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OP-984 Added multiple banks code to stabilization.c
This commit is contained in:
Les Newell
parent
fc1a4ce3bb
commit
114c0ac561
@ -35,6 +35,7 @@
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#include <pios_struct_helper.h>
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#include "stabilization.h"
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#include "stabilizationsettings.h"
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#include "stabilizationbank.h"
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#include "actuatordesired.h"
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#include "ratedesired.h"
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#include "relaytuning.h"
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@ -47,7 +48,6 @@
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#include "manualcontrol.h" // Just to get a macro
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#include "taskinfo.h"
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// Math libraries
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#include "CoordinateConversions.h"
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#include "pid.h"
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@ -72,6 +72,11 @@
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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#define FAILSAFE_TIMEOUT_MS 30
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enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
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enum{RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET};
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enum{ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET};
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// Private variables
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static xTaskHandle taskHandle;
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static StabilizationSettingsData settings;
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@ -86,14 +91,14 @@ bool lowThrottleZeroIntegral;
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bool lowThrottleZeroAxis[MAX_AXES];
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float vbar_decay = 0.991f;
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struct pid pids[PID_MAX];
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int flight_mode = 0;
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// Private functions
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static void stabilizationTask(void *parameters);
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static float bound(float val, float range);
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static void ZeroPids(void);
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static void BankChanged();
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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static void UpdatePids(StabilizationSettings* settings);
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static void BankUpdatedCb(UAVObjEvent *ev);
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/**
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* Module initialization
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@ -111,6 +116,8 @@ int32_t StabilizationStart()
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StabilizationSettingsConnectCallback(SettingsUpdatedCb);
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SettingsUpdatedCb(StabilizationSettingsHandle());
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StabilizationBankConnectCallback(BankUpdatedCb);
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// Start main task
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xTaskCreate(stabilizationTask, (signed char *)"Stabilization", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_STABILIZATION, taskHandle);
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@ -159,6 +166,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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AttitudeStateData attitudeState;
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GyroStateData gyroStateData;
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FlightStatusData flightStatus;
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StabilizationBankData stabBank;
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#ifdef REVOLUTION
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AirspeedStateData airspeedState;
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@ -188,6 +197,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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StabilizationDesiredGet(&stabDesired);
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AttitudeStateGet(&attitudeState);
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GyroStateGet(&gyroStateData);
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StabilizationBankGet(&stabBank);
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#ifdef DIAG_RATEDESIRED
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RateDesiredGet(&rateDesired);
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#endif
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@ -288,7 +298,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] =
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bound(attitudeDesiredAxis[i], cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
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bound(attitudeDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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// Compute the inner loop
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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@ -305,7 +315,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Compute the outer loop
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rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
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rateDesiredAxis[i] = bound(rateDesiredAxis[i],
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cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
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cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]);
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// Compute the inner loop
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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@ -357,7 +367,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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}
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rateDesiredAxis[i] = bound(rateDesiredAxis[i],
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cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
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cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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@ -367,7 +377,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] = bound(attitudeDesiredAxis[i],
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cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
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cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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// Run the relay controller which also estimates the oscillation parameters
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stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
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@ -383,7 +393,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Compute the outer loop like attitude mode
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rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
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rateDesiredAxis[i] = bound(rateDesiredAxis[i],
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cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
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cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]);
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// Run the relay controller which also estimates the oscillation parameters
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stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
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@ -484,75 +494,159 @@ static float bound(float val, float range)
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return val;
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}
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static void UpdatePids(StabilizationSettings* settings)
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static void BankChanged()
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{
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StabilizationBankData bank;
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FlightStatusData flightStatus;
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enum{RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET};
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enum{ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET};
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StabilizationBankGet(&bank);
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FlightStatusGet(&flightStatus);
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int offset = flight_mode * RATE_OFFSET;
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// Set the roll rate PID constants
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float* pid = &settings.RollRatePID.Kp1;
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pid += offset;
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pid_configure(&pids[PID_RATE_ROLL],
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pid[RATE_P],
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pid[RATE_I],
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pid[RATE_D],
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pid[RATE_LIMIT]);
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int offset = flightStatus.FlightMode;
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bank.RollMax = settings.RollMax[offset];
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bank.PitchMax = settings.PitchMax[offset];
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bank.YawMax = settings.YawMax[offset];
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// Set the pitch rate PID constants
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pid = &settings.PitchRatePID.Kp1;
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pid += offset;
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pid_configure(&pids[PID_RATE_PITCH],
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pid[RATE_P],
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pid[RATE_I],
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pid[RATE_D],
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pid[RATE_LIMIT]);
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offset = flightStatus.FlightMode * MAX_AXES;
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memcpy(&bank.ManualRate, (&settings.ManualRate) + offset, sizeof(float) * MAX_AXES);
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memcpy(&bank.MaximumRate, (&settings.MaximumRate) + offset, sizeof(float) * MAX_AXES);
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// Set the yaw rate PID constants
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pid = &settings.YawRatePID.Kp1;
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pid += offset;
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pid_configure(&pids[PID_RATE_YAW],
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pid[RATE_P],
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pid[RATE_I],
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pid[RATE_D],
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pid[RATE_LIMIT]);
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offset = flightStatus.FlightMode * RATE_OFFSET;
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memcpy(&bank.RollRatePID, (&settings.RollRatePID) + offset, sizeof(float) * RATE_OFFSET);
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memcpy(&bank.PitchRatePID, (&settings.PitchRatePID) + offset, sizeof(float) * RATE_OFFSET);
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memcpy(&bank.YawRatePID, (&settings.YawRatePID) + offset, sizeof(float) * RATE_OFFSET);
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offset = flight_mode * ATT_OFFSET;
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offset = flightStatus.FlightMode * ATT_OFFSET;
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memcpy(&bank.RollPI, (&settings.RollPI) + offset, sizeof(float) * ATT_OFFSET);
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memcpy(&bank.PitchPI, (&settings.PitchPI) + offset, sizeof(float) * ATT_OFFSET);
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memcpy(&bank.YawPI, (&settings.YawPI) + offset, sizeof(float) * ATT_OFFSET);
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// Set the roll attitude PI constants
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pid = &settings.RollPI.Kp1;
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pid += offset;
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pid_configure(&pids[PID_ROLL],
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pid[ATT_P],
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pid[ATT_I],
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0,
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pid[ATT_LIMIT]);
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// Set the pitch attitude PI constants
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pid = &settings.PitchPI.Kp1;
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pid += offset;
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pid_configure(&pids[PID_PITCH],
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pid[ATT_P],
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pid[ATT_I],
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0,
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pid[ATT_LIMIT]);
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// Set the yaw attitude PI constants
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pid = &settings.YawPI.Kp1;
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pid += offset;
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pid_configure(&pids[PID_YAW],
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pid[ATT_P],
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pid[ATT_I],
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0,
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pid[ATT_LIMIT]);
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StabilizationBankSet(&bank);
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}
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static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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StabilizationBankData bank;
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FlightStatusData flightStatus;
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StabilizationBankGet(&bank);
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FlightStatusGet(&flightStatus);
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bool change = false;
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int offset = flightStatus.FlightMode;
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if(bank.RollMax != settings.RollMax[offset])
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{
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change = true;
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settings.RollMax[offset] = bank.RollMax;
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}
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if(bank.PitchMax != settings.PitchMax[offset])
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{
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change = true;
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settings.PitchMax[offset] = bank.PitchMax;
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}
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if(bank.YawMax != settings.YawMax[offset])
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{
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change = true;
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settings.YawMax[offset] = bank.YawMax;
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}
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offset = flightStatus.FlightMode * MAX_AXES;
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if(memcmp(&bank.ManualRate, (&settings.ManualRate) + offset, sizeof(float) * MAX_AXES) != 0)
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{
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change = true;
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memcpy((&settings.ManualRate) + offset, &bank.ManualRate, sizeof(float) * MAX_AXES);
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}
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if(memcmp(&bank.MaximumRate, (&settings.MaximumRate) + offset, sizeof(float) * MAX_AXES) != 0)
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{
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change = true;
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memcpy((&settings.MaximumRate) + offset, &bank.MaximumRate, sizeof(float) * MAX_AXES);
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}
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offset = flightStatus.FlightMode * RATE_OFFSET;
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if(memcmp(&bank.RollRatePID, (&settings.RollRatePID) + offset, sizeof(float) * RATE_OFFSET) != 0)
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{
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change = true;
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memcpy((&settings.RollRatePID) + offset, &bank.RollRatePID, sizeof(float) * RATE_OFFSET);
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}
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if(memcmp(&bank.PitchRatePID, (&settings.PitchRatePID) + offset, sizeof(float) * RATE_OFFSET) != 0)
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{
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change = true;
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memcpy((&settings.PitchRatePID) + offset, &bank.PitchRatePID, sizeof(float) * RATE_OFFSET);
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}
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if(memcmp(&bank.YawRatePID, (&settings.YawRatePID) + offset, sizeof(float) * RATE_OFFSET) != 0)
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{
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change = true;
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memcpy((&settings.YawRatePID) + offset, &bank.YawRatePID, sizeof(float) * RATE_OFFSET);
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}
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offset = flightStatus.FlightMode * ATT_OFFSET;
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if(memcmp(&bank.RollPI, (&settings.RollPI) + offset, sizeof(float) * ATT_OFFSET) != 0)
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{
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change = true;
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memcpy((&settings.RollPI) + offset, &bank.RollPI, sizeof(float) * ATT_OFFSET);
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}
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if(memcmp(&bank.PitchPI, (&settings.PitchPI) + offset, sizeof(float) * ATT_OFFSET) != 0)
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{
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change = true;
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memcpy((&settings.PitchPI) + offset, &bank.PitchPI, sizeof(float) * ATT_OFFSET);
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}
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if(memcmp(&bank.YawPI, (&settings.YawPI) + offset, sizeof(float) * ATT_OFFSET) != 0)
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{
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change = true;
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memcpy((&settings.YawPI) + offset, &bank.YawPI, sizeof(float) * ATT_OFFSET);
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}
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if(change)
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{
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StabilizationSettingsSet(&settings);
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}
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}
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static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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StabilizationSettingsGet(&settings);
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UpdatePids(&settings);
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BankChanged();
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StabilizationBankData bank;
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StabilizationBankGet(&bank);
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// Set the roll rate PID constants
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pid_configure(&pids[PID_RATE_ROLL], bank.RollRatePID.Kp,
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bank.RollRatePID.Ki,
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bank.RollRatePID.Kd,
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bank.RollRatePID.ILimit);
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// Set the pitch rate PID constants
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pid_configure(&pids[PID_RATE_PITCH], bank.PitchRatePID.Kp,
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bank.PitchRatePID.Ki,
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bank.PitchRatePID.Kd,
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bank.PitchRatePID.ILimit);
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// Set the yaw rate PID constants
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pid_configure(&pids[PID_RATE_YAW], bank.YawRatePID.Kp,
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bank.YawRatePID.Ki,
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bank.YawRatePID.Kd,
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bank.YawRatePID.ILimit);
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// Set the roll attitude PI constants
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pid_configure(&pids[PID_ROLL], bank.RollPI.Kp,
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bank.RollPI.Ki,
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0,
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bank.RollPI.ILimit);
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// Set the pitch attitude PI constants
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pid_configure(&pids[PID_PITCH], bank.PitchPI.Kp,
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bank.PitchPI.Ki,
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0,
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bank.PitchPI.ILimit);
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// Set the yaw attitude PI constants
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pid_configure(&pids[PID_YAW], bank.YawPI.Kp,
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bank.YawPI.Ki,
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0,
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bank.YawPI.ILimit);
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// Set up the derivative term
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pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
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