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https://bitbucket.org/librepilot/librepilot.git
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OP-1309 outer loop fully implemented - some cleanups and changes in control flow to accomodate new logic
This commit is contained in:
Corvus Corax
parent
844fcffec7
commit
93f82652b7
@ -88,11 +88,11 @@ void stabilizedHandler(bool newinit)
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stabilization.Roll =
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Roll * stabSettings.RollMax :
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0; // this is an invalid mode
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@ -100,11 +100,11 @@ void stabilizedHandler(bool newinit)
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stabilization.Pitch =
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
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0; // this is an invalid mode
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@ -122,11 +122,11 @@ void stabilizedHandler(bool newinit)
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stabilization.Yaw =
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
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0; // this is an invalid mode
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@ -50,6 +50,7 @@ typedef struct {
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int8_t cruise_control_inverted_power_switch; // WARNING: currently -1 is not fully implemented !!!
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float cruise_control_neutral_thrust;
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} cruiseControl;
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float rattitude_mode_transition_stick_position;
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} StabilizationData;
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@ -65,9 +65,11 @@
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static DelayedCallbackInfo *callbackHandle;
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static struct pid pids[3];
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static float gyro_filtered[3] = { 0, 0, 0 };
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static float axis_lock_accum[3] = { 0, 0, 0 };
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static uint8_t previous_mode[AXES] = { 255, 255, 255, 255 };
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static PiOSDeltatimeConfig timeval;
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static float speedScaleFactor = 1.0f;
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static StabilizationBankData stabBank;
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// Private functions
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static void stabilizationInnerloopTask();
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@ -133,9 +135,30 @@ static void stabilizationInnerloopTask()
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stabilization_virtual_flybar(gyro_filtered[t], rate[t], &actuatorDesiredAxis[t], dT, reinit, t, &stabSettings.settings);
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break;
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case STABILIZATIONSTATUS_INNERLOOP_RELAYTUNING:
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rate[t] = boundf(rate[t],
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-cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[t],
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cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[t]
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);
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stabilization_relay_rate(rate[t] - gyro_filtered[t], &actuatorDesiredAxis[t], t, reinit);
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break;
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case STABILIZATIONSTATUS_INNERLOOP_AXISLOCK:
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if (fabsf(rate[t]) > stabSettings.settings.MaxAxisLockRate) {
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// While getting strong commands act like rate mode
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axis_lock_accum[t] = 0;
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} else {
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// For weaker commands or no command simply attitude lock (almost) on no gyro change
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axis_lock_accum[t] += (rate[t] - gyro_filtered[t]) * dT;
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axis_lock_accum[t] = boundf(axis_lock_accum[t], -stabSettings.settings.MaxAxisLock, stabSettings.settings.MaxAxisLock);
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rate[t] = axis_lock_accum[t] * stabSettings.settings.AxisLockKp;
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}
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// IMPORTANT: deliberately no "break;" here, execution continues with regular RATE control loop to avoid code duplication!
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// keep order as it is, RATE must follow!
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case STABILIZATIONSTATUS_INNERLOOP_RATE:
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// limit rate to maximum configured limits (once here instead of 5 times in outer loop)
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rate[t] = boundf(rate[t],
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-cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[t],
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cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[t]
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);
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actuatorDesiredAxis[t] = pid_apply_setpoint(&pids[t], speedScaleFactor, rate[t], gyro_filtered[t], dT);
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break;
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case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
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@ -186,27 +209,25 @@ static void GyroStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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StabilizationBankData bank;
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StabilizationBankGet(&bank);
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StabilizationBankGet(&stabBank);
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// Set the roll rate PID constants
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pid_configure(&pids[STABILIZATIONSTATUS_INNERLOOP_ROLL], bank.RollRatePID.Kp,
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bank.RollRatePID.Ki,
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bank.RollRatePID.Kd,
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bank.RollRatePID.ILimit);
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pid_configure(&pids[STABILIZATIONSTATUS_INNERLOOP_ROLL], stabBank.RollRatePID.Kp,
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stabBank.RollRatePID.Ki,
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stabBank.RollRatePID.Kd,
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stabBank.RollRatePID.ILimit);
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// Set the pitch rate PID constants
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pid_configure(&pids[STABILIZATIONSTATUS_INNERLOOP_PITCH], bank.PitchRatePID.Kp,
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bank.PitchRatePID.Ki,
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bank.PitchRatePID.Kd,
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bank.PitchRatePID.ILimit);
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pid_configure(&pids[STABILIZATIONSTATUS_INNERLOOP_PITCH], stabBank.PitchRatePID.Kp,
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stabBank.PitchRatePID.Ki,
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stabBank.PitchRatePID.Kd,
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stabBank.PitchRatePID.ILimit);
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// Set the yaw rate PID constants
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pid_configure(&pids[STABILIZATIONSTATUS_INNERLOOP_YAW], bank.YawRatePID.Kp,
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bank.YawRatePID.Ki,
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bank.YawRatePID.Kd,
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bank.YawRatePID.ILimit);
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pid_configure(&pids[STABILIZATIONSTATUS_INNERLOOP_YAW], stabBank.YawRatePID.Kp,
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stabBank.YawRatePID.Ki,
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stabBank.YawRatePID.Kd,
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stabBank.YawRatePID.ILimit);
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}
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#ifdef REVOLUTION
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@ -37,14 +37,14 @@
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#include <callbackinfo.h>
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#include <ratedesired.h>
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#include <stabilizationdesired.h>
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// #include <gyrostate.h>
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// #include <airspeedstate.h>
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#include <attitudestate.h>
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#include <stabilizationstatus.h>
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// #include <flightstatus.h>
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#include <stabilizationbank.h>
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#include <stabilization.h>
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#include <cruisecontrol.h>
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#include <CoordinateConversions.h>
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// Private constants
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#define STACK_SIZE_BYTES 256
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@ -63,6 +63,8 @@
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static DelayedCallbackInfo *callbackHandle;
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static struct pid pids[3];
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static AttitudeStateData attitude;
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static StabilizationBankData stabBank;
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static uint8_t previous_mode[AXES] = { 255, 255, 255, 255 };
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static PiOSDeltatimeConfig timeval;
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@ -94,6 +96,7 @@ void stabilizationOuterloopInit()
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*/
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static void stabilizationOuterloopTask()
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{
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AttitudeStateData attitudeState;
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RateDesiredData rateDesired;
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StabilizationDesiredData stabilizationDesired;
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StabilizationStatusOuterLoopData enabled;
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@ -104,7 +107,41 @@ static void stabilizationOuterloopTask()
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float *stabilizationDesiredAxis = &stabilizationDesired.Roll;
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float *rateDesiredAxis = &rateDesired.Roll;
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int t;
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// float dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
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float dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
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float local_error[3];
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{
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#if defined(PIOS_QUATERNION_STABILIZATION)
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// Quaternion calculation of error in each axis. Uses more memory.
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float rpy_desired[3];
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float q_desired[4];
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float q_error[4];
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rpy_desired[0] = stabilizationDesiredAxis[0];
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rpy_desired[1] = stabilizationDesiredAxis[1];
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rpy_desired[2] = stabilizationDesiredAxis[2];
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RPY2Quaternion(rpy_desired, q_desired);
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quat_inverse(q_desired);
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quat_mult(q_desired, &attitudeState.q1, q_error);
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quat_inverse(q_error);
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Quaternion2RPY(q_error, local_error);
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#else /* if defined(PIOS_QUATERNION_STABILIZATION) */
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// Simpler algorithm for CC, less memory
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local_error[0] = stabilizationDesiredAxis[0] - attitudeState.Roll;
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local_error[1] = stabilizationDesiredAxis[1] - attitudeState.Pitch;
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local_error[2] = stabilizationDesiredAxis[2] - attitudeState.Yaw;
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// find shortest way
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float modulo = fmodf(local_error[2] + 180.0f, 360.0f);
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if (modulo < 0) {
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local_error[2] = modulo + 180.0f;
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} else {
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local_error[2] = modulo - 180.0f;
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}
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#endif /* if defined(PIOS_QUATERNION_STABILIZATION) */
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}
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for (t = 0; t < AXES; t++) {
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bool reinit = (cast_struct_to_array(enabled, enabled.Roll)[t] != previous_mode[t]);
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@ -115,7 +152,81 @@ static void stabilizationOuterloopTask()
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pids[t].iAccumulator = 0;
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}
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switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
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case STABILIZATIONSTATUS_OUTERLOOP_MANUAL:
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case STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE:
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rateDesiredAxis[t] = pid_apply(&pids[t], local_error[t], dT);
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
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{
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float stickinput[3];
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stickinput[0] = boundf(stabilizationDesiredAxis[0] / stabBank.RollMax, -1.0f, 1.0f);
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stickinput[1] = boundf(stabilizationDesiredAxis[1] / stabBank.PitchMax, -1.0f, 1.0f);
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stickinput[2] = boundf(stabilizationDesiredAxis[2] / stabBank.YawMax, -1.0f, 1.0f);
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float rateDesiredAxisRate = stickinput[t] * cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[t];
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rateDesiredAxis[t] = pid_apply(&pids[t], local_error[t], dT);
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// Compute the weighted average rate desired
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// Using max() rather than sqrt() for cpu speed;
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// - this makes the stick region into a square;
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// - this is a feature!
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// - hold a roll angle and add just pitch without the stick sensitivity changing
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float magnitude = stickinput[t];
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if (t < 2) {
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magnitude = fmaxf(fabsf(stickinput[0]), fabsf(stickinput[1]));
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}
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// modify magnitude to move the Att to Rate transition to the place
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// specified by the user
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// we are looking for where the stick angle == transition angle
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// and the Att rate equals the Rate rate
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// that's where Rate x (1-StickAngle) [Attitude pulling down max X Ratt proportion]
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// == Rate x StickAngle [Rate pulling up according to stick angle]
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// * StickAngle [X Ratt proportion]
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// so 1-x == x*x or x*x+x-1=0 where xE(0,1)
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// (-1+-sqrt(1+4))/2 = (-1+sqrt(5))/2
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// and quadratic formula says that is 0.618033989f
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// I tested 14.01 and came up with .61 without even remembering this number
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// I thought that moving the P,I, and maxangle terms around would change this value
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// and that I would have to take these into account, but varying
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// all P's and I's by factors of 1/2 to 2 didn't change it noticeably
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// and varying maxangle from 4 to 120 didn't either.
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// so for now I'm not taking these into account
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// while working with this, it occurred to me that Attitude mode,
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// set up with maxangle=190 would be similar to Ratt, and it is.
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#define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f
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// the following assumes the transition would otherwise be at 0.618033989f
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// and THAT assumes that Att ramps up to max roll rate
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// when a small number of degrees off of where it should be
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// if below the transition angle (still in attitude mode)
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// '<=' instead of '<' keeps rattitude_mode_transition_stick_position==1.0 from causing DZ
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if (magnitude <= stabSettings.rattitude_mode_transition_stick_position) {
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magnitude *= STICK_VALUE_AT_MODE_TRANSITION / stabSettings.rattitude_mode_transition_stick_position;
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} else {
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magnitude = (magnitude - stabSettings.rattitude_mode_transition_stick_position)
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* (1.0f - STICK_VALUE_AT_MODE_TRANSITION)
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/ (1.0f - stabSettings.rattitude_mode_transition_stick_position)
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+ STICK_VALUE_AT_MODE_TRANSITION;
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}
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rateDesiredAxis[t] = (1.0f - magnitude) * rateDesiredAxis[t] + magnitude * rateDesiredAxisRate;
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}
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
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// FIXME: local_error[] is rate - attitude for Weak Leveling
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// The only ramifications are:
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// Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS
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// Changing Rate mode max rate currently requires a change to Kp
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// That would be changed to Attitude mode max angle affecting Kp
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// Also does not take dT into account
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{
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float rate_input = cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[t] * stabilizationDesiredAxis[t] / cast_struct_to_array(stabBank, stabBank.RollMax)[t];
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float weak_leveling = local_error[t] * stabSettings.settings.WeakLevelingKp;
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weak_leveling = boundf(weak_leveling, -stabSettings.settings.MaxWeakLevelingRate, stabSettings.settings.MaxWeakLevelingRate);
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// Compute desired rate as input biased towards leveling
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rateDesiredAxis[t] = rate_input + weak_leveling;
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}
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break;
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case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
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default:
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rateDesiredAxis[t] = stabilizationDesiredAxis[t];
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break;
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@ -130,6 +241,9 @@ static void stabilizationOuterloopTask()
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}
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RateDesiredSet(&rateDesired);
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// update cruisecontrol based on attitude
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cruisecontrol_compute_factor(&attitudeState);
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}
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@ -143,27 +257,25 @@ static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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StabilizationBankData bank;
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StabilizationBankGet(&bank);
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StabilizationBankGet(&stabBank);
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// Set the roll rate PID constants
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pid_configure(&pids[STABILIZATIONSTATUS_OUTERLOOP_ROLL], bank.RollRatePID.Kp,
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bank.RollRatePID.Ki,
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bank.RollRatePID.Kd,
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bank.RollRatePID.ILimit);
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pid_configure(&pids[STABILIZATIONSTATUS_OUTERLOOP_ROLL], stabBank.RollRatePID.Kp,
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stabBank.RollRatePID.Ki,
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stabBank.RollRatePID.Kd,
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stabBank.RollRatePID.ILimit);
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// Set the pitch rate PID constants
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pid_configure(&pids[STABILIZATIONSTATUS_OUTERLOOP_PITCH], bank.PitchRatePID.Kp,
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bank.PitchRatePID.Ki,
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bank.PitchRatePID.Kd,
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bank.PitchRatePID.ILimit);
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pid_configure(&pids[STABILIZATIONSTATUS_OUTERLOOP_PITCH], stabBank.PitchRatePID.Kp,
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stabBank.PitchRatePID.Ki,
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stabBank.PitchRatePID.Kd,
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stabBank.PitchRatePID.ILimit);
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// Set the yaw rate PID constants
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pid_configure(&pids[STABILIZATIONSTATUS_OUTERLOOP_YAW], bank.YawRatePID.Kp,
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bank.YawRatePID.Ki,
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bank.YawRatePID.Kd,
|
||||
bank.YawRatePID.ILimit);
|
||||
pid_configure(&pids[STABILIZATIONSTATUS_OUTERLOOP_YAW], stabBank.YawRatePID.Kp,
|
||||
stabBank.YawRatePID.Ki,
|
||||
stabBank.YawRatePID.Kd,
|
||||
stabBank.YawRatePID.ILimit);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -144,7 +144,7 @@
|
||||
#define PIOS_GPS_SETS_HOMELOCATION
|
||||
|
||||
/* Stabilization options */
|
||||
/* #define PIOS_QUATERNION_STABILIZATION */
|
||||
#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
/* Performance counters */
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 8379692
|
||||
|
||||
@ -22,6 +22,7 @@
|
||||
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
|
||||
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
|
||||
|
||||
<field name="AxisLockKp" units="" type="float" elements="1" defaultvalue="2.5"/>
|
||||
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="30"/>
|
||||
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
|
||||
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
<description>Contains status information to control submodules for stabilization.</description>
|
||||
|
||||
|
||||
<field name="OuterLoop" units="" type="enum" options="Manual,Attitude,Rattitude,Weakleveling,Axislock,Altitude,VerticalVelocity">
|
||||
<field name="OuterLoop" units="" type="enum" options="Direct,Attitude,Rattitude,Weakleveling,Altitude,VerticalVelocity">
|
||||
<elementnames>
|
||||
<elementname>Roll</elementname>
|
||||
<elementname>Pitch</elementname>
|
||||
@ -11,7 +11,7 @@
|
||||
<elementname>Thrust</elementname>
|
||||
</elementnames>
|
||||
</field>
|
||||
<field name="InnerLoop" units="" type="enum" options="VirtualFlyBar,RelayTuning,Rate,CruiseControl,Direct">
|
||||
<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,RelayTuning,AxisLock,Rate,CruiseControl">
|
||||
<elementnames>
|
||||
<elementname>Roll</elementname>
|
||||
<elementname>Pitch</elementname>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user