mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-29 14:52:12 +01:00
Flight/Guidance: Merge back into one task because memory requirements of a task
exceed CPU requirements of PID. Also add add lesstabilization UAVObject to Makefile to fix compile errors. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1870 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
d71e9df8c5
commit
f03669733b
@ -177,7 +177,7 @@ SRC += $(OPUAVOBJ)/attituderaw.c
|
||||
SRC += $(OPUAVOBJ)/homelocation.c
|
||||
SRC += $(OPUAVOBJ)/mixersettings.c
|
||||
SRC += $(OPUAVOBJ)/mixerstatus.c
|
||||
#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
|
||||
SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
|
||||
SRC += $(OPUAVOBJ)/positiondesired.c
|
||||
SRC += $(OPUAVOBJ)/velocitydesired.c
|
||||
SRC += $(OPUAVOBJ)/velocityactual.c
|
||||
|
||||
@ -63,13 +63,14 @@
|
||||
|
||||
// Private variables
|
||||
static xTaskHandle guidanceTaskHandle;
|
||||
static xTaskHandle velocityPIDTaskHandle;
|
||||
|
||||
// Private functions
|
||||
static void guidanceTask(void *parameters);
|
||||
static void velocityPIDTask(void *parameters);
|
||||
static float bound(float val, float min, float max);
|
||||
|
||||
static void updateVtolDesiredVelocity();
|
||||
static void updateVtolDesiredAttitude();
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
* \returns 0 on success or -1 if initialisation failed
|
||||
@ -78,11 +79,17 @@ int32_t GuidanceInitialize()
|
||||
{
|
||||
// Start main task
|
||||
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE, NULL, TASK_PRIORITY, &guidanceTaskHandle);
|
||||
xTaskCreate(velocityPIDTask, (signed char *)"VelocityPID", STACK_SIZE, NULL, TASK_PRIORITY, &velocityPIDTaskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static float northIntegral = 0;
|
||||
static float northErrorLast = 0;
|
||||
static float eastIntegral = 0;
|
||||
static float eastErrorLast = 0;
|
||||
static float downIntegral = 0;
|
||||
static float downErrorLast = 0;
|
||||
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
@ -91,9 +98,6 @@ static void guidanceTask(void *parameters)
|
||||
SystemSettingsData systemSettings;
|
||||
GuidanceSettingsData guidanceSettings;
|
||||
ManualControlCommandData manualControl;
|
||||
PositionActualData positionActual;
|
||||
PositionDesiredData positionDesired;
|
||||
VelocityDesiredData velocityDesired;
|
||||
|
||||
portTickType lastSysTime;
|
||||
|
||||
@ -106,37 +110,61 @@ static void guidanceTask(void *parameters)
|
||||
|
||||
if ((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) &&
|
||||
(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)) {
|
||||
|
||||
PositionActualGet(&positionActual);
|
||||
PositionDesiredGet(&positionDesired);
|
||||
|
||||
// Note all distances in cm
|
||||
float dNorth = positionDesired.North - positionActual.North;
|
||||
float dEast = positionDesired.East - positionActual.East;
|
||||
float distance = sqrt(pow(dNorth, 2) + pow(dEast, 2));
|
||||
float groundspeed = guidanceSettings.GroundVelocityP * distance; //bound(guidanceSettings.GroundVelocityP * distance, 0, guidanceSettings.MaxGroundspeed);
|
||||
float heading = atan2f(dEast, dNorth);
|
||||
|
||||
velocityDesired.North = groundspeed * cosf(heading);
|
||||
velocityDesired.East = groundspeed * sinf(heading);
|
||||
|
||||
float dDown = positionDesired.Down - positionActual.Down;
|
||||
velocityDesired.Down =
|
||||
bound(guidanceSettings.VertVelocityP * dDown, -guidanceSettings.MaxVerticalSpeed, guidanceSettings.MaxVerticalSpeed);
|
||||
|
||||
VelocityDesiredSet(&velocityDesired);
|
||||
|
||||
}
|
||||
updateVtolDesiredVelocity();
|
||||
updateVtolDesiredAttitude();
|
||||
} else {
|
||||
// Be cleaner and get rid of global variables
|
||||
northIntegral = 0;
|
||||
northErrorLast = 0;
|
||||
eastIntegral = 0;
|
||||
eastErrorLast = 0;
|
||||
downIntegral = 0;
|
||||
downErrorLast = 0;
|
||||
}
|
||||
vTaskDelayUntil(&lastSysTime, guidanceSettings.VelUpdatePeriod / portTICK_RATE_MS);
|
||||
}
|
||||
}
|
||||
|
||||
void updateVtolDesiredVelocity()
|
||||
{
|
||||
GuidanceSettingsData guidanceSettings;
|
||||
PositionActualData positionActual;
|
||||
PositionDesiredData positionDesired;
|
||||
VelocityDesiredData velocityDesired;
|
||||
|
||||
GuidanceSettingsGet(&guidanceSettings);
|
||||
PositionActualGet(&positionActual);
|
||||
PositionDesiredGet(&positionDesired);
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
|
||||
// Note all distances in cm
|
||||
float dNorth = positionDesired.North - positionActual.North;
|
||||
float dEast = positionDesired.East - positionActual.East;
|
||||
float distance = sqrt(pow(dNorth, 2) + pow(dEast, 2));
|
||||
float heading = atan2f(dEast, dNorth);
|
||||
float groundspeed = bound(guidanceSettings.GroundVelocityP * distance,
|
||||
0, guidanceSettings.MaxGroundspeed);
|
||||
|
||||
velocityDesired.North = groundspeed * cosf(heading);
|
||||
velocityDesired.East = groundspeed * sinf(heading);
|
||||
|
||||
float dDown = positionDesired.Down - positionActual.Down;
|
||||
velocityDesired.Down = bound(guidanceSettings.VertVelocityP * dDown,
|
||||
-guidanceSettings.MaxVerticalSpeed,
|
||||
guidanceSettings.MaxVerticalSpeed);
|
||||
|
||||
VelocityDesiredSet(&velocityDesired);
|
||||
}
|
||||
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
static void velocityPIDTask(void *parameters)
|
||||
static void updateVtolDesiredAttitude()
|
||||
{
|
||||
portTickType lastSysTime;
|
||||
static portTickType lastSysTime;
|
||||
portTickType thisSysTime = xTaskGetTickCount();;
|
||||
float dT;
|
||||
|
||||
VelocityDesiredData velocityDesired;
|
||||
VelocityActualData velocityActual;
|
||||
AttitudeDesiredData attitudeDesired;
|
||||
@ -144,83 +172,75 @@ static void velocityPIDTask(void *parameters)
|
||||
GuidanceSettingsData guidanceSettings;
|
||||
StabilizationSettingsData stabSettings;
|
||||
SystemSettingsData systemSettings;
|
||||
ManualControlCommandData manualControl;
|
||||
|
||||
float northError;
|
||||
float northDerivative;
|
||||
float northIntegral;
|
||||
float northErrorLast = 0;
|
||||
float northCommand;
|
||||
float eastError;
|
||||
float eastDerivative;
|
||||
float eastIntegral = 0;
|
||||
float eastErrorLast = 0;
|
||||
float eastCommand;
|
||||
float downError;
|
||||
float downDerivative;
|
||||
float downIntegral = 0;
|
||||
float downErrorLast = 0;
|
||||
|
||||
// Main task loop
|
||||
lastSysTime = xTaskGetTickCount();
|
||||
while (1) {
|
||||
ManualControlCommandGet(&manualControl);
|
||||
SystemSettingsGet(&systemSettings);
|
||||
GuidanceSettingsGet(&guidanceSettings);
|
||||
if ((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) &&
|
||||
(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)) {
|
||||
VelocityActualGet(&velocityActual);
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
AttitudeDesiredGet(&attitudeDesired);
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
AttitudeActualGet(&attitudeActual);
|
||||
StabilizationSettingsGet(&stabSettings);
|
||||
|
||||
attitudeDesired.Yaw = 0; // try and face north
|
||||
|
||||
// Yaw and pitch output from ground speed PID loop
|
||||
northError = velocityDesired.North - velocityActual.North;
|
||||
northDerivative = (northError - northErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
|
||||
northIntegral =
|
||||
bound(northIntegral + northError * guidanceSettings.VelPIDUpdatePeriod, -guidanceSettings.MaxVelIntegral,
|
||||
guidanceSettings.MaxVelIntegral);
|
||||
northErrorLast = northError;
|
||||
northCommand =
|
||||
northError * guidanceSettings.VelP + northDerivative * guidanceSettings.VelD + northIntegral * guidanceSettings.VelI;
|
||||
|
||||
eastError = velocityDesired.East - velocityActual.East;
|
||||
eastDerivative = (eastError - eastErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
|
||||
eastIntegral =
|
||||
bound(eastIntegral + eastError * guidanceSettings.VelPIDUpdatePeriod, -guidanceSettings.MaxVelIntegral,
|
||||
guidanceSettings.MaxVelIntegral);
|
||||
eastErrorLast = eastError;
|
||||
eastCommand =
|
||||
eastError * guidanceSettings.VelP + eastDerivative * guidanceSettings.VelD + eastIntegral * guidanceSettings.VelI;
|
||||
|
||||
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
|
||||
// craft should move similarly for 5 deg roll versus 5 deg pitch
|
||||
attitudeDesired.Pitch =
|
||||
bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) + eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
|
||||
-stabSettings.PitchMax, stabSettings.PitchMax);
|
||||
attitudeDesired.Roll =
|
||||
bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) + eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
|
||||
-stabSettings.RollMax, stabSettings.RollMax);
|
||||
|
||||
downError = velocityDesired.Down - velocityActual.Down;
|
||||
downDerivative = (downError - downErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
|
||||
downIntegral =
|
||||
bound(downIntegral + downError * guidanceSettings.VelPIDUpdatePeriod, -guidanceSettings.MaxThrottleIntegral,
|
||||
guidanceSettings.MaxThrottleIntegral);
|
||||
downErrorLast = downError;
|
||||
attitudeDesired.Throttle =
|
||||
bound(downError * guidanceSettings.DownP + downDerivative * guidanceSettings.DownD +
|
||||
downIntegral * guidanceSettings.DownI, 0, 1);
|
||||
|
||||
AttitudeDesiredSet(&attitudeDesired);
|
||||
|
||||
}
|
||||
vTaskDelayUntil(&lastSysTime, guidanceSettings.VelPIDUpdatePeriod / portTICK_RATE_MS);
|
||||
}
|
||||
|
||||
// Check how long since last update
|
||||
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
|
||||
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
|
||||
lastSysTime = thisSysTime;
|
||||
|
||||
SystemSettingsGet(&systemSettings);
|
||||
GuidanceSettingsGet(&guidanceSettings);
|
||||
|
||||
VelocityActualGet(&velocityActual);
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
AttitudeDesiredGet(&attitudeDesired);
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
AttitudeActualGet(&attitudeActual);
|
||||
StabilizationSettingsGet(&stabSettings);
|
||||
|
||||
attitudeDesired.Yaw = 0; // try and face north
|
||||
|
||||
// Yaw and pitch output from ground speed PID loop
|
||||
northError = velocityDesired.North - velocityActual.North;
|
||||
northDerivative = (northError - northErrorLast) / dT;
|
||||
northIntegral =
|
||||
bound(northIntegral + northError * dT, -guidanceSettings.MaxVelIntegral,
|
||||
guidanceSettings.MaxVelIntegral);
|
||||
northErrorLast = northError;
|
||||
northCommand =
|
||||
northError * guidanceSettings.VelP + northDerivative * guidanceSettings.VelD + northIntegral * guidanceSettings.VelI;
|
||||
|
||||
eastError = velocityDesired.East - velocityActual.East;
|
||||
eastDerivative = (eastError - eastErrorLast) / dT;
|
||||
eastIntegral = bound(eastIntegral + eastError * dT,
|
||||
-guidanceSettings.MaxVelIntegral,
|
||||
guidanceSettings.MaxVelIntegral);
|
||||
eastErrorLast = eastError;
|
||||
eastCommand = eastError * guidanceSettings.VelP + eastDerivative * guidanceSettings.VelD + eastIntegral * guidanceSettings.VelI;
|
||||
|
||||
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
|
||||
// craft should move similarly for 5 deg roll versus 5 deg pitch
|
||||
attitudeDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) +
|
||||
eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
|
||||
-stabSettings.PitchMax, stabSettings.PitchMax);
|
||||
attitudeDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) +
|
||||
eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
|
||||
-stabSettings.RollMax, stabSettings.RollMax);
|
||||
|
||||
downError = velocityDesired.Down - velocityActual.Down;
|
||||
downDerivative = (downError - downErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
|
||||
downIntegral = bound(downIntegral + downError * guidanceSettings.VelPIDUpdatePeriod,
|
||||
-guidanceSettings.MaxThrottleIntegral,
|
||||
guidanceSettings.MaxThrottleIntegral);
|
||||
downErrorLast = downError;
|
||||
attitudeDesired.Throttle = bound(downError * guidanceSettings.DownP + downDerivative * guidanceSettings.DownD +
|
||||
downIntegral * guidanceSettings.DownI, 0, 1);
|
||||
|
||||
// For now override throttle with manual control. Disable at your risk, quad goes to China.
|
||||
ManualControlCommandData manualControl;
|
||||
ManualControlCommandGet(&manualControl);
|
||||
attitudeDesired.Throttle = manualControl.Throttle;
|
||||
|
||||
AttitudeDesiredSet(&attitudeDesired);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user