mirror of
https://bitbucket.org/librepilot/librepilot.git
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INS: First pass at altitude hold code
This commit is contained in:
James Cotton
parent
535449baa9
commit
1783817b96
@ -260,7 +260,7 @@ int main()
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time_val2 = PIOS_DELAY_GetRaw();
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print_ekf_binary(true);
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//print_ekf_binary(true);
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switch(ahrs_algorithm) {
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158
flight/Modules/AltitudeHold/altitudehold.c
Normal file
158
flight/Modules/AltitudeHold/altitudehold.c
Normal file
@ -0,0 +1,158 @@
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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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* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
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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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* Input object: PositionActual
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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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#include "openpilot.h"
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#include "altitudeholdsettings.h"
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#include "altitudeholddesired.h" // object that will be updated by the module
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#include "positionactual.h"
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#include "stabilizationdesired.h"
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// Private constants
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#define MAX_QUEUE_SIZE 1
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#define STACK_SIZE_BYTES 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
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// Private types
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// Private variables
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static xTaskHandle altitudeHoldTaskHandle;
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static xQueueHandle queue;
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// Private functions
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static void altitudeHoldTask(void *parameters);
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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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// Start main task
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xTaskCreate(altitudeHoldTask, (signed char *)"AltitudeHold", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &altitudeHoldTaskHandle);
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// TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
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return 0;
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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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AltitudeHoldSettingsInitialize();
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AltitudeHoldDesiredInitialize();
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Listen for updates.
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AltitudeHoldDesiredConnectQueue(queue);
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return 0;
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}
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MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart)
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static float throttleIntegral = 0;
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/**
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* Module thread, should not return.
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*/
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static void altitudeHoldTask(void *parameters)
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{
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AltitudeHoldSettingsData altitudeHoldSettings;
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AltitudeHoldDesiredData altitudeHoldDesired;
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PositionActualData positionActual;
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StabilizationDesiredData stabilizationDesired;
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portTickType thisTime;
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portTickType lastSysTime;
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UAVObjEvent ev;
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1) {
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// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, 100 / portTICK_RATE_MS) != pdTRUE )
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{
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// Todo: Add alarm if it should be running
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throttleIntegral = 0;
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continue;
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} else {
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AltitudeHoldDesiredGet(&altitudeHoldDesired);
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AltitudeHoldSettingsGet(&altitudeHoldSettings);
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PositionActualGet(&positionActual);
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StabilizationDesiredGet(&stabilizationDesired);
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float dT;
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thisTime = xTaskGetTickCount();
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if(thisTime > lastSysTime) // reuse dt in case of wraparound
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dT = (thisTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisTime;
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// Flipping sign on error since altitude is "down"
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float error = - (altitudeHoldDesired.Down - positionActual.Down);
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throttleIntegral += error * altitudeHoldSettings.Ki * dT * 1000;
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if(throttleIntegral > altitudeHoldSettings.ILimit)
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throttleIntegral = altitudeHoldSettings.ILimit;
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else if (throttleIntegral < 0)
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throttleIntegral = 0;
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stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp + throttleIntegral;
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if(stabilizationDesired.Throttle > 1)
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stabilizationDesired.Throttle = 1;
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else if (stabilizationDesired.Throttle < 0)
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stabilizationDesired.Throttle = 0;
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stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
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stabilizationDesired.Roll = altitudeHoldDesired.Roll;
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stabilizationDesired.Pitch = altitudeHoldDesired.Pitch;
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stabilizationDesired.Yaw = altitudeHoldDesired.Yaw;
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StabilizationDesiredSet(&stabilizationDesired);
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}
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}
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}
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31
flight/Modules/AltitudeHold/inc/altitudehold.h
Normal file
31
flight/Modules/AltitudeHold/inc/altitudehold.h
Normal file
@ -0,0 +1,31 @@
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/**
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******************************************************************************
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*
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* @file examplemodperiodic.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Example module to be used as a template for actual modules.
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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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#ifndef EXAMPLEMODPERIODIC_H
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#define EXAMPLEMODPERIODIC_H
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int32_t ExampleModPeriodicInitialize();
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int32_t GuidanceInitialize(void);
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#endif // EXAMPLEMODPERIODIC_H
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@ -39,6 +39,7 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
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(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) ? FLIGHTMODE_STABILIZED : \
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(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
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(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
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(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
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(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
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(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \
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)
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@ -44,6 +44,8 @@
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#include "flightstatus.h"
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#include "accessorydesired.h"
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#include "receiveractivity.h"
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#include "altitudeholddesired.h"
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#include "positionactual.h"
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// Private constants
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#if defined(PIOS_MANUAL_STACK_SIZE)
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@ -79,6 +81,7 @@ static portTickType lastSysTime;
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// Private functions
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static void updateActuatorDesired(ManualControlCommandData * cmd);
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static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
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static void altitudeHoldDesired(ManualControlCommandData * cmd);
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static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
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static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
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static void setArmedIfChanged(uint8_t val);
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@ -375,7 +378,13 @@ static void manualControlTask(void *parameters)
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updateStabilizationDesired(&cmd, &settings);
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break;
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case FLIGHTMODE_GUIDANCE:
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// TODO: Implement
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switch(flightStatus.FlightMode) {
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case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
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altitudeHoldDesired(&cmd);
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break;
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default:
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
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}
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break;
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}
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}
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@ -588,6 +597,47 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
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StabilizationDesiredSet(&stabilization);
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}
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// TODO: Need compile flag to exclude this from copter control
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static void altitudeHoldDesired(ManualControlCommandData * cmd)
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{
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const float DEADBAND_HIGH = 0.45;
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const float DEADBAND_LOW = 0.55;
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static portTickType lastSysTime;
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static bool zeroed = false;
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portTickType thisSysTime;
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float dT;
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AltitudeHoldDesiredData altitudeHoldDesired;
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AltitudeHoldDesiredGet(&altitudeHoldDesired);
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StabilizationSettingsData stabSettings;
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StabilizationSettingsGet(&stabSettings);
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisSysTime;
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altitudeHoldDesired.Roll = cmd->Roll * stabSettings.RollMax;
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altitudeHoldDesired.Pitch = cmd->Pitch * stabSettings.PitchMax;
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altitudeHoldDesired.Yaw = cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
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float currentDown;
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PositionActualDownGet(¤tDown);
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if(dT > 1) {
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// After not being in this mode for a while init at current height
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altitudeHoldDesired.Down = currentDown;
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zeroed = false;
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} else if (cmd->Throttle > DEADBAND_HIGH && zeroed)
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altitudeHoldDesired.Down += (DEADBAND_HIGH - cmd->Throttle) * dT;
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else if (cmd->Throttle < DEADBAND_LOW && zeroed)
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altitudeHoldDesired.Down += (DEADBAND_LOW - cmd->Throttle) * dT;
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else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH) // Require the stick to enter the dead band before they can move height
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zeroed = true;
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AltitudeHoldDesiredSet(&altitudeHoldDesired);
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}
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/**
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* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
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*/
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@ -61,6 +61,7 @@ MODULES = Actuator Telemetry ManualControl AHRSComms Stabilization FirmwareIAP
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PYMODULES = FlightPlan
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#MODULES += Osd/OsdEtStd
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#MODULES += Guidance
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MODULES += AltitudeHold
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# Paths
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OPSYSTEM = ./System
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@ -72,6 +72,8 @@ UAVOBJSRCFILENAMES += hwsettings
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UAVOBJSRCFILENAMES += receiveractivity
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UAVOBJSRCFILENAMES += cameradesired
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UAVOBJSRCFILENAMES += camerastabsettings
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UAVOBJSRCFILENAMES += altitudeholdsettings
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UAVOBJSRCFILENAMES += altitudeholddesired
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UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
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UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
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@ -279,6 +279,10 @@
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6589A9DB131DEE76006BD67C /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; };
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6589A9E2131DF1C7006BD67C /* pios_rtc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_rtc.h; sourceTree = "<group>"; };
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659ED317122226B60011010E /* ahrssettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrssettings.xml; sourceTree = "<group>"; };
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65A47983141F123F00AECBDD /* altitudehold.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = altitudehold.c; sourceTree = "<group>"; };
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65A47985141F123F00AECBDD /* altitudehold.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = altitudehold.h; sourceTree = "<group>"; };
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65A47987141F146F00AECBDD /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = "<group>"; };
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65A47989141F146F00AECBDD /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = "<group>"; };
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65B35D7F121C261E003EAD18 /* bin.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = bin.pro; sourceTree = "<group>"; };
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65B35D80121C261E003EAD18 /* openpilotgcs */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.sh; path = openpilotgcs; sourceTree = "<group>"; };
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65B35D81121C261E003EAD18 /* openpilotgcs.pri */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = openpilotgcs.pri; sourceTree = "<group>"; };
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@ -3393,8 +3397,10 @@
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650D8E2012DFE16400D05CC9 /* Actuator */,
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650D8E2412DFE16400D05CC9 /* AHRSComms */,
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650D8E2812DFE16400D05CC9 /* Altitude */,
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65A47982141F123F00AECBDD /* AltitudeHold */,
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65C35F6512F0DC2D004811C2 /* Attitude */,
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650D8E2E12DFE16400D05CC9 /* Battery */,
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65A47986141F146F00AECBDD /* CameraStab */,
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650D8E3212DFE16400D05CC9 /* Example */,
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650D8E3B12DFE16400D05CC9 /* FirmwareIAP */,
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650D8E3F12DFE16400D05CC9 /* FlightPlan */,
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@ -4132,6 +4138,41 @@
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path = inc;
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sourceTree = "<group>";
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};
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65A47982141F123F00AECBDD /* AltitudeHold */ = {
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isa = PBXGroup;
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children = (
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65A47983141F123F00AECBDD /* altitudehold.c */,
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65A47984141F123F00AECBDD /* inc */,
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);
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name = AltitudeHold;
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path = /Users/jcotton81/Documents/Programming/OpenPilot/flight/Modules/AltitudeHold;
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sourceTree = "<absolute>";
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};
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65A47984141F123F00AECBDD /* inc */ = {
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isa = PBXGroup;
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||||
children = (
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||||
65A47985141F123F00AECBDD /* altitudehold.h */,
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);
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path = inc;
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sourceTree = "<group>";
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||||
};
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||||
65A47986141F146F00AECBDD /* CameraStab */ = {
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isa = PBXGroup;
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children = (
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65A47987141F146F00AECBDD /* camerastab.c */,
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65A47988141F146F00AECBDD /* inc */,
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);
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path = CameraStab;
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sourceTree = "<group>";
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};
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65A47988141F146F00AECBDD /* inc */ = {
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isa = PBXGroup;
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children = (
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65A47989141F146F00AECBDD /* camerastab.h */,
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);
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path = inc;
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sourceTree = "<group>";
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};
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65B35D7D121C261E003EAD18 /* ground */ = {
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isa = PBXGroup;
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children = (
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@ -27,6 +27,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
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$$UAVOBJECT_SYNTHETICS/insstatus.h \
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$$UAVOBJECT_SYNTHETICS/baroaltitude.h \
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$$UAVOBJECT_SYNTHETICS/attitudeactual.h \
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$$UAVOBJECT_SYNTHETICS/altitudeholddesired.h \
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$$UAVOBJECT_SYNTHETICS/altitudeholdsettings.h \
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$$UAVOBJECT_SYNTHETICS/inssettings.h \
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$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.h \
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$$UAVOBJECT_SYNTHETICS/attituderaw.h \
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@ -78,6 +80,8 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
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$$UAVOBJECT_SYNTHETICS/insstatus.cpp \
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$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
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$$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \
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$$UAVOBJECT_SYNTHETICS/altitudeholddesired.cpp \
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$$UAVOBJECT_SYNTHETICS/altitudeholdsettings.cpp \
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$$UAVOBJECT_SYNTHETICS/inssettings.cpp \
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$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.cpp \
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$$UAVOBJECT_SYNTHETICS/attituderaw.cpp \
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||||
13
shared/uavobjectdefinition/altitudeholddesired.xml
Normal file
13
shared/uavobjectdefinition/altitudeholddesired.xml
Normal file
@ -0,0 +1,13 @@
|
||||
<xml>
|
||||
<object name="AltitudeHoldDesired" singleinstance="true" settings="false">
|
||||
<description>Holds the desired altitude (from manual control) as well as the desired attitude to pass through</description>
|
||||
<field name="Down" units="m" type="float" elements="1"/>
|
||||
<field name="Roll" units="deg" type="float" elements="1"/>
|
||||
<field name="Pitch" units="deg" type="float" elements="1"/>
|
||||
<field name="Yaw" units="deg/s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="periodic" period="1000"/>
|
||||
</object>
|
||||
</xml>
|
||||
12
shared/uavobjectdefinition/altitudeholdsettings.xml
Normal file
12
shared/uavobjectdefinition/altitudeholdsettings.xml
Normal file
@ -0,0 +1,12 @@
|
||||
<xml>
|
||||
<object name="AltitudeHoldSettings" singleinstance="true" settings="true">
|
||||
<description>Settings for the @ref AltitudeHold module</description>
|
||||
<field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0.25"/>
|
||||
<field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/>
|
||||
<field name="ILimit" units="throttle" type="float" elements="1" defaultvalue ="0.5"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -4,7 +4,7 @@
|
||||
<field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
|
||||
|
||||
<!-- Note these enumerated values should be the same as ManualControlSettings -->
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold"/>
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
|
||||
@ -21,7 +21,7 @@
|
||||
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
|
||||
|
||||
<!-- Note these options values should be identical to those defined in FlightMode -->
|
||||
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
|
||||
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
|
||||
|
||||
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user