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340 lines
11 KiB
C
340 lines
11 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup TxPIDModule TxPID Module
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* @brief Optional module to tune PID settings using R/C transmitter.
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* Updates PID settings in RAM in real-time using configured Accessory channels as controllers.
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* @{
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*
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* @file txpid.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Optional module to tune PID settings using R/C transmitter.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Output object: StabilizationSettings
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*
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* This module will periodically update values of stabilization PID settings
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* depending on configured input control channels. New values of stabilization
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* settings are not saved to flash, but updated in RAM. It is expected that the
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* module will be enabled only for tuning. When desired values are found, they
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* can be read via GCS and saved permanently. Then this module should be
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* disabled again.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://wiki.openpilot.org/display/Doc/OpenPilot+Architecture
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*
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*/
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#include "openpilot.h"
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#include "txpidsettings.h"
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#include "accessorydesired.h"
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#include "manualcontrolcommand.h"
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#include "stabilizationsettings.h"
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#include "flightstatus.h"
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#include "hwsettings.h"
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//
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// Configuration
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//
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#define SAMPLE_PERIOD_MS 200
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#define TELEMETRY_UPDATE_PERIOD_MS 0 // 0 = update on change (default)
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// Sanity checks
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#if (TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_INPUTS_NUMELEM) || \
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(TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_MINPID_NUMELEM) || \
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(TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_MAXPID_NUMELEM)
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#error Invalid TxPID UAVObject definition (inconsistent number of field elements)
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#endif
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// Private types
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// Private variables
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// Private functions
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static void updatePIDs(UAVObjEvent* ev);
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static uint8_t update(float *var, float val);
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static float scale(float val, float inMin, float inMax, float outMin, float outMax);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t TxPIDInitialize(void)
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{
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bool txPIDEnabled;
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsInitialize();
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_TXPID] == HWSETTINGS_OPTIONALMODULES_ENABLED)
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txPIDEnabled = true;
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else
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txPIDEnabled = false;
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if (txPIDEnabled) {
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TxPIDSettingsInitialize();
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AccessoryDesiredInitialize();
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UAVObjEvent ev = {
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.obj = AccessoryDesiredHandle(),
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.instId = 0,
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.event = 0,
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};
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EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
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#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
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// Change StabilizationSettings update rate from OnChange to periodic
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// to prevent telemetry link flooding with frequent updates in case of
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// control channel jitter.
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// Warning: saving to flash with this code active will change the
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// StabilizationSettings update rate permanently. Use Metadata via
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// browser to reset to defaults (telemetryAcked=true, OnChange).
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UAVObjMetadata metadata;
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StabilizationSettingsInitialize();
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StabilizationSettingsGetMetadata(&metadata);
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metadata.telemetryAcked = 0;
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metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
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metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
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StabilizationSettingsSetMetadata(&metadata);
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#endif
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return 0;
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}
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return -1;
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}
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/* stub: module has no module thread */
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int32_t TxPIDStart(void)
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{
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return 0;
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}
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MODULE_INITCALL(TxPIDInitialize, TxPIDStart)
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/**
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* Update PIDs callback function
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*/
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static void updatePIDs(UAVObjEvent* ev)
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{
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if (ev->obj != AccessoryDesiredHandle())
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return;
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TxPIDSettingsData inst;
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TxPIDSettingsGet(&inst);
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if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER)
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return;
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uint8_t armed;
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FlightStatusArmedGet(&armed);
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if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
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(armed == FLIGHTSTATUS_ARMED_DISARMED))
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return;
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StabilizationSettingsData stab;
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StabilizationSettingsGet(&stab);
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AccessoryDesiredData accessory;
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uint8_t needsUpdate = 0;
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// Loop through every enabled instance
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for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
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if (inst.PIDs[i] != TXPIDSETTINGS_PIDS_DISABLED) {
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float value;
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if (inst.Inputs[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
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ManualControlCommandThrottleGet(&value);
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value = scale(value,
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inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MIN],
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inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MAX],
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inst.MinPID[i], inst.MaxPID[i]);
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} else if (AccessoryDesiredInstGet(inst.Inputs[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) {
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value = scale(accessory.AccessoryVal, -1.0, 1.0, inst.MinPID[i], inst.MaxPID[i]);
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} else {
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continue;
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}
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switch (inst.PIDs[i]) {
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case TXPIDSETTINGS_PIDS_ROLLRATEKP:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLRATEKI:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLRATEKD:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
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needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
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needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
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needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHRATEKP:
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHRATEKI:
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHRATEKD:
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
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needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
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needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
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needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
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needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
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needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
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needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
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needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
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needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
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needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
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needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
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needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWRATEKP:
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needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWRATEKI:
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needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWRATEKD:
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needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
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needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
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needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
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needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
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break;
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case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
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needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
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break;
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case TXPIDSETTINGS_PIDS_GYROTAU:
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needsUpdate |= update(&stab.GyroTau, value);
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break;
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default:
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PIOS_Assert(0);
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}
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}
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}
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if (needsUpdate)
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StabilizationSettingsSet(&stab);
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}
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/**
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* Scales input val from [inMin..inMax] range to [outMin..outMax].
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* If val is out of input range (inMin <= inMax), it will be bound.
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* (outMin > outMax) is ok, in that case output will be decreasing.
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*
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* \returns scaled value
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*/
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static float scale(float val, float inMin, float inMax, float outMin, float outMax)
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{
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// bound input value
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if (val > inMax) val = inMax;
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if (val < inMin) val = inMin;
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// normalize input value to [0..1]
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if (inMax <= inMin)
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val = 0.0;
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else
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val = (val - inMin) / (inMax - inMin);
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// update output bounds
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if (outMin > outMax) {
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float t = outMin;
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outMin = outMax;
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outMax = t;
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val = 1.0 - val;
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}
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return (outMax - outMin) * val + outMin;
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}
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/**
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* Updates var using val if needed.
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* \returns 1 if updated, 0 otherwise
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*/
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static uint8_t update(float *var, float val)
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{
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if (*var != val) {
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*var = val;
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return 1;
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}
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return 0;
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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