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Merge branch 'next' into revo
This commit is contained in:
James Cotton
commit
ed2fb5cb09
@ -612,6 +612,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
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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[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
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0; // this is an invalid mode
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;
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stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
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@ -619,6 +620,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
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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[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
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0; // this is an invalid mode
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stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
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@ -626,6 +628,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
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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[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
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0; // this is an invalid mode
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stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
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@ -55,7 +55,7 @@
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define FAILSAFE_TIMEOUT_MS 30
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enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
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enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_VBAR_ROLL, PID_VBAR_PITCH, PID_VBAR_YAW, PID_MAX};
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enum {ROLL,PITCH,YAW,MAX_AXES};
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@ -74,21 +74,24 @@ typedef struct {
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static xTaskHandle taskHandle;
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static StabilizationSettingsData settings;
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static xQueueHandle queue;
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float dT = 1;
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float gyro_alpha = 0;
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float gyro_filtered[3] = {0,0,0};
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float axis_lock_accum[3] = {0,0,0};
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float vbar_sensitivity[3] = {1, 1, 1};
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uint8_t max_axis_lock = 0;
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uint8_t max_axislock_rate = 0;
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float weak_leveling_kp = 0;
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uint8_t weak_leveling_max = 0;
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bool lowThrottleZeroIntegral;
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float vbar_integral[3] = {0, 0, 0};
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float vbar_decay = 0.991f;
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pid_type pids[PID_MAX];
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int8_t vbar_gyros_suppress;
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bool vbar_piro_comp = false;
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// Private functions
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static void stabilizationTask(void* parameters);
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static float ApplyPid(pid_type * pid, const float err);
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static float ApplyPid(pid_type * pid, const float err, float dT);
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static float bound(float val);
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static void ZeroPids(void);
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static void SettingsUpdatedCb(UAVObjEvent * ev);
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@ -154,6 +157,8 @@ static void stabilizationTask(void* parameters)
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// Main task loop
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ZeroPids();
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while(1) {
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float dT;
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PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
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// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
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@ -227,6 +232,7 @@ static void stabilizationTask(void* parameters)
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switch(stabDesired.StabilizationMode[i])
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{
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
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case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
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rateDesiredAxis[i] = attitudeDesiredAxis[i];
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// Zero attitude and axis lock accumulators
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@ -251,7 +257,7 @@ static void stabilizationTask(void* parameters)
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break;
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}
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case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
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rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
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rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
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if(rateDesiredAxis[i] > settings.MaximumRate[i])
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rateDesiredAxis[i] = settings.MaximumRate[i];
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@ -275,7 +281,7 @@ static void stabilizationTask(void* parameters)
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else if(axis_lock_accum[i] < -max_axis_lock)
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axis_lock_accum[i] = -max_axis_lock;
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rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
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rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
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}
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if(rateDesiredAxis[i] > settings.MaximumRate[i])
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@ -287,42 +293,78 @@ static void stabilizationTask(void* parameters)
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}
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}
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// Piro compensation rotates the virtual flybar by yaw step to keep it
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// rotated to external world
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if (vbar_piro_comp) {
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const float F_PI = 3.14159f;
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float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
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float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
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float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
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float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
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vbar_integral[1] = vbar_pitch;
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vbar_integral[0] = vbar_roll;
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}
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uint8_t shouldUpdate = 1;
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#if defined(DIAGNOSTICS)
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RateDesiredSet(&rateDesired);
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#endif
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ActuatorDesiredGet(&actuatorDesired);
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//Calculate desired command
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for(int8_t ct=0; ct< MAX_AXES; ct++)
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for(uint32_t i = 0; i < MAX_AXES; i++)
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{
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switch(stabDesired.StabilizationMode[ct])
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switch(stabDesired.StabilizationMode[i])
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{
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
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case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
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case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
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case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
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{
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float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]);
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actuatorDesiredAxis[ct] = bound(command);
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float command = ApplyPid(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i] - gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(command);
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break;
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}
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case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
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{
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// Track the angle of the virtual flybar which includes a slow decay
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vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
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if (vbar_integral[i] > settings.VbarMaxAngle)
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vbar_integral[i] = settings.VbarMaxAngle;
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if (-vbar_integral[i] < -settings.VbarMaxAngle)
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vbar_integral[i] = -settings.VbarMaxAngle;
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// Command signal is composed of stick input added to the gyro and virtual flybar
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float gyro_gain = 1.0f;
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if (vbar_gyros_suppress > 0) {
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gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
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gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
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}
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float command = rateDesiredAxis[i] * vbar_sensitivity[i] - gyro_gain * (
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vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
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gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
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actuatorDesiredAxis[i] = bound(command);
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break;
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}
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case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
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switch (ct)
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switch (i)
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{
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case ROLL:
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actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
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actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
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shouldUpdate = 1;
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pids[PID_RATE_ROLL].iAccumulator = 0;
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pids[PID_ROLL].iAccumulator = 0;
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break;
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case PITCH:
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actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
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actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
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shouldUpdate = 1;
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pids[PID_RATE_PITCH].iAccumulator = 0;
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pids[PID_PITCH].iAccumulator = 0;
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break;
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case YAW:
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actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
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actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
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shouldUpdate = 1;
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pids[PID_RATE_YAW].iAccumulator = 0;
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pids[PID_YAW].iAccumulator = 0;
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@ -360,7 +402,7 @@ static void stabilizationTask(void* parameters)
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}
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}
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float ApplyPid(pid_type * pid, const float err)
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float ApplyPid(pid_type * pid, const float err, float dT)
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{
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float diff = (err - pid->lastErr);
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pid->lastErr = err;
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@ -400,44 +442,60 @@ static float bound(float val)
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return val;
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}
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static void SettingsUpdatedCb(UAVObjEvent * ev)
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{
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memset(pids,0,sizeof (pid_type) * PID_MAX);
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StabilizationSettingsGet(&settings);
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// Set the roll rate PID constants
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pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
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pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
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pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
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pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
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pids[PID_RATE_ROLL].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
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pids[PID_RATE_ROLL].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
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pids[PID_RATE_ROLL].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
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pids[PID_RATE_ROLL].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
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// Set the pitch rate PID constants
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pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
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pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
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pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
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pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
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pids[PID_RATE_PITCH].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
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pids[PID_RATE_PITCH].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
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pids[PID_RATE_PITCH].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
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pids[PID_RATE_PITCH].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
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// Set the yaw rate PID constants
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pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
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pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
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pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
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pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
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pids[PID_RATE_YAW].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
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pids[PID_RATE_YAW].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
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pids[PID_RATE_YAW].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
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pids[PID_RATE_YAW].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
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// Set the roll attitude PI constants
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pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
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pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
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pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
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pids[PID_ROLL].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
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pids[PID_ROLL].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
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pids[PID_ROLL].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
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// Set the pitch attitude PI constants
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pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
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pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
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pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
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pids[PID_PITCH].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
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pids[PID_PITCH].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
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pids[PID_PITCH].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
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// Set the yaw attitude PI constants
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pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
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pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
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pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
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pids[PID_YAW].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
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pids[PID_YAW].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
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pids[PID_YAW].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
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// Set the roll attitude PI constants
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pids[PID_VBAR_ROLL].p = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
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pids[PID_VBAR_ROLL].i = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
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// Set the pitch attitude PI constants
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pids[PID_VBAR_PITCH].p = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KP];
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pids[PID_VBAR_PITCH].i = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KI];
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// Set the yaw attitude PI constants
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pids[PID_VBAR_YAW].p = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KP];
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pids[PID_VBAR_YAW].i = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KI];
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// Need to store the vbar sensitivity
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vbar_sensitivity[0] = settings.VbarSensitivity[0];
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vbar_sensitivity[1] = settings.VbarSensitivity[1];
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vbar_sensitivity[2] = settings.VbarSensitivity[2];
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// Maximum deviation to accumulate for axis lock
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max_axis_lock = settings.MaxAxisLock;
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@ -460,6 +518,11 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
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gyro_alpha = 0; // not trusting this to resolve to 0
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else
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gyro_alpha = expf(-fakeDt / settings.GyroTau);
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// Compute time constant for vbar decay term based on a tau
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vbar_decay = expf(-fakeDt / settings.VbarTau);
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vbar_gyros_suppress = settings.VbarGyroSuppress;
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vbar_piro_comp = settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE;
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}
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@ -18,9 +18,9 @@
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<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
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<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
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<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
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<!-- Note these options values should be identical to those defined in FlightMode -->
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<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold,PathPlanner,RTH,Land" defaultvalue="Manual,Stabilized1,Stabilized2"/>
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@ -6,7 +6,7 @@
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<field name="Yaw" units="degrees" type="float" elements="1"/>
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||||
<field name="Throttle" units="%" type="float" elements="1"/>
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||||
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
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<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
|
||||
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
|
||||
@ -14,6 +14,15 @@
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
|
||||
|
||||
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
|
||||
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
||||
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
||||
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
||||
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
|
||||
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
|
||||
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
|
||||
|
||||
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
|
||||
|
||||
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user