/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup TxPIDModule TxPID Module
* @brief Optional module to tune PID settings using R/C transmitter.
* Updates PID settings in RAM in real-time using configured Accessory channels as controllers.
* @{
*
* @file txpid.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Optional module to tune PID settings using R/C transmitter.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Output object: StabilizationSettings
*
* This module will periodically update values of stabilization PID settings
* depending on configured input control channels. New values of stabilization
* settings are not saved to flash, but updated in RAM. It is expected that the
* module will be enabled only for tuning. When desired values are found, they
* can be read via GCS and saved permanently. Then this module should be
* disabled again.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://wiki.openpilot.org/display/Doc/OpenPilot+Architecture
*
*/
#include "openpilot.h"
#include "txpidsettings.h"
#include "accessorydesired.h"
#include "manualcontrolcommand.h"
#include "stabilizationsettings.h"
#include "attitudesettings.h"
#ifdef REVOLUTION
#include "altitudeholdsettings.h"
#endif
#include "stabilizationbank.h"
#include "stabilizationsettingsbank1.h"
#include "stabilizationsettingsbank2.h"
#include "stabilizationsettingsbank3.h"
#include "flightstatus.h"
#include "txpidstatus.h"
#include "hwsettings.h"
//
// Configuration
//
#define SAMPLE_PERIOD_MS 200
#define TELEMETRY_UPDATE_PERIOD_MS 0 // 0 = update on change (default)
// Sanity checks
#if (TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_INPUTS_NUMELEM) || \
(TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_MINPID_NUMELEM) || \
(TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_MAXPID_NUMELEM)
#error Invalid TxPID UAVObject definition (inconsistent number of field elements)
#endif
// Private types
// Private variables
// Private functions
static void updatePIDs(UAVObjEvent *ev);
static uint8_t update(float *var, float val);
static uint8_t updateUint16(uint16_t *var, float val);
static uint8_t updateUint8(uint8_t *var, float val);
static uint8_t updateInt8(int8_t *var, float val);
static float scale(float val, float inMin, float inMax, float outMin, float outMax);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t TxPIDInitialize(void)
{
bool txPIDEnabled;
HwSettingsOptionalModulesData optionalModules;
#ifdef REVOLUTION
AltitudeHoldSettingsInitialize();
#endif
HwSettingsInitialize();
HwSettingsOptionalModulesGet(&optionalModules);
if (optionalModules.TxPID == HWSETTINGS_OPTIONALMODULES_ENABLED) {
txPIDEnabled = true;
} else {
txPIDEnabled = false;
}
if (txPIDEnabled) {
TxPIDSettingsInitialize();
TxPIDStatusInitialize();
AccessoryDesiredInitialize();
UAVObjEvent ev = {
.obj = AccessoryDesiredHandle(),
.instId = 0,
.event = 0,
.lowPriority = false,
};
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
// Change StabilizationSettings update rate from OnChange to periodic
// to prevent telemetry link flooding with frequent updates in case of
// control channel jitter.
// Warning: saving to flash with this code active will change the
// StabilizationSettings update rate permanently. Use Metadata via
// browser to reset to defaults (telemetryAcked=true, OnChange).
UAVObjMetadata metadata;
StabilizationSettingsInitialize();
StabilizationSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
StabilizationSettingsSetMetadata(&metadata);
AttitudeSettingsInitialize();
AttitudeSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
AttitudeSettingsSetMetadata(&metadata);
#endif /* if (TELEMETRY_UPDATE_PERIOD_MS != 0) */
return 0;
}
return -1;
}
/* stub: module has no module thread */
int32_t TxPIDStart(void)
{
return 0;
}
MODULE_INITCALL(TxPIDInitialize, TxPIDStart);
/**
* Update PIDs callback function
*/
static void updatePIDs(UAVObjEvent *ev)
{
if (ev->obj != AccessoryDesiredHandle()) {
return;
}
TxPIDSettingsData inst;
TxPIDSettingsGet(&inst);
if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER) {
return;
}
uint8_t armed;
FlightStatusArmedGet(&armed);
if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
(armed == FLIGHTSTATUS_ARMED_DISARMED)) {
return;
}
StabilizationBankData bank;
switch (inst.BankNumber) {
case 0:
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank);
break;
case 1:
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
break;
case 2:
StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank);
break;
default:
return;
}
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
AttitudeSettingsData att;
AttitudeSettingsGet(&att);
#ifdef REVOLUTION
AltitudeHoldSettingsData altitude;
AltitudeHoldSettingsGet(&altitude);
#endif
AccessoryDesiredData accessory;
TxPIDStatusData txpid_status;
TxPIDStatusGet(&txpid_status);
bool easyTuneEnabled = false;
uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0;
uint8_t needsUpdateAtt = 0;
#ifdef REVOLUTION
uint8_t needsUpdateAltitude = 0;
#endif
// Loop through every enabled instance
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
if (TxPIDSettingsPIDsToArray(inst.PIDs)[i] != TXPIDSETTINGS_PIDS_DISABLED) {
float value;
if (TxPIDSettingsInputsToArray(inst.Inputs)[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
ManualControlCommandThrottleGet(&value);
value = scale(value,
inst.ThrottleRange.Min,
inst.ThrottleRange.Max,
TxPIDSettingsMinPIDToArray(inst.MinPID)[i],
TxPIDSettingsMaxPIDToArray(inst.MaxPID)[i]);
} else if (AccessoryDesiredInstGet(
TxPIDSettingsInputsToArray(inst.Inputs)[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0,
&accessory) == 0) {
value = scale(accessory.AccessoryVal, -1.0f, 1.0f,
TxPIDSettingsMinPIDToArray(inst.MinPID)[i],
TxPIDSettingsMaxPIDToArray(inst.MaxPID)[i]);
} else {
continue;
}
TxPIDStatusCurPIDToArray(txpid_status.CurPID)[i] = value;
switch (TxPIDSettingsPIDsToArray(inst.PIDs)[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_EASYTUNERATEROLL:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_EASYTUNERATEPITCH:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.RollMax, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Yaw, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
needsUpdateBank |= update(&bank.YawPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdateBank |= update(&bank.YawPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.YawMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
break;
case TXPIDSETTINGS_PIDS_PITCHEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_YAWEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Yaw, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
break;
case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
break;
case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ACCELTAU:
needsUpdateAtt |= update(&att.AccelTau, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKP:
needsUpdateAtt |= update(&att.AccelKp, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKI:
needsUpdateAtt |= update(&att.AccelKi, value);
break;
#ifdef REVOLUTION
case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP:
needsUpdateAltitude |= update(&altitude.VerticalPosP, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKP:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKI:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKD:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYBETA:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Beta, value);
break;
#endif
default:
PIOS_Assert(0);
}
}
}
if (needsUpdateStab) {
StabilizationSettingsSet(&stab);
}
if (needsUpdateAtt) {
AttitudeSettingsSet(&att);
}
#ifdef REVOLUTION
if (needsUpdateAltitude) {
AltitudeHoldSettingsSet(&altitude);
}
#endif
if (easyTuneEnabled && (inst.EasyTuneRatePIDRecalculateYaw != TXPIDSETTINGS_EASYTUNERATEPIDRECALCULATEYAW_FALSE)) {
float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.EasyTuneYawRateFactors.P;
needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.EasyTuneYawRateFactors.I);
needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.EasyTuneYawRateFactors.D);
}
if (needsUpdateBank) {
switch (inst.BankNumber) {
case 0:
StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank);
break;
case 1:
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank);
break;
case 2:
StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *)&bank);
break;
default:
return;
}
}
if (needsUpdateStab ||
needsUpdateAtt ||
#ifdef REVOLUTION
needsUpdateAltitude ||
#endif /* REVOLUTION */
needsUpdateBank) {
TxPIDStatusSet(&txpid_status);;
}
}
/**
* Scales input val from [inMin..inMax] range to [outMin..outMax].
* If val is out of input range (inMin <= inMax), it will be bound.
* (outMin > outMax) is ok, in that case output will be decreasing.
*
* \returns scaled value
*/
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
// bound input value
if (val > inMax) {
val = inMax;
}
if (val < inMin) {
val = inMin;
}
// normalize input value to [0..1]
if (inMax <= inMin) {
val = 0.0f;
} else {
val = (val - inMin) / (inMax - inMin);
}
// update output bounds
if (outMin > outMax) {
float t = outMin;
outMin = outMax;
outMax = t;
val = 1.0f - val;
}
return (outMax - outMin) * val + outMin;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t update(float *var, float val)
{
/* FIXME: this is not an entirely correct way
* to check if the two floating point
* numbers are 'not equal'.
* Epsilon of 1e-9 is probably okay for the range
* of numbers we see here*/
if (fabsf(*var - val) > 1e-9f) {
*var = val;
return 1;
}
return 0;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t updateUint16(uint16_t *var, float val)
{
uint16_t roundedVal = (uint16_t)roundf(val);
if (*var != roundedVal) {
*var = roundedVal;
return 1;
}
return 0;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t updateUint8(uint8_t *var, float val)
{
uint8_t roundedVal = (uint8_t)roundf(val);
if (*var != roundedVal) {
*var = roundedVal;
return 1;
}
return 0;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t updateInt8(int8_t *var, float val)
{
int8_t roundedVal = (int8_t)roundf(val);
if (*var != roundedVal) {
*var = roundedVal;
return 1;
}
return 0;
}
/**
* @}
*/
/**
* @}
*/