mirror of
https://bitbucket.org/librepilot/librepilot.git
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Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next
This commit is contained in:
Philippe Renon
commit
9229da9c89
@ -114,9 +114,9 @@ int32_t configuration_check()
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO:
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if (coptercontrol) {
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severity = SYSTEMALARMS_ALARM_ERROR;
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} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
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severity = SYSTEMALARMS_ALARM_ERROR;
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}
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// TODO: put check equivalent to TASK_MONITOR_IsRunning
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// here as soon as available for delayed callbacks
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break;
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case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
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if (coptercontrol) {
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@ -40,22 +40,24 @@
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#include "altitude.h"
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#include "barosensor.h" // object that will be updated by the module
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#include "revosettings.h"
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#if defined(PIOS_INCLUDE_HCSR04)
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#include "sonaraltitude.h" // object that will be updated by the module
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#endif
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#include "taskinfo.h"
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// Private constants
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#define STACK_SIZE_BYTES 500
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#define STACK_SIZE_BYTES 550
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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static RevoSettingsBaroTempCorrectionPolynomialData baroCorrection;
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// Private functions
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static void altitudeTask(void *parameters);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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/**
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* Initialise the module, called on startup
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@ -77,6 +79,9 @@ int32_t AltitudeStart()
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int32_t AltitudeInitialize()
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{
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BaroSensorInitialize();
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RevoSettingsInitialize();
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RevoSettingsConnectCallback(&SettingsUpdatedCb);
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#if defined(PIOS_INCLUDE_HCSR04)
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SonarAltitudeInitialize();
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#endif
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@ -103,6 +108,8 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
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// Undef for normal operation
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// #define PIOS_MS5611_SLOW_TEMP_RATE 20
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RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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uint8_t temp_press_interleave_count = 1;
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#endif
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@ -154,12 +161,12 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
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vTaskDelay(PIOS_MS5611_GetDelay());
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PIOS_MS5611_ReadADC();
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temp = PIOS_MS5611_GetTemperature();
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press = PIOS_MS5611_GetPressure();
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float temp2 = temp * temp;
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press = press - baroCorrection.a + temp * baroCorrection.b + temp2 * baroCorrection.c + temp * temp2 * baroCorrection.d;
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float altitude = 44330.0f * (1.0f - powf(press / MS5611_P0, (1.0f / 5.255f)));
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float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
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if (!isnan(altitude)) {
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data.Altitude = altitude;
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@ -171,6 +178,10 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
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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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RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
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}
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/**
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* @}
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* @}
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@ -46,33 +46,35 @@
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#include <openpilot.h>
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#include <math.h>
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#include <pid.h>
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#include <CoordinateConversions.h>
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#include <altholdsmoothed.h>
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#include <attitudestate.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 <barosensor.h>
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#include <positionstate.h>
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#include <altitudeholdstatus.h>
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#include <flightstatus.h>
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#include <stabilizationdesired.h>
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#include <accelstate.h>
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#include <taskinfo.h>
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#include <pios_constants.h>
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#include <velocitystate.h>
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#include <positionstate.h>
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// Private constants
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#define MAX_QUEUE_SIZE 2
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#define STACK_SIZE_BYTES 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define ACCEL_DOWNSAMPLE 4
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#define TIMEOUT_TRESHOLD 200000
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#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
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#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
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#define STACK_SIZE_BYTES 1024
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#define DESIRED_UPDATE_RATE_MS 100 // milliseconds
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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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static DelayedCallbackInfo *altitudeHoldCBInfo;
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static AltitudeHoldSettingsData altitudeHoldSettings;
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static struct pid pid0, pid1;
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// Private functions
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static void altitudeHoldTask(void *parameters);
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static void altitudeHoldTask(void);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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/**
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@ -82,8 +84,8 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
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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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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDEHOLD, altitudeHoldTaskHandle);
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SettingsUpdatedCb(NULL);
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DelayedCallbackDispatch(altitudeHoldCBInfo);
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return 0;
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}
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@ -96,319 +98,122 @@ int32_t AltitudeHoldInitialize()
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{
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AltitudeHoldSettingsInitialize();
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AltitudeHoldDesiredInitialize();
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AltHoldSmoothedInitialize();
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AltitudeHoldStatusInitialize();
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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altitudeHoldCBInfo = DelayedCallbackCreate(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, STACK_SIZE_BYTES);
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AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
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return 0;
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}
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MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart);
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float tau;
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float throttleIntegral;
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float velocity;
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float decay;
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float velocity_decay;
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bool running = false;
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float error;
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float switchThrottle;
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float smoothed_altitude;
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float starting_altitude;
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/**
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* Module thread, should not return.
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*/
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static void altitudeHoldTask(__attribute__((unused)) void *parameters)
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static void altitudeHoldTask(void)
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{
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AltitudeHoldDesiredData altitudeHoldDesired;
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StabilizationDesiredData stabilizationDesired;
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static float startThrottle = 0.5f;
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portTickType thisTime, lastUpdateTime;
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UAVObjEvent ev;
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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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// Force update of the settings
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SettingsUpdatedCb(&ev);
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// Failsafe handling
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uint32_t lastAltitudeHoldDesiredUpdate = 0;
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bool enterFailSafe = false;
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// Listen for updates.
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AltitudeHoldDesiredConnectQueue(queue);
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BaroSensorConnectQueue(queue);
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FlightStatusConnectQueue(queue);
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AccelStateConnectQueue(queue);
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bool altitudeHoldFlightMode = false;
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BaroSensorAltitudeGet(&smoothed_altitude);
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running = false;
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enum init_state { WAITING_BARO, WAITIING_INIT, INITED } init = WAITING_BARO;
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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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pid_zero(&pid0);
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pid_zero(&pid1);
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StabilizationDesiredThrottleGet(&startThrottle);
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DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
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return;
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uint8_t flightMode;
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FlightStatusFlightModeGet(&flightMode);
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// initialize enable flag
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altitudeHoldFlightMode = flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD || flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO;
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// Main task loop
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bool baro_updated = false;
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while (1) {
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enterFailSafe = PIOS_DELAY_DiffuS(lastAltitudeHoldDesiredUpdate) > TIMEOUT_TRESHOLD;
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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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if (!running) {
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throttleIntegral = 0;
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}
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// Todo: Add alarm if it should be running
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continue;
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} else if (ev.obj == BaroSensorHandle()) {
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baro_updated = true;
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init = (init == WAITING_BARO) ? WAITIING_INIT : init;
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} else if (ev.obj == FlightStatusHandle()) {
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FlightStatusFlightModeGet(&flightMode);
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altitudeHoldFlightMode = flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD || flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO;
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if (altitudeHoldFlightMode && !running) {
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// Copy the current throttle as a starting point for integral
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StabilizationDesiredThrottleGet(&throttleIntegral);
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switchThrottle = throttleIntegral;
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error = 0;
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velocity = 0;
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running = true;
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AltHoldSmoothedData altHold;
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AltHoldSmoothedGet(&altHold);
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starting_altitude = altHold.Altitude;
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} else if (!altitudeHoldFlightMode) {
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running = false;
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lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
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}
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} else if (ev.obj == AccelStateHandle()) {
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static uint32_t timeval;
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static float z[4] = { 0, 0, 0, 0 };
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float z_new[4];
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float P[4][4], K[4][2], x[2];
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float G[4] = { 1.0e-15f, 1.0e-15f, 1.0e-3f, 1.0e-7f };
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static float V[4][4] = {
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{ 10.0f, 0.0f, 0.0f, 0.0f },
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{ 0.0f, 100.0f, 0.0f, 0.0f },
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{ 0.0f, 0.0f, 100.0f, 0.0f },
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{ 0.0f, 0.0f, 0.0f, 1000.0f }
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};
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static uint32_t accel_downsample_count = 0;
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static float accels_accum[3] = { 0.0f, 0.0f, 0.0f };
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float dT;
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static float S[2] = { 1.0f, 10.0f };
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/* Somehow this always assigns to zero. Compiler bug? Race condition? */
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S[0] = altitudeHoldSettings.PressureNoise;
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S[1] = altitudeHoldSettings.AccelNoise;
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G[2] = altitudeHoldSettings.AccelDrift;
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AccelStateData accelState;
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AccelStateGet(&accelState);
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AttitudeStateData attitudeState;
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AttitudeStateGet(&attitudeState);
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BaroSensorData baro;
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BaroSensorGet(&baro);
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/* Downsample accels to stop this calculation consuming too much CPU */
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accels_accum[0] += accelState.x;
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accels_accum[1] += accelState.y;
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accels_accum[2] += accelState.z;
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accel_downsample_count++;
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if (accel_downsample_count < ACCEL_DOWNSAMPLE) {
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continue;
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}
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accel_downsample_count = 0;
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accelState.x = accels_accum[0] / ACCEL_DOWNSAMPLE;
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accelState.y = accels_accum[1] / ACCEL_DOWNSAMPLE;
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accelState.z = accels_accum[2] / ACCEL_DOWNSAMPLE;
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accels_accum[0] = accels_accum[1] = accels_accum[2] = 0;
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thisTime = xTaskGetTickCount();
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if (init == WAITIING_INIT) {
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z[0] = baro.Altitude;
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z[1] = 0;
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z[2] = accelState.z;
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z[3] = 0;
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init = INITED;
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} else if (init == WAITING_BARO) {
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continue;
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}
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x[0] = baro.Altitude;
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// rotate avg accels into earth frame and store it
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if (1) {
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float q[4], Rbe[3][3];
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q[0] = attitudeState.q1;
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q[1] = attitudeState.q2;
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q[2] = attitudeState.q3;
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q[3] = attitudeState.q4;
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Quaternion2R(q, Rbe);
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x[1] = -(Rbe[0][2] * accelState.x + Rbe[1][2] * accelState.y + Rbe[2][2] * accelState.z + 9.81f);
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} else {
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x[1] = -accelState.z + 9.81f;
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}
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dT = PIOS_DELAY_DiffuS(timeval) / 1.0e6f;
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timeval = PIOS_DELAY_GetRaw();
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P[0][0] = dT * (V[0][1] + dT * V[1][1]) + V[0][0] + G[0] + dT * V[1][0];
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P[0][1] = dT * (V[0][2] + dT * V[1][2]) + V[0][1] + dT * V[1][1];
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P[0][2] = V[0][2] + dT * V[1][2];
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P[0][3] = V[0][3] + dT * V[1][3];
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P[1][0] = dT * (V[1][1] + dT * V[2][1]) + V[1][0] + dT * V[2][0];
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P[1][1] = dT * (V[1][2] + dT * V[2][2]) + V[1][1] + G[1] + dT * V[2][1];
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P[1][2] = V[1][2] + dT * V[2][2];
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P[1][3] = V[1][3] + dT * V[2][3];
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P[2][0] = V[2][0] + dT * V[2][1];
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P[2][1] = V[2][1] + dT * V[2][2];
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P[2][2] = V[2][2] + G[2];
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P[2][3] = V[2][3];
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P[3][0] = V[3][0] + dT * V[3][1];
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P[3][1] = V[3][1] + dT * V[3][2];
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P[3][2] = V[3][2];
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P[3][3] = V[3][3] + G[3];
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if (baro_updated) {
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K[0][0] = -(V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]) + 1.0f;
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K[0][1] = ((V[0][2] + V[0][3]) * S[0] + dT * (V[1][2] + V[1][3]) * S[0]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
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K[1][0] = (V[1][0] * G[2] + V[1][0] * G[3] + V[1][0] * S[1] + V[1][0] * V[2][2] - V[2][0] * V[1][2] + V[1][0] * V[2][3] + V[1][0] * V[3][2] - V[2][0] * V[1][3] - V[1][2] * V[3][0] + V[1][0] * V[3][3] - V[3][0] * V[1][3] + (dT * dT) * V[2][1] * V[3][2] - (dT * dT) * V[2][2] * V[3][1] + (dT * dT) * V[2][1] * V[3][3] - (dT * dT) * V[3][1] * V[2][3] + dT * V[1][1] * G[2] + dT * V[2][0] * G[2] + dT * V[1][1] * G[3] + dT * V[2][0] * G[3] + dT * V[1][1] * S[1] + dT * V[2][0] * S[1] + (dT * dT) * V[2][1] * G[2] + (dT * dT) * V[2][1] * G[3] + (dT * dT) * V[2][1] * S[1] + dT * V[1][1] * V[2][2] - dT * V[1][2] * V[2][1] + dT * V[1][1] * V[2][3] + dT * V[1][1] * V[3][2] + dT * V[2][0] * V[3][2] - dT * V[1][2] * V[3][1] - dT * V[2][1] * V[1][3] - dT * V[3][0] * V[2][2] + dT * V[1][1] * V[3][3] + dT * V[2][0] * V[3][3] - dT * V[3][0] * V[2][3] - dT * V[1][3] * V[3][1]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
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K[1][1] = (V[1][2] * G[0] + V[1][3] * G[0] + V[1][2] * S[0] + V[1][3] * S[0] + V[0][0] * V[1][2] - V[1][0] * V[0][2] + V[0][0] * V[1][3] - V[1][0] * V[0][3] + (dT * dT) * V[0][1] * V[2][2] + (dT * dT) * V[1][0] * V[2][2] - (dT * dT) * V[0][2] * V[2][1] - (dT * dT) * V[2][0] * V[1][2] + (dT * dT) * V[0][1] * V[2][3] + (dT * dT) * V[1][0] * V[2][3] - (dT * dT) * V[2][0] * V[1][3] - (dT * dT) * V[0][3] * V[2][1] + (dT * dT * dT) * V[1][1] * V[2][2] - (dT * dT * dT) * V[1][2] * V[2][1] + (dT * dT * dT) * V[1][1] * V[2][3] - (dT * dT * dT) * V[2][1] * V[1][3] + dT * V[2][2] * G[0] + dT * V[2][3] * G[0] + dT * V[2][2] * S[0] + dT * V[2][3] * S[0] + dT * V[0][0] * V[2][2] + dT * V[0][1] * V[1][2] - dT * V[0][2] * V[1][1] - dT * V[0][2] * V[2][0] + dT * V[0][0] * V[2][3] + dT * V[0][1] * V[1][3] - dT * V[1][1] * V[0][3] - dT * V[2][0] * V[0][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
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K[2][0] = (V[2][0] * G[3] - V[3][0] * G[2] + V[2][0] * S[1] + V[2][0] * V[3][2] - V[3][0] * V[2][2] + V[2][0] * V[3][3] - V[3][0] * V[2][3] + dT * V[2][1] * G[3] - dT * V[3][1] * G[2] + dT * V[2][1] * S[1] + dT * V[2][1] * V[3][2] - dT * V[2][2] * V[3][1] + dT * V[2][1] * V[3][3] - dT * V[3][1] * V[2][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
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K[2][1] = (V[0][0] * G[2] + V[2][2] * G[0] + V[2][3] * G[0] + V[2][2] * S[0] + V[2][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] - V[2][0] * V[0][3] + G[0] * G[2] + G[2] * S[0] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] - (dT * dT) * V[2][1] * V[1][3] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + (dT * dT) * V[1][1] * G[2] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[1][0] * V[2][3] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
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K[3][0] = (-V[2][0] * G[3] + V[3][0] * G[2] + V[3][0] * S[1] - V[2][0] * V[3][2] + V[3][0] * V[2][2] - V[2][0] * V[3][3] + V[3][0] * V[2][3] - dT * V[2][1] * G[3] + dT * V[3][1] * G[2] + dT * V[3][1] * S[1] - dT * V[2][1] * V[3][2] + dT * V[2][2] * V[3][1] - dT * V[2][1] * V[3][3] + dT * V[3][1] * V[2][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
|
||||
K[3][1] = (V[0][0] * G[3] + V[3][2] * G[0] + V[3][3] * G[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[3][2] - V[0][2] * V[3][0] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[3] + G[3] * S[0] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + (dT * dT) * V[1][1] * G[3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
|
||||
|
||||
z_new[0] = -K[0][0] * (dT * z[1] - x[0] + z[0]) + dT * z[1] - K[0][1] * (-x[1] + z[2] + z[3]) + z[0];
|
||||
z_new[1] = -K[1][0] * (dT * z[1] - x[0] + z[0]) + dT * z[2] - K[1][1] * (-x[1] + z[2] + z[3]) + z[1];
|
||||
z_new[2] = -K[2][0] * (dT * z[1] - x[0] + z[0]) - K[2][1] * (-x[1] + z[2] + z[3]) + z[2];
|
||||
z_new[3] = -K[3][0] * (dT * z[1] - x[0] + z[0]) - K[3][1] * (-x[1] + z[2] + z[3]) + z[3];
|
||||
|
||||
memcpy(z, z_new, sizeof(z_new));
|
||||
|
||||
V[0][0] = -K[0][1] * P[2][0] - K[0][1] * P[3][0] - P[0][0] * (K[0][0] - 1.0f);
|
||||
V[0][1] = -K[0][1] * P[2][1] - K[0][1] * P[3][2] - P[0][1] * (K[0][0] - 1.0f);
|
||||
V[0][2] = -K[0][1] * P[2][2] - K[0][1] * P[3][2] - P[0][2] * (K[0][0] - 1.0f);
|
||||
V[0][3] = -K[0][1] * P[2][3] - K[0][1] * P[3][3] - P[0][3] * (K[0][0] - 1.0f);
|
||||
V[1][0] = P[1][0] - K[1][0] * P[0][0] - K[1][1] * P[2][0] - K[1][1] * P[3][0];
|
||||
V[1][1] = P[1][1] - K[1][0] * P[0][1] - K[1][1] * P[2][1] - K[1][1] * P[3][2];
|
||||
V[1][2] = P[1][2] - K[1][0] * P[0][2] - K[1][1] * P[2][2] - K[1][1] * P[3][2];
|
||||
V[1][3] = P[1][3] - K[1][0] * P[0][3] - K[1][1] * P[2][3] - K[1][1] * P[3][3];
|
||||
V[2][0] = -K[2][0] * P[0][0] - K[2][1] * P[3][0] - P[2][0] * (K[2][1] - 1.0f);
|
||||
V[2][1] = -K[2][0] * P[0][1] - K[2][1] * P[3][2] - P[2][1] * (K[2][1] - 1.0f);
|
||||
V[2][2] = -K[2][0] * P[0][2] - K[2][1] * P[3][2] - P[2][2] * (K[2][1] - 1.0f);
|
||||
V[2][3] = -K[2][0] * P[0][3] - K[2][1] * P[3][3] - P[2][3] * (K[2][1] - 1.0f);
|
||||
V[3][0] = -K[3][0] * P[0][0] - K[3][1] * P[2][0] - P[3][0] * (K[3][1] - 1.0f);
|
||||
V[3][1] = -K[3][0] * P[0][1] - K[3][1] * P[2][1] - P[3][2] * (K[3][1] - 1.0f);
|
||||
V[3][2] = -K[3][0] * P[0][2] - K[3][1] * P[2][2] - P[3][2] * (K[3][1] - 1.0f);
|
||||
V[3][3] = -K[3][0] * P[0][3] - K[3][1] * P[2][3] - P[3][3] * (K[3][1] - 1.0f);
|
||||
|
||||
|
||||
baro_updated = false;
|
||||
} else {
|
||||
K[0][0] = (V[0][2] + V[0][3] + dT * V[1][2] + dT * V[1][3]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
|
||||
K[1][0] = (V[1][2] + V[1][3] + dT * V[2][2] + dT * V[2][3]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
|
||||
K[2][0] = (V[2][2] + V[2][3] + G[2]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
|
||||
K[3][0] = (V[3][2] + V[3][3] + G[3]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
|
||||
|
||||
|
||||
z_new[0] = dT * z[1] - K[0][0] * (-x[1] + z[2] + z[3]) + z[0];
|
||||
z_new[1] = dT * z[2] - K[1][0] * (-x[1] + z[2] + z[3]) + z[1];
|
||||
z_new[2] = -K[2][0] * (-x[1] + z[2] + z[3]) + z[2];
|
||||
z_new[3] = -K[3][0] * (-x[1] + z[2] + z[3]) + z[3];
|
||||
|
||||
memcpy(z, z_new, sizeof(z_new));
|
||||
|
||||
V[0][0] = P[0][0] - K[0][0] * P[2][0] - K[0][0] * P[3][0];
|
||||
V[0][1] = P[0][1] - K[0][0] * P[2][1] - K[0][0] * P[3][2];
|
||||
V[0][2] = P[0][2] - K[0][0] * P[2][2] - K[0][0] * P[3][2];
|
||||
V[0][3] = P[0][3] - K[0][0] * P[2][3] - K[0][0] * P[3][3];
|
||||
V[1][0] = P[1][0] - K[1][0] * P[2][0] - K[1][0] * P[3][0];
|
||||
V[1][1] = P[1][1] - K[1][0] * P[2][1] - K[1][0] * P[3][2];
|
||||
V[1][2] = P[1][2] - K[1][0] * P[2][2] - K[1][0] * P[3][2];
|
||||
V[1][3] = P[1][3] - K[1][0] * P[2][3] - K[1][0] * P[3][3];
|
||||
V[2][0] = -K[2][0] * P[3][0] - P[2][0] * (K[2][0] - 1.0f);
|
||||
V[2][1] = -K[2][0] * P[3][2] - P[2][1] * (K[2][0] - 1.0f);
|
||||
V[2][2] = -K[2][0] * P[3][2] - P[2][2] * (K[2][0] - 1.0f);
|
||||
V[2][3] = -K[2][0] * P[3][3] - P[2][3] * (K[2][0] - 1.0f);
|
||||
V[3][0] = -K[3][0] * P[2][0] - P[3][0] * (K[3][0] - 1.0f);
|
||||
V[3][1] = -K[3][0] * P[2][1] - P[3][2] * (K[3][0] - 1.0f);
|
||||
V[3][2] = -K[3][0] * P[2][2] - P[3][2] * (K[3][0] - 1.0f);
|
||||
V[3][3] = -K[3][0] * P[2][3] - P[3][3] * (K[3][0] - 1.0f);
|
||||
}
|
||||
|
||||
AltHoldSmoothedData altHold;
|
||||
AltHoldSmoothedGet(&altHold);
|
||||
altHold.Altitude = z[0];
|
||||
altHold.Velocity = z[1];
|
||||
altHold.Accel = z[2];
|
||||
AltHoldSmoothedSet(&altHold);
|
||||
|
||||
AltHoldSmoothedGet(&altHold);
|
||||
|
||||
// Verify that we are in altitude hold mode
|
||||
uint8_t armed;
|
||||
FlightStatusArmedGet(&armed);
|
||||
if (!altitudeHoldFlightMode || armed != FLIGHTSTATUS_ARMED_ARMED) {
|
||||
running = false;
|
||||
}
|
||||
|
||||
if (!running) {
|
||||
lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
|
||||
continue;
|
||||
}
|
||||
|
||||
// Compute the altitude error
|
||||
error = (starting_altitude + altitudeHoldDesired.Altitude) - altHold.Altitude;
|
||||
|
||||
// Compute integral off altitude error
|
||||
throttleIntegral += error * altitudeHoldSettings.Ki * dT;
|
||||
|
||||
// Only update stabilizationDesired less frequently
|
||||
if ((thisTime - lastUpdateTime) < 20) {
|
||||
continue;
|
||||
}
|
||||
|
||||
lastUpdateTime = thisTime;
|
||||
|
||||
// Instead of explicit limit on integral you output limit feedback
|
||||
StabilizationDesiredGet(&stabilizationDesired);
|
||||
if (!enterFailSafe) {
|
||||
stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp + throttleIntegral -
|
||||
altHold.Velocity * altitudeHoldSettings.Kd - altHold.Accel * altitudeHoldSettings.Ka;
|
||||
if (stabilizationDesired.Throttle > 1) {
|
||||
throttleIntegral -= (stabilizationDesired.Throttle - 1);
|
||||
stabilizationDesired.Throttle = 1;
|
||||
} else if (stabilizationDesired.Throttle < 0) {
|
||||
throttleIntegral -= stabilizationDesired.Throttle;
|
||||
stabilizationDesired.Throttle = 0;
|
||||
}
|
||||
} else {
|
||||
// shutdown motors
|
||||
stabilizationDesired.Throttle = -1;
|
||||
}
|
||||
stabilizationDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stabilizationDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stabilizationDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
|
||||
stabilizationDesired.Roll = altitudeHoldDesired.Roll;
|
||||
stabilizationDesired.Pitch = altitudeHoldDesired.Pitch;
|
||||
stabilizationDesired.Yaw = altitudeHoldDesired.Yaw;
|
||||
|
||||
StabilizationDesiredSet(&stabilizationDesired);
|
||||
} else if (ev.obj == AltitudeHoldDesiredHandle()) {
|
||||
// reset the failsafe timer
|
||||
lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
|
||||
AltitudeHoldDesiredGet(&altitudeHoldDesired);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
AltitudeHoldStatusData altitudeHoldStatus;
|
||||
AltitudeHoldStatusGet(&altitudeHoldStatus);
|
||||
|
||||
// do the actual control loop(s)
|
||||
AltitudeHoldDesiredData altitudeHoldDesired;
|
||||
AltitudeHoldDesiredGet(&altitudeHoldDesired);
|
||||
float positionStateDown;
|
||||
PositionStateDownGet(&positionStateDown);
|
||||
float velocityStateDown;
|
||||
VelocityStateDownGet(&velocityStateDown);
|
||||
|
||||
switch (altitudeHoldDesired.ControlMode) {
|
||||
case ALTITUDEHOLDDESIRED_CONTROLMODE_ALTITUDE:
|
||||
// altitude control loop
|
||||
altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, 1.0f, altitudeHoldDesired.SetPoint, positionStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS);
|
||||
break;
|
||||
case ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY:
|
||||
altitudeHoldStatus.VelocityDesired = altitudeHoldDesired.SetPoint;
|
||||
break;
|
||||
default:
|
||||
altitudeHoldStatus.VelocityDesired = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
AltitudeHoldStatusSet(&altitudeHoldStatus);
|
||||
|
||||
float throttle;
|
||||
switch (altitudeHoldDesired.ControlMode) {
|
||||
case ALTITUDEHOLDDESIRED_CONTROLMODE_THROTTLE:
|
||||
throttle = altitudeHoldDesired.SetPoint;
|
||||
break;
|
||||
default:
|
||||
// velocity control loop
|
||||
throttle = startThrottle - pid_apply_setpoint(&pid1, 1.0f, altitudeHoldStatus.VelocityDesired, velocityStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS);
|
||||
|
||||
// compensate throttle for current attitude
|
||||
// Rbe[2][2] in the rotation matrix is the rotated down component of a
|
||||
// 0,0,1 vector
|
||||
// it is used to scale the throttle, but only up to 4 times the regular
|
||||
// throttle
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
float Rbe[3][3];
|
||||
Quaternion2R(&attitudeState.q1, Rbe);
|
||||
if (fabsf(Rbe[2][2]) > 0.25f) {
|
||||
throttle /= Rbe[2][2];
|
||||
} else {
|
||||
throttle /= 0.25f;
|
||||
}
|
||||
|
||||
if (throttle >= 1.0f) {
|
||||
throttle = 1.0f;
|
||||
}
|
||||
if (throttle <= 0.0f) {
|
||||
throttle = 0.0f;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
StabilizationDesiredData stab;
|
||||
StabilizationDesiredGet(&stab);
|
||||
stab.Roll = altitudeHoldDesired.Roll;
|
||||
stab.Pitch = altitudeHoldDesired.Pitch;
|
||||
stab.Yaw = altitudeHoldDesired.Yaw;
|
||||
stab.Throttle = throttle;
|
||||
stab.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stab.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stab.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
|
||||
|
||||
StabilizationDesiredSet(&stab);
|
||||
|
||||
DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
|
||||
}
|
||||
|
||||
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
{
|
||||
AltitudeHoldSettingsGet(&altitudeHoldSettings);
|
||||
pid_configure(&pid0, altitudeHoldSettings.AltitudePI.Kp, altitudeHoldSettings.AltitudePI.Ki, 0, altitudeHoldSettings.AltitudePI.Ilimit);
|
||||
pid_zero(&pid0);
|
||||
pid_configure(&pid1, altitudeHoldSettings.VelocityPI.Kp, altitudeHoldSettings.VelocityPI.Ki, 0, altitudeHoldSettings.VelocityPI.Ilimit);
|
||||
pid_zero(&pid1);
|
||||
}
|
||||
|
||||
@ -845,65 +845,60 @@ static void updateLandDesired(__attribute__((unused)) ManualControlCommandData *
|
||||
*/
|
||||
static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
|
||||
{
|
||||
const float DEADBAND = 0.25f;
|
||||
const float DEADBAND = 0.20f;
|
||||
const float DEADBAND_HIGH = 1.0f / 2 + DEADBAND / 2;
|
||||
const float DEADBAND_LOW = 1.0f / 2 - DEADBAND / 2;
|
||||
|
||||
// Stop updating AltitudeHoldDesired triggering a failsafe condition.
|
||||
if (cmd->Throttle < 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
// this is the max speed in m/s at the extents of throttle
|
||||
uint8_t throttleRate;
|
||||
float throttleRate;
|
||||
uint8_t throttleExp;
|
||||
|
||||
static uint8_t flightMode;
|
||||
static portTickType lastSysTimeAH;
|
||||
static bool zeroed = false;
|
||||
portTickType thisSysTime;
|
||||
float dT;
|
||||
static bool newaltitude = true;
|
||||
|
||||
FlightStatusFlightModeGet(&flightMode);
|
||||
|
||||
AltitudeHoldDesiredData altitudeHoldDesiredData;
|
||||
AltitudeHoldDesiredGet(&altitudeHoldDesiredData);
|
||||
|
||||
if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) {
|
||||
throttleExp = 128;
|
||||
throttleRate = 0;
|
||||
} else {
|
||||
AltitudeHoldSettingsThrottleExpGet(&throttleExp);
|
||||
AltitudeHoldSettingsThrottleRateGet(&throttleRate);
|
||||
}
|
||||
AltitudeHoldSettingsThrottleExpGet(&throttleExp);
|
||||
AltitudeHoldSettingsThrottleRateGet(&throttleRate);
|
||||
|
||||
StabilizationBankData stabSettings;
|
||||
StabilizationBankGet(&stabSettings);
|
||||
|
||||
thisSysTime = xTaskGetTickCount();
|
||||
dT = ((thisSysTime == lastSysTimeAH) ? 0.001f : (thisSysTime - lastSysTimeAH) * portTICK_RATE_MS * 0.001f);
|
||||
lastSysTimeAH = thisSysTime;
|
||||
PositionStateData posState;
|
||||
PositionStateGet(&posState);
|
||||
|
||||
altitudeHoldDesiredData.Roll = cmd->Roll * stabSettings.RollMax;
|
||||
altitudeHoldDesiredData.Pitch = cmd->Pitch * stabSettings.PitchMax;
|
||||
altitudeHoldDesiredData.Yaw = cmd->Yaw * stabSettings.ManualRate.Yaw;
|
||||
|
||||
float currentDown;
|
||||
PositionStateDownGet(¤tDown);
|
||||
if (changed) {
|
||||
// After not being in this mode for a while init at current height
|
||||
altitudeHoldDesiredData.Altitude = 0;
|
||||
zeroed = false;
|
||||
} else if (cmd->Throttle > DEADBAND_HIGH && zeroed) {
|
||||
newaltitude = true;
|
||||
}
|
||||
|
||||
uint8_t cutOff;
|
||||
AltitudeHoldSettingsCutThrottleWhenZeroGet(&cutOff);
|
||||
if (cutOff && cmd->Throttle < 0) {
|
||||
// Cut throttle if desired
|
||||
altitudeHoldDesiredData.SetPoint = cmd->Throttle;
|
||||
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_THROTTLE;
|
||||
newaltitude = true;
|
||||
} else if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO && cmd->Throttle > DEADBAND_HIGH) {
|
||||
// being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
|
||||
// then apply an "exp" f(x,k) = (k*x*x*x + x*(256−k)) / 256
|
||||
altitudeHoldDesiredData.Altitude += (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (256 - throttleExp)) / 256 * throttleRate * dT;
|
||||
} else if (cmd->Throttle < DEADBAND_LOW && zeroed) {
|
||||
altitudeHoldDesiredData.Altitude -= (throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (256 - throttleExp)) / 256 * throttleRate * dT;
|
||||
} else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH && (throttleRate != 0)) {
|
||||
// Require the stick to enter the dead band before they can move height
|
||||
// Vario is not "engaged" when throttleRate == 0
|
||||
zeroed = true;
|
||||
// then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255
|
||||
altitudeHoldDesiredData.SetPoint = -((throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - throttleExp) * (cmd->Throttle - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * throttleRate);
|
||||
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY;
|
||||
newaltitude = true;
|
||||
} else if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO && cmd->Throttle < DEADBAND_LOW) {
|
||||
altitudeHoldDesiredData.SetPoint = -(-(throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (255 - throttleExp) * (DEADBAND_LOW - cmd->Throttle) / DEADBAND_LOW) / 255 * throttleRate);
|
||||
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY;
|
||||
newaltitude = true;
|
||||
} else if (newaltitude == true) {
|
||||
altitudeHoldDesiredData.SetPoint = posState.Down;
|
||||
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_ALTITUDE;
|
||||
newaltitude = false;
|
||||
}
|
||||
|
||||
AltitudeHoldDesiredSet(&altitudeHoldDesiredData);
|
||||
|
||||
@ -37,6 +37,7 @@
|
||||
// Private constants
|
||||
|
||||
#define STACK_REQUIRED 64
|
||||
#define INIT_CYCLES 100
|
||||
|
||||
// Private types
|
||||
struct data {
|
||||
@ -67,7 +68,7 @@ static int32_t init(stateFilter *self)
|
||||
struct data *this = (struct data *)self->localdata;
|
||||
|
||||
this->baroOffset = 0.0f;
|
||||
this->first_run = 100;
|
||||
this->first_run = INIT_CYCLES;
|
||||
|
||||
RevoSettingsInitialize();
|
||||
RevoSettingsBaroGPSOffsetCorrectionAlphaGet(&this->baroGPSOffsetCorrectionAlpha);
|
||||
@ -82,8 +83,8 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
|
||||
if (this->first_run) {
|
||||
// Initialize to current altitude reading at initial location
|
||||
if (IS_SET(state->updated, SENSORUPDATES_baro)) {
|
||||
this->baroOffset = (100.f - this->first_run) / 100.f * this->baroOffset + (this->first_run / 100.f) * state->baro[0];
|
||||
this->baroAlt = this->baroOffset;
|
||||
this->baroOffset = ((float)(INIT_CYCLES)-this->first_run) / (float)(INIT_CYCLES)*this->baroOffset + (this->first_run / (float)(INIT_CYCLES)) * state->baro[0];
|
||||
this->baroAlt = 0;
|
||||
this->first_run--;
|
||||
UNSET_MASK(state->updated, SENSORUPDATES_baro);
|
||||
}
|
||||
|
||||
@ -52,6 +52,9 @@ static int32_t lastConversionStart;
|
||||
static int32_t PIOS_MS5611_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
static int32_t PIOS_MS5611_WriteCommand(uint8_t command);
|
||||
|
||||
// Second order temperature compensation. Temperature offset
|
||||
static int64_t compensation_t2;
|
||||
|
||||
// Move into proper driver structure with cfg stored
|
||||
static uint32_t oversampling;
|
||||
static const struct pios_ms5611_cfg *dev_cfg;
|
||||
@ -74,6 +77,9 @@ void PIOS_MS5611_Init(const struct pios_ms5611_cfg *cfg, int32_t i2c_device)
|
||||
|
||||
uint8_t data[2];
|
||||
|
||||
// reset temperature compensation values
|
||||
compensation_t2 = 0;
|
||||
|
||||
/* Calibration parameters */
|
||||
for (int i = 0; i < 6; i++) {
|
||||
PIOS_MS5611_Read(MS5611_CALIB_ADDR + i * 2, data, 2);
|
||||
@ -190,17 +196,34 @@ int32_t PIOS_MS5611_ReadADC(void)
|
||||
} else {
|
||||
int64_t Offset;
|
||||
int64_t Sens;
|
||||
// used for second order temperature compensation
|
||||
int64_t Offset2 = 0;
|
||||
int64_t Sens2 = 0;
|
||||
|
||||
/* Read the pressure conversion */
|
||||
if (PIOS_MS5611_Read(MS5611_ADC_READ, Data, 3) != 0) {
|
||||
return -1;
|
||||
}
|
||||
// check if temperature is less than 20°C
|
||||
if (Temperature < 2000) {
|
||||
Offset2 = 5 * (Temperature - 2000) >> 1;
|
||||
Sens2 = Offset2 >> 1;
|
||||
compensation_t2 = (deltaTemp * deltaTemp) >> 31;
|
||||
// Apply the "Very low temperature compensation" when temp is less than -15°C
|
||||
if (Temperature < -1500) {
|
||||
int64_t tcorr = (Temperature + 1500) * (Temperature + 1500);
|
||||
Offset2 += 7 * tcorr;
|
||||
Sens2 += (11 * tcorr) >> 1;
|
||||
}
|
||||
} else {
|
||||
compensation_t2 = 0;
|
||||
Offset2 = 0;
|
||||
Sens2 = 0;
|
||||
}
|
||||
RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]);
|
||||
|
||||
Offset = (((int64_t)CalibData.C[1]) << 16) + ((((int64_t)CalibData.C[3]) * deltaTemp) >> 7);
|
||||
Offset = (((int64_t)CalibData.C[1]) << 16) + ((((int64_t)CalibData.C[3]) * deltaTemp) >> 7) - Offset2;
|
||||
Sens = ((int64_t)CalibData.C[0]) << 15;
|
||||
Sens = Sens + ((((int64_t)CalibData.C[2]) * deltaTemp) >> 8);
|
||||
|
||||
Sens = Sens + ((((int64_t)CalibData.C[2]) * deltaTemp) >> 8) - Sens2;
|
||||
Pressure = (((((int64_t)RawPressure) * Sens) >> 21) - Offset) >> 15;
|
||||
}
|
||||
return 0;
|
||||
@ -211,7 +234,8 @@ int32_t PIOS_MS5611_ReadADC(void)
|
||||
*/
|
||||
float PIOS_MS5611_GetTemperature(void)
|
||||
{
|
||||
return ((float)Temperature) / 100.0f;
|
||||
// Apply the second order low and very low temperature compensation offset
|
||||
return ((float)(Temperature - compensation_t2)) / 100.0f;
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -23,7 +23,6 @@ UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
UAVOBJSRCFILENAMES += actuatorsettings
|
||||
UAVOBJSRCFILENAMES += altholdsmoothed
|
||||
UAVOBJSRCFILENAMES += attitudesettings
|
||||
UAVOBJSRCFILENAMES += attitudestate
|
||||
UAVOBJSRCFILENAMES += gyrostate
|
||||
@ -104,6 +103,7 @@ UAVOBJSRCFILENAMES += oplinksettings
|
||||
UAVOBJSRCFILENAMES += oplinkstatus
|
||||
UAVOBJSRCFILENAMES += altitudefiltersettings
|
||||
UAVOBJSRCFILENAMES += altitudeholddesired
|
||||
UAVOBJSRCFILENAMES += altitudeholdstatus
|
||||
UAVOBJSRCFILENAMES += waypoint
|
||||
UAVOBJSRCFILENAMES += waypointactive
|
||||
UAVOBJSRCFILENAMES += poilocation
|
||||
|
||||
@ -133,7 +133,7 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
#include "pios_ms5611.h"
|
||||
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
|
||||
.oversampling = MS5611_OSR_512,
|
||||
.oversampling = MS5611_OSR_4096,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MS5611 */
|
||||
|
||||
|
||||
@ -28,7 +28,6 @@ UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
UAVOBJSRCFILENAMES += actuatorsettings
|
||||
UAVOBJSRCFILENAMES += altholdsmoothed
|
||||
UAVOBJSRCFILENAMES += attitudesettings
|
||||
UAVOBJSRCFILENAMES += attitudestate
|
||||
UAVOBJSRCFILENAMES += gyrostate
|
||||
@ -102,6 +101,7 @@ UAVOBJSRCFILENAMES += camerastabsettings
|
||||
UAVOBJSRCFILENAMES += altitudeholdsettings
|
||||
UAVOBJSRCFILENAMES += altitudefiltersettings
|
||||
UAVOBJSRCFILENAMES += altitudeholddesired
|
||||
UAVOBJSRCFILENAMES += altitudeholdstatus
|
||||
UAVOBJSRCFILENAMES += waypoint
|
||||
UAVOBJSRCFILENAMES += waypointactive
|
||||
UAVOBJSRCFILENAMES += poilocation
|
||||
|
||||
@ -129,7 +129,7 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
#include "pios_ms5611.h"
|
||||
static const struct pios_ms5611_cfg pios_ms5611_cfg = {
|
||||
.oversampling = MS5611_OSR_512,
|
||||
.oversampling = MS5611_OSR_4096,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MS5611 */
|
||||
|
||||
|
||||
@ -42,6 +42,7 @@ MODULES += FirmwareIAP
|
||||
MODULES += StateEstimation
|
||||
#MODULES += Sensors/simulated/Sensors
|
||||
MODULES += Airspeed
|
||||
MODULES += AltitudeHold
|
||||
#MODULES += OveroSync
|
||||
|
||||
# Paths
|
||||
|
||||
@ -28,7 +28,6 @@ UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
UAVOBJSRCFILENAMES += actuatorsettings
|
||||
UAVOBJSRCFILENAMES += altholdsmoothed
|
||||
UAVOBJSRCFILENAMES += attitudesettings
|
||||
UAVOBJSRCFILENAMES += attitudestate
|
||||
UAVOBJSRCFILENAMES += attitudesimulated
|
||||
@ -107,6 +106,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
|
||||
UAVOBJSRCFILENAMES += altitudefiltersettings
|
||||
UAVOBJSRCFILENAMES += revosettings
|
||||
UAVOBJSRCFILENAMES += altitudeholddesired
|
||||
UAVOBJSRCFILENAMES += altitudeholdstatus
|
||||
UAVOBJSRCFILENAMES += ekfconfiguration
|
||||
UAVOBJSRCFILENAMES += ekfstatevariance
|
||||
|
||||
|
||||
@ -137,6 +137,7 @@ void MyTabbedStackWidget::showWidget(int index)
|
||||
void MyTabbedStackWidget::resizeEvent(QResizeEvent *event)
|
||||
{
|
||||
QWidget::resizeEvent(event);
|
||||
|
||||
m_listWidget->setFixedWidth(m_listWidget->verticalScrollBar()->isVisible() ? LIST_VIEW_WIDTH + 20 : LIST_VIEW_WIDTH);
|
||||
}
|
||||
|
||||
|
||||
@ -79,7 +79,7 @@ private:
|
||||
static const int LIST_VIEW_WIDTH = 80;
|
||||
|
||||
protected:
|
||||
void resizeEvent(QResizeEvent * event);
|
||||
void resizeEvent(QResizeEvent *event);
|
||||
};
|
||||
|
||||
#endif // MYTABBEDSTACKWIDGET_H
|
||||
|
||||
@ -28211,7 +28211,7 @@ border-radius: 5;</string>
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Integral</string>
|
||||
<string>Velocity Proportional</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
@ -28236,7 +28236,7 @@ border-radius: 5;</string>
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Proportional</string>
|
||||
<string>Altitude Proportional</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
@ -28267,7 +28267,7 @@ border-radius: 5;</string>
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Derivative</string>
|
||||
<string>Velocity Integral</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
@ -28291,8 +28291,9 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:AltitudeHoldSettings</string>
|
||||
<string>fieldname:Kp</string>
|
||||
<string>scale:0.001</string>
|
||||
<string>fieldname:AltitudePI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.01</string>
|
||||
<string>haslimits:yes</string>
|
||||
<string>buttongroup:98</string>
|
||||
</stringlist>
|
||||
@ -28316,8 +28317,9 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:AltitudeHoldSettings</string>
|
||||
<string>fieldname:Ki</string>
|
||||
<string>scale:0.001</string>
|
||||
<string>fieldname:VelocityPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.01</string>
|
||||
<string>haslimits:yes</string>
|
||||
<string>buttongroup:98</string>
|
||||
</stringlist>
|
||||
@ -28327,7 +28329,7 @@ border-radius: 5;</string>
|
||||
<item row="3" column="2">
|
||||
<widget class="QSlider" name="AltKdSlider">
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
@ -28341,8 +28343,9 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:AltitudeHoldSettings</string>
|
||||
<string>fieldname:Kd</string>
|
||||
<string>scale:0.001</string>
|
||||
<string>fieldname:VelocityPI</string>
|
||||
<string>element:Ki</string>
|
||||
<string>scale:0.00001</string>
|
||||
<string>haslimits:yes</string>
|
||||
<string>buttongroup:98</string>
|
||||
</stringlist>
|
||||
@ -28908,7 +28911,7 @@ color: rgb(255, 255, 255);
|
||||
border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Altitude</string>
|
||||
<string>Control Coefficients</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
@ -28953,8 +28956,9 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:AltitudeHoldSettings</string>
|
||||
<string>fieldname:Kp</string>
|
||||
<string>scale:0.001</string>
|
||||
<string>fieldname:AltitudePI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.01</string>
|
||||
<string>haslimits:yes</string>
|
||||
<string>buttongroup:98</string>
|
||||
</stringlist>
|
||||
@ -28999,8 +29003,9 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:AltitudeHoldSettings</string>
|
||||
<string>fieldname:Ki</string>
|
||||
<string>scale:0.001</string>
|
||||
<string>fieldname:VelocityPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.01</string>
|
||||
<string>haslimits:yes</string>
|
||||
<string>buttongroup:98</string>
|
||||
</stringlist>
|
||||
@ -29037,7 +29042,7 @@ border-radius: 5;</string>
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>51</number>
|
||||
@ -29045,8 +29050,9 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:AltitudeHoldSettings</string>
|
||||
<string>fieldname:Kd</string>
|
||||
<string>scale:0.001</string>
|
||||
<string>fieldname:VelocityPI</string>
|
||||
<string>element:Ki</string>
|
||||
<string>scale:0.00001</string>
|
||||
<string>haslimits:yes</string>
|
||||
<string>buttongroup:98</string>
|
||||
</stringlist>
|
||||
|
||||
@ -318,10 +318,10 @@ void XplaneSimulator::processUpdate(const QByteArray & dataBuf)
|
||||
out.velEast = velX;
|
||||
out.velDown = -velZ;
|
||||
|
||||
// Update gyroscope sensor data
|
||||
out.rollRate = rollRate_rad;
|
||||
out.pitchRate = pitchRate_rad;
|
||||
out.yawRate = yawRate_rad;
|
||||
// Update gyroscope sensor data - convert from rad/s to deg/s
|
||||
out.rollRate = rollRate_rad * (180.0 / M_PI);
|
||||
out.pitchRate = pitchRate_rad * (180.0 / M_PI);
|
||||
out.yawRate = yawRate_rad * (180.0 / M_PI);
|
||||
|
||||
// Update accelerometer sensor data
|
||||
out.accX = accX;
|
||||
|
||||
@ -37,9 +37,9 @@ HEADERS += \
|
||||
$$UAVOBJECT_SYNTHETICS/airspeedstate.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudestate.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudesimulated.h \
|
||||
$$UAVOBJECT_SYNTHETICS/altholdsmoothed.h \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudeholddesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudeholdsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudeholdstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudefiltersettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/debuglogsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/debuglogcontrol.h \
|
||||
@ -135,9 +135,9 @@ SOURCES += \
|
||||
$$UAVOBJECT_SYNTHETICS/airspeedstate.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudestate.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudesimulated.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/altholdsmoothed.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudeholddesired.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudeholdsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/altitudeholdstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/debuglogsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/debuglogcontrol.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/debuglogstatus.cpp \
|
||||
|
||||
@ -670,7 +670,7 @@ void ConfigTaskWidget::autoLoadWidgets()
|
||||
forceShadowUpdates();
|
||||
|
||||
/*
|
||||
foreach(WidgetBinding * binding, m_widgetBindingsPerObject) {
|
||||
foreach(WidgetBinding * binding, m_widgetBindingsPerObject) {
|
||||
if (binding->widget()) {
|
||||
qDebug() << "Binding :" << binding->widget()->objectName();
|
||||
qDebug() << " Object :" << binding->object()->getName();
|
||||
@ -684,8 +684,8 @@ void ConfigTaskWidget::autoLoadWidgets()
|
||||
qDebug() << " Scale :" << shadow->scale();
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
void ConfigTaskWidget::addWidgetToReloadGroups(QWidget *widget, QList<int> *reloadGroupIDs)
|
||||
@ -1161,10 +1161,10 @@ void WidgetBinding::setValue(const QVariant &value)
|
||||
{
|
||||
m_value = value;
|
||||
/*
|
||||
if (m_object && m_field) {
|
||||
if (m_object && m_field) {
|
||||
qDebug() << "WidgetBinding" << m_object->getName() << ":" << m_field->getName() << "value =" << value.toString();
|
||||
}
|
||||
*/
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
void WidgetBinding::updateObjectFieldFromValue()
|
||||
|
||||
@ -1,12 +0,0 @@
|
||||
<xml>
|
||||
<object name="AltHoldSmoothed" singleinstance="true" settings="false" category="State">
|
||||
<description>The output on the kalman filter on altitude.</description>
|
||||
<field name="Altitude" units="m" type="float" elements="1"/>
|
||||
<field name="Velocity" units="m/s" type="float" elements="1"/>
|
||||
<field name="Accel" units="m/s^2" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,9 +1,9 @@
|
||||
<xml>
|
||||
<object name="AltitudeFilterSettings" singleinstance="true" settings="true" category="State">
|
||||
<description>Settings for the @ref State Estimator module plugin altitudeFilter</description>
|
||||
<field name="AccelLowPassKp" units="m/s^2" type="float" elements="1" defaultvalue="0.07"/>
|
||||
<field name="AccelLowPassKp" units="m/s^2" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="AccelDriftKi" units="m/s^2" type="float" elements="1" defaultvalue="0.0005"/>
|
||||
<field name="BaroKp" units="m" type="float" elements="1" defaultvalue="0.02"/>
|
||||
<field name="BaroKp" units="m" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -1,13 +1,14 @@
|
||||
<xml>
|
||||
<object name="AltitudeHoldDesired" singleinstance="true" settings="false" category="Control">
|
||||
<description>Holds the desired altitude (from manual control) as well as the desired attitude to pass through</description>
|
||||
<field name="Altitude" units="m" type="float" elements="1"/>
|
||||
<field name="Roll" units="deg" type="float" elements="1"/>
|
||||
<field name="SetPoint" units="" type="float" elements="1"/>
|
||||
<field name="ControlMode" units="" type="enum" elements="1" options="Altitude,Velocity,Throttle" />
|
||||
<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"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
|
||||
@ -1,15 +1,11 @@
|
||||
<xml>
|
||||
<object name="AltitudeHoldSettings" singleinstance="true" settings="true" category="Control">
|
||||
<description>Settings for the @ref AltitudeHold module</description>
|
||||
<field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0.0001"/>
|
||||
<field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="Kd" units="throttle/m" type="float" elements="1" defaultvalue="0.05"/>
|
||||
<field name="Ka" units="throttle/(m/s^2)" type="float" elements="1" defaultvalue="0.005"/>
|
||||
<field name="PressureNoise" units="m" type="float" elements="1" defaultvalue="0.4"/>
|
||||
<field name="AccelNoise" units="m/s^2" type="float" elements="1" defaultvalue="5"/>
|
||||
<field name="AccelDrift" units="m/s^2" type="float" elements="1" defaultvalue="0.001"/>
|
||||
<field name="ThrottleExp" units="" type="uint8" elements="1" defaultvalue="128"/>
|
||||
<field name="ThrottleRate" units="m/s" type="uint8" elements="1" defaultvalue="5"/>
|
||||
<field name="AltitudePI" units="(m/s)/m" type="float" elementnames="Kp,Ki,Ilimit" defaultvalue="0.8,0,0" />
|
||||
<field name="VelocityPI" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Ilimit" defaultvalue="0.2,0.0002,2.0" />
|
||||
<field name="CutThrottleWhenZero" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" />
|
||||
<field name="ThrottleExp" units="" type="uint8" elements="1" defaultvalue="128" />
|
||||
<field name="ThrottleRate" units="m/s" type="float" elements="1" defaultvalue="5" />
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
10
shared/uavobjectdefinition/altitudeholdstatus.xml
Normal file
10
shared/uavobjectdefinition/altitudeholdstatus.xml
Normal file
@ -0,0 +1,10 @@
|
||||
<xml>
|
||||
<object name="AltitudeHoldStatus" singleinstance="true" settings="false" category="Control">
|
||||
<description>Status Data from Altitude Hold Control Loops</description>
|
||||
<field name="VelocityDesired" units="m/s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -7,7 +7,9 @@
|
||||
Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
|
||||
Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
|
||||
<field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
|
||||
|
||||
<!-- Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature
|
||||
bias = a + b * temp + c * temp^2 + d * temp^3 -->
|
||||
<field name="BaroTempCorrectionPolynomial" units="" type="float" elements="3" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user