rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-27 16:54:15 +01:00
Code Issues Releases Activity

OP-1160 Oops, forgot to remove #if 0's after testing

Browse Source
This commit is contained in:
Cliff Geerdes 2014-03-14 02:14:02 -04:00
parent 297b0d01cb
commit 390533f2e3
1 changed files with 0 additions and 165 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

165
flight/modules/Stabilization/stabilization.c
View File

@ -85,17 +85,9 @@
// number of flight mode switch positions
#define NUM_FMS_POSITIONS 6
#if 0
// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
// The PID_RATE set is used by the attitude portion of Attitude mode
// The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain
// - two independant rate PIDs because it does rate and attitude simultaneously
enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_RATEA_ROLL, PID_RATEA_PITCH, PID_RATEA_YAW, PID_MAX };
#else
// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
// The PID_RATE set is used by the attitude portion of Attitude mode
enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
#endif
enum { RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET };
enum { ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET };
@ -115,11 +107,7 @@ struct pid pids[PID_MAX];
int cur_flight_mode = -1;
#if 0
static uint8_t rattitude_anti_windup;
#else
static float rattitude_mode_transition_stick_position;
#endif
static float cruise_control_min_thrust;
static float cruise_control_max_thrust;
static uint8_t cruise_control_max_angle;
@ -137,11 +125,6 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
static void BankUpdatedCb(UAVObjEvent *ev);
static void SettingsBankUpdatedCb(UAVObjEvent *ev);
#if 0
static float stab_log2f(float x);
static float stab_powf(float x, uint8_t p);
#endif
/**
* Module initialization
*/
@ -400,9 +383,6 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
if (reinit) {
pids[PID_ROLL + i].iAccumulator = 0;
pids[PID_RATE_ROLL + i].iAccumulator = 0;
#if 0
pids[PID_RATEA_ROLL + i].iAccumulator = 0;
#endif
}
// Compute what Rate mode would give for this stick angle's rate
@ -425,16 +405,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
float rateDesiredAxisAttitude;
rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
//it looks like P is degreespersecond per degree of angle error
//so it is NOT high enough to ramp up like I thought it would
//maybe I just need to measure the current stick angle for 179 bank angle
#if 0
cast_struct_to_array(stabBank.MaximumRate,
stabBank.MaximumRate.Roll)[i]);
#else
cast_struct_to_array(stabBank.ManualRate,
stabBank.ManualRate.Roll)[i]);
#endif
// Compute the weighted average rate desired
// Using max() rather than sqrt() for cpu speed;
@ -445,8 +417,6 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
float magnitude;
magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
#if 0
#else
// modify magnitude to move the Att to Rate transition to the place
// specified by the user
// we are looking for where the stick angle == transition angle
@ -477,83 +447,13 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
} else {
magnitude = (magnitude - rattitude_mode_transition_stick_position) * (1.0f-STICK_VALUE_AT_MODE_TRANSITION) / (1.0f - rattitude_mode_transition_stick_position) + STICK_VALUE_AT_MODE_TRANSITION;
}
#endif
rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude
+ magnitude * rateDesiredAxisRate;
#if 0
// Compute the inner loop for both Rate mode and Attitude mode
// actuatorDesiredAxis[i] is the weighted average of the two PIDs from the two rates
actuatorDesiredAxis[i] =
(1.0f - magnitude) * pid_apply_setpoint(&pids[PID_RATEA_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT)
+ magnitude * pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
// settings.RattitudeAntiWindup controls the iAccumulator zeroing
// - so both iAccs don't wind up too far;
// - nor do both iAccs get held too close to zero at mid stick
// I suspect that there would be windup without it
// - since rate and attitude fight each other here
// - rate trying to pull it over the top and attitude trying to pull it back down
// Wind-up increases linearly with cycles for a fixed error.
// We must never increase the iAcc or we risk oscillation.
// Use the powf() function to make two anti-windup curves
// - one for zeroing rate close to center stick
// - the other for zeroing attitude close to max stick
// the bigger the dT the more anti windup needed
// the bigger the PID[].i the more anti windup needed
// more anti windup is achieved with a lower powf() power
// a doubling of e.g. PID[].i should cause the runtime anti windup factor
// to get twice as far away from 1.0 (towards zero)
// e.g. from .90 to .80
// magic numbers
// these generate the inverted parabola like curves that go through [0,1] and [1,0]
// the higher the power, the closer the curve is to a straight line
// from [0,1] to [1,1] to [1,0] and the less anti windup is applied
// the UAVO RattitudeAntiWindup varies from 0 to 31
// 0 turns off anti windup
// 1 gives very little anti-windup because the power given to powf() is 31
// 31 gives a lot of anti-windup because the power given to powf() is 1
// the 32.1 is what does this
// the 7.966 and 17.668 cancel the default PID value and dT given to log2f()
// if these are non-default, tweaking is thus done so the user doesn't have to readjust
// the default value of 10 for UAVO RattitudeAntiWindup gives a power of 22
// these calculations are for magnitude = 0.5, so 22 corresponds to the number of bits
// used in the mantissa of the float
// i.e. 1.0-(0.5^22) almost underflows
// This may only be useful for aircraft with large Ki values and limits
if (dT > 0.0f && rattitude_anti_windup > 0.0f) {
float factor;
// At magnitudes close to one, the Attitude accumulators gets zeroed
if (pids[PID_ROLL + i].i > 0.0f) {
factor = 1.0f - stab_powf(magnitude, ((uint8_t)(32.1f - 7.966f - stab_log2f(dT * pids[PID_ROLL + i].i))) - rattitude_anti_windup);
pids[PID_ROLL + i].iAccumulator *= factor;
}
if (pids[PID_RATEA_ROLL + i].i > 0.0f) {
factor = 1.0f - stab_powf(magnitude, ((uint8_t)(32.1f - 17.668f - stab_log2f(dT * pids[PID_RATEA_ROLL + i].i))) - rattitude_anti_windup);
pids[PID_RATEA_ROLL + i].iAccumulator *= factor;
}
// At magnitudes close to zero, the Rate accumulator gets zeroed
if (pids[PID_RATE_ROLL + i].i > 0.0f) {
factor = 1.0f - stab_powf(1.0f - magnitude, ((uint8_t)(32.1f - 17.668f - stab_log2f(dT * pids[PID_RATE_ROLL + i].i))) - rattitude_anti_windup);
pids[PID_RATE_ROLL + i].iAccumulator *= factor;
}
}
#else
// Compute the inner loop for the averaged rate
// actuatorDesiredAxis[i] is the weighted average
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
#endif
break;
}
@ -778,43 +678,6 @@ static float bound(float val, float range)
}
#if 0
// x small (0.0 < x < .01) so interpolation of fractional part is reasonable
static float stab_log2f(float x)
{
union {
volatile float f;
volatile uint32_t i;
volatile unsigned char c[4];
} __attribute__((packed)) u1, u2;
u2.f = u1.f = x;
u1.i <<= 1;
u2.i &= 0xff800000;
// get and unbias the exponent, add in a linear interpolation of the fractional part
return (float)(u1.c[3] - 127) + (x / u2.f) - 1.0f;
}
// 0<=x<=1, 0<=p<=31
static float stab_powf(float x, uint8_t p)
{
float retval = 1.0f;
while (p) {
if (p & 1) {
retval *= x;
}
x *= x;
p >>= 1;
}
return retval;
}
#endif
static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) {
@ -923,29 +786,6 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
bank.YawPI.Ki,
0,
bank.YawPI.ILimit);
#if 0
// Set the Rattitude roll rate PID constants
pid_configure(&pids[PID_RATEA_ROLL],
bank.RollRatePID.Kp,
bank.RollRatePID.Ki,
bank.RollRatePID.Kd,
bank.RollRatePID.ILimit);
// Set the Rattitude pitch rate PID constants
pid_configure(&pids[PID_RATEA_PITCH],
bank.PitchRatePID.Kp,
bank.PitchRatePID.Ki,
bank.PitchRatePID.Kd,
bank.PitchRatePID.ILimit);
// Set the Rattitude yaw rate PID constants
pid_configure(&pids[PID_RATEA_YAW],
bank.YawRatePID.Kp,
bank.YawRatePID.Ki,
bank.YawRatePID.Kd,
bank.YawRatePID.ILimit);
#endif
}
@ -986,12 +826,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
cur_flight_mode = -1;
// Rattitude flight mode anti-windup factor
#if 0
rattitude_anti_windup = settings.RattitudeAntiWindup;
#else
rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransistion / 100.0f;
//rattitude_mode_transition_stick_position = ((float)settings.RattitudeAntiWindup) / 31.0f;
#endif
cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f;
cruise_control_max_thrust = (float)settings.CruiseControlMaxThrust / 100.0f;