:27 +01:00
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pid_configure(&pid0, altitudeHoldSettings.AltitudePI.Kp, altitudeHoldSettings.AltitudePI.Ki, 0, altitudeHoldSettings.AltitudePI.Ilimit);
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pid_zero(&pid0);
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pid_configure(&pid1, altitudeHoldSettings.VelocityPI.Kp, altitudeHoldSettings.VelocityPI.Ki, 0, altitudeHoldSettings.VelocityPI.Ilimit);
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pid_zero(&pid1);
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2012-01-03 00:19:14 +01:00
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}
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