rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

OP-1117 MultiWiiHorizon flight mode only (not cliffs H1 or H2)

Browse Source
This commit is contained in:
Cliff Geerdes 2013-12-15 22:02:06 -05:00
parent e472b167e4
commit 150dbebc63
4 changed files with 129 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

81
flight/modules/ManualControl/manualcontrol.c
View File

@ -690,46 +690,53 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
return;
}
stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
0; // this is an invalid mode
stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode.Roll = stab_settings[0];
stabilization.StabilizationMode.Pitch = stab_settings[1];
stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ?
cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax : 0; // this is an invalid mode
;
stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ?
cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ?
cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : 0; // this is an invalid mode
stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax : 0; // this is an invalid mode
// Other axes (yaw) cannot be Horizon, so use Rate
// Should really do this for Attitude mode as well?
if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) {
stabilization.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabilization.Yaw = cmd->Yaw * stabSettings.ManualRate.Yaw;
}
else {
stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
0; // this is an invalid mode
}
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);

92
flight/modules/Stabilization/stabilization.c
View File

@ -246,9 +246,9 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#else /* if defined(PIOS_QUATERNION_STABILIZATION) */
// Simpler algorithm for CC, less memory
float local_error[3] = { stabDesired.Roll - attitudeState.Roll,
float local_error[3] = { stabDesired.Roll - attitudeState.Roll,
stabDesired.Pitch - attitudeState.Pitch,
stabDesired.Yaw - attitudeState.Yaw };
stabDesired.Yaw - attitudeState.Yaw };
// find shortest way
float modulo = fmodf(local_error[2] + 180.0f, 360.0f);
if (modulo < 0) {
@ -263,7 +263,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyroStateData.y * (1 - gyro_alpha);
gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyroStateData.z * (1 - gyro_alpha);
float *attitudeDesiredAxis = &stabDesired.Roll;
float *stabDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
@ -287,8 +287,9 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
}
// Store to rate desired variable for storing to UAVO
// this bound() seems unnecessary
rateDesiredAxis[i] =
bound(attitudeDesiredAxis[i], cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
bound(stabDesiredAxis[i], cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
@ -313,10 +314,74 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_MULTIWIIHORIZON:
// A parameterization from Attitude mode at center stick
// - to Rate mode at full stick
// This is done by parameterizing to use the rotation rate that Attitude mode
// - would use at center stick to using the rotation rate that Rate mode
// - would use at full stick in a weighted average sort of way.
{
if (reinit) {
pids[PID_ROLL + i].iAccumulator = 0;
pids[PID_RATE_ROLL + i].iAccumulator = 0;
}
// Compute what Rate mode would give for this stick angle's rate
// Save in a Rate's rate in a temp for later merging with Attitude's rate
// This bound() seems unnecessary both here and in Rate mode where this came from
float rateDesiredAxisRate;
rateDesiredAxisRate = bound(stabDesiredAxis[i], 1.0f)
* cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i];
// Compute what Attitude mode would give for this stick angle's rate
// stabDesired for this mode is [-1.0f,+1.0f]
// - multiply by Attitude mode max angle to get desired angle
// - subtract off the actual angle to get the angle error
// This is what local_error[] holds for Attitude mode
float attitude_error = stabDesiredAxis[i]
* cast_struct_to_array(settings.RollMax, settings.RollMax)[i]
- cast_struct_to_array(attitudeState.Roll, attitudeState.Roll)[i];
// Compute the outer loop just like Attitude mode does
float rateDesiredAxisAttitude;
rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
// Compute the weighted average rate desired
// Using max() rather than sqrt() for cpu speed;
// - this makes the stick region into a square;
// - this is a feature!
// - hold a roll angle and add just pitch without the stick sensitivity changing
// magnitude = sqrt(stabDesired.Roll*stabDesired.Roll + stabDesired.Pitch*stabDesired.Pitch);
float magnitude;
magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude + magnitude * rateDesiredAxisRate;
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
// TODO: put a configurable scale factor in for the PID zeroing?
// Do we need a setting for this to dial down the iAccumulator zeroing
// - so both iAccumulators don't get held too close to zero at mid stick?
// Not sure if this is the best way to do this but I suspect that there
// - would be severe windup without it since they fight each other.
// At magnitudes close to one, the Attitude accumulator gets zeroed
pids[PID_ROLL + i].iAccumulator *= (1.0f-magnitude); // * factor;
// At magnitudes close to zero, the Rate accumulator gets zeroed
pids[PID_RATE_ROLL + i].iAccumulator *= magnitude; // * factor;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
// Store for debugging output
rateDesiredAxis[i] = attitudeDesiredAxis[i];
rateDesiredAxis[i] = stabDesiredAxis[i];
// Run a virtual flybar stabilization algorithm on this axis
stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &settings);
@ -324,6 +389,11 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
// FIXME: local_error[] is rate - attitude for Weak Leveling
// The only ramifications are:
// Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS
// Changing Rate mode max rate currently requires a change to Kp
// That would be changed to Attitude mode max angle affecting Kp
{
if (reinit) {
pids[PID_RATE_ROLL + i].iAccumulator = 0;
@ -333,7 +403,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
weak_leveling = bound(weak_leveling, weak_leveling_max);
// Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
rateDesiredAxis[i] = stabDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
@ -345,13 +415,13 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
pids[PID_RATE_ROLL + i].iAccumulator = 0;
}
if (fabsf(attitudeDesiredAxis[i]) > max_axislock_rate) {
if (fabsf(stabDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
rateDesiredAxis[i] = stabDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
axis_lock_accum[i] += (stabDesiredAxis[i] - gyro_filtered[i]) * dT;
axis_lock_accum[i] = bound(axis_lock_accum[i], max_axis_lock);
rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
}
@ -366,7 +436,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] = bound(attitudeDesiredAxis[i],
rateDesiredAxis[i] = bound(stabDesiredAxis[i],
cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
// Run the relay controller which also estimates the oscillation parameters
@ -392,7 +462,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i], 1.0f);
actuatorDesiredAxis[i] = bound(stabDesiredAxis[i], 1.0f);
break;
default:
error = true;

6
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -22,17 +22,17 @@
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,AxisLock"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"
defaultvalue="Rate,Rate,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,MultiWiiHorizon,RelayRate,RelayAttitude"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>