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LibrePilot/flight/modules/AltitudeHold/altitudehold.c

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/**
******************************************************************************
*
* @file guidance.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
* and sets @ref AttitudeDesired. It only does this when the FlightMode field
* of @ref ManualControlCommand is Auto.
*
* @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
*/
/**
* Input object: ActiveWaypoint
* Input object: PositionState
* Input object: ManualControlCommand
* Output object: AttitudeDesired
*
* This module will periodically update the value of the AttitudeDesired object.
*
* The module executes in its own thread in this example.
*
* 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://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include <openpilot.h>
#include <math.h>
#include <CoordinateConversions.h>
#include <altholdsmoothed.h>
#include <attitudestate.h>
#include <altitudeholdsettings.h>
#include <altitudeholddesired.h> // object that will be updated by the module
#include <barosensor.h>
#include <positionstate.h>
#include <flightstatus.h>
#include <stabilizationdesired.h>
#include <accelstate.h>
#include <taskinfo.h>
#include <pios_constants.h>
// Private constants
#define MAX_QUEUE_SIZE 2
#define STACK_SIZE_BYTES 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define ACCEL_DOWNSAMPLE 4
#define TIMEOUT_TRESHOLD 200000
// Private types
// Private variables
static xTaskHandle altitudeHoldTaskHandle;
static xQueueHandle queue;
static AltitudeHoldSettingsData altitudeHoldSettings;
// Private functions
static void altitudeHoldTask(void *parameters);
static void SettingsUpdatedCb(UAVObjEvent *ev);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeHoldStart()
{
// Start main task
xTaskCreate(altitudeHoldTask, (signed char *)"AltitudeHold", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &altitudeHoldTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDEHOLD, altitudeHoldTaskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeHoldInitialize()
{
AltitudeHoldSettingsInitialize();
AltitudeHoldDesiredInitialize();
AltHoldSmoothedInitialize();
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
return 0;
}
MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart);
float tau;
float throttleIntegral;
float velocity;
float decay;
float velocity_decay;
bool running = false;
float error;
float velError;
float switchThrottle;
float smoothed_altitude;
float starting_altitude;
/**
* Module thread, should not return.
*/
static void altitudeHoldTask(__attribute__((unused)) void *parameters)
{
AltitudeHoldDesiredData altitudeHoldDesired;
StabilizationDesiredData stabilizationDesired;
AltHoldSmoothedData altHold;
float q[4], Rbe[3][3];
portTickType thisTime, lastUpdateTime;
UAVObjEvent ev;
// Force update of the settings
SettingsUpdatedCb(&ev);
// Failsafe handling
uint32_t lastAltitudeHoldDesiredUpdate = 0;
bool enterFailSafe = false;
// Listen for updates.
AltitudeHoldDesiredConnectQueue(queue);
BaroSensorConnectQueue(queue);
FlightStatusConnectQueue(queue);
AccelStateConnectQueue(queue);
bool altitudeHoldFlightMode = false;
BaroSensorAltitudeGet(&smoothed_altitude);
running = false;
enum init_state { WAITING_BARO, WAITIING_INIT, INITED } init = WAITING_BARO;
uint8_t flightMode;
FlightStatusFlightModeGet(&flightMode);
// initialize enable flag
altitudeHoldFlightMode = flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD || flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO;
// Main task loop
bool baro_updated = false;
while (1) {
enterFailSafe = PIOS_DELAY_DiffuS(lastAltitudeHoldDesiredUpdate) > TIMEOUT_TRESHOLD;
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if (xQueueReceive(queue, &ev, 100 / portTICK_RATE_MS) != pdTRUE) {
if (!running) {
throttleIntegral = 0;
}
// Todo: Add alarm if it should be running
continue;
} else if (ev.obj == BaroSensorHandle()) {
baro_updated = true;
init = (init == WAITING_BARO) ? WAITIING_INIT : init;
} else if (ev.obj == FlightStatusHandle()) {
FlightStatusFlightModeGet(&flightMode);
altitudeHoldFlightMode = flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD || flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO;
if (altitudeHoldFlightMode && !running) {
// Copy the current throttle as a starting point for integral
StabilizationDesiredThrottleGet(&throttleIntegral);
switchThrottle = throttleIntegral;
throttleIntegral *= Rbe[2][2]; // rotate into earth frame
if (throttleIntegral > 1) {
throttleIntegral = 1;
} else if (throttleIntegral < 0) {
throttleIntegral = 0;
}
error = 0;
velocity = 0;
altitudeHoldDesired.Altitude = altHold.Altitude;
running = true;
} else if (!altitudeHoldFlightMode) {
running = false;
lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
}
} else if (ev.obj == AccelStateHandle()) {
static uint32_t timeval;
static float z[4] = { 0, 0, 0, 0 };
float z_new[4];
float P[4][4], K[4][2], x[2];
float G[4] = { 1.0e-15f, 1.0e-15f, 1.0e-3f, 1.0e-7f };
static float V[4][4] = {
{ 10.0f, 0.0f, 0.0f, 0.0f },
{ 0.0f, 100.0f, 0.0f, 0.0f },
{ 0.0f, 0.0f, 100.0f, 0.0f },
{ 0.0f, 0.0f, 0.0f, 1000.0f }
};
static uint32_t accel_downsample_count = 0;
static float accels_accum[3] = { 0.0f, 0.0f, 0.0f };
float dT;
static float S[2] = { 1.0f, 10.0f };
/* Somehow this always assigns to zero. Compiler bug? Race condition? */
S[0] = altitudeHoldSettings.PressureNoise;
S[1] = altitudeHoldSettings.AccelNoise;
G[2] = altitudeHoldSettings.AccelDrift;
AccelStateData accelState;
AccelStateGet(&accelState);
AttitudeStateData attitudeState;
AttitudeStateGet(&attitudeState);
BaroSensorData baro;
BaroSensorGet(&baro);
/* Downsample accels to stop this calculation consuming too much CPU */
accels_accum[0] += accelState.x;
accels_accum[1] += accelState.y;
accels_accum[2] += accelState.z;
accel_downsample_count++;
if (accel_downsample_count < ACCEL_DOWNSAMPLE) {
continue;
}
accel_downsample_count = 0;
accelState.x = accels_accum[0] / ACCEL_DOWNSAMPLE;
accelState.y = accels_accum[1] / ACCEL_DOWNSAMPLE;
accelState.z = accels_accum[2] / ACCEL_DOWNSAMPLE;
accels_accum[0] = accels_accum[1] = accels_accum[2] = 0;
thisTime = xTaskGetTickCount();
if (init == WAITIING_INIT) {
z[0] = baro.Altitude;
z[1] = 0;
z[2] = accelState.z;
z[3] = 0;
init = INITED;
} else if (init == WAITING_BARO) {
continue;
}
x[0] = baro.Altitude;
// rotate avg accels into earth frame and store it
q[0] = attitudeState.q1;
q[1] = attitudeState.q2;
q[2] = attitudeState.q3;
q[3] = attitudeState.q4;
Quaternion2R(q, Rbe);
x[1] = -(Rbe[0][2] * accelState.x + Rbe[1][2] * accelState.y + Rbe[2][2] * accelState.z + 9.81f);
dT = PIOS_DELAY_DiffuS(timeval) / 1.0e6f;
timeval = PIOS_DELAY_GetRaw();
P[0][0] = dT * (V[0][1] + dT * V[1][1]) + V[0][0] + G[0] + dT * V[1][0];
P[0][1] = dT * (V[0][2] + dT * V[1][2]) + V[0][1] + dT * V[1][1];
P[0][2] = V[0][2] + dT * V[1][2];
P[0][3] = V[0][3] + dT * V[1][3];
P[1][0] = dT * (V[1][1] + dT * V[2][1]) + V[1][0] + dT * V[2][0];
P[1][1] = dT * (V[1][2] + dT * V[2][2]) + V[1][1] + G[1] + dT * V[2][1];
P[1][2] = V[1][2] + dT * V[2][2];
P[1][3] = V[1][3] + dT * V[2][3];
P[2][0] = V[2][0] + dT * V[2][1];
P[2][1] = V[2][1] + dT * V[2][2];
P[2][2] = V[2][2] + G[2];
P[2][3] = V[2][3];
P[3][0] = V[3][0] + dT * V[3][1];
P[3][1] = V[3][1] + dT * V[3][2];
P[3][2] = V[3][2];
P[3][3] = V[3][3] + G[3];
if (baro_updated) {
K[0][0] = -(V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]) + 1.0f;
K[0][1] = ((V[0][2] + V[0][3]) * S[0] + dT * (V[1][2] + V[1][3]) * S[0]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
K[1][0] = (V[1][0] * G[2] + V[1][0] * G[3] + V[1][0] * S[1] + V[1][0] * V[2][2] - V[2][0] * V[1][2] + V[1][0] * V[2][3] + V[1][0] * V[3][2] - V[2][0] * V[1][3] - V[1][2] * V[3][0] + V[1][0] * V[3][3] - V[3][0] * V[1][3] + (dT * dT) * V[2][1] * V[3][2] - (dT * dT) * V[2][2] * V[3][1] + (dT * dT) * V[2][1] * V[3][3] - (dT * dT) * V[3][1] * V[2][3] + dT * V[1][1] * G[2] + dT * V[2][0] * G[2] + dT * V[1][1] * G[3] + dT * V[2][0] * G[3] + dT * V[1][1] * S[1] + dT * V[2][0] * S[1] + (dT * dT) * V[2][1] * G[2] + (dT * dT) * V[2][1] * G[3] + (dT * dT) * V[2][1] * S[1] + dT * V[1][1] * V[2][2] - dT * V[1][2] * V[2][1] + dT * V[1][1] * V[2][3] + dT * V[1][1] * V[3][2] + dT * V[2][0] * V[3][2] - dT * V[1][2] * V[3][1] - dT * V[2][1] * V[1][3] - dT * V[3][0] * V[2][2] + dT * V[1][1] * V[3][3] + dT * V[2][0] * V[3][3] - dT * V[3][0] * V[2][3] - dT * V[1][3] * V[3][1]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
K[1][1] = (V[1][2] * G[0] + V[1][3] * G[0] + V[1][2] * S[0] + V[1][3] * S[0] + V[0][0] * V[1][2] - V[1][0] * V[0][2] + V[0][0] * V[1][3] - V[1][0] * V[0][3] + (dT * dT) * V[0][1] * V[2][2] + (dT * dT) * V[1][0] * V[2][2] - (dT * dT) * V[0][2] * V[2][1] - (dT * dT) * V[2][0] * V[1][2] + (dT * dT) * V[0][1] * V[2][3] + (dT * dT) * V[1][0] * V[2][3] - (dT * dT) * V[2][0] * V[1][3] - (dT * dT) * V[0][3] * V[2][1] + (dT * dT * dT) * V[1][1] * V[2][2] - (dT * dT * dT) * V[1][2] * V[2][1] + (dT * dT * dT) * V[1][1] * V[2][3] - (dT * dT * dT) * V[2][1] * V[1][3] + dT * V[2][2] * G[0] + dT * V[2][3] * G[0] + dT * V[2][2] * S[0] + dT * V[2][3] * S[0] + dT * V[0][0] * V[2][2] + dT * V[0][1] * V[1][2] - dT * V[0][2] * V[1][1] - dT * V[0][2] * V[2][0] + dT * V[0][0] * V[2][3] + dT * V[0][1] * V[1][3] - dT * V[1][1] * V[0][3] - dT * V[2][0] * V[0][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
K[2][0] = (V[2][0] * G[3] - V[3][0] * G[2] + V[2][0] * S[1] + V[2][0] * V[3][2] - V[3][0] * V[2][2] + V[2][0] * V[3][3] - V[3][0] * V[2][3] + dT * V[2][1] * G[3] - dT * V[3][1] * G[2] + dT * V[2][1] * S[1] + dT * V[2][1] * V[3][2] - dT * V[2][2] * V[3][1] + dT * V[2][1] * V[3][3] - dT * V[3][1] * V[2][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
K[2][1] = (V[0][0] * G[2] + V[2][2] * G[0] + V[2][3] * G[0] + V[2][2] * S[0] + V[2][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] - V[2][0] * V[0][3] + G[0] * G[2] + G[2] * S[0] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] - (dT * dT) * V[2][1] * V[1][3] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + (dT * dT) * V[1][1] * G[2] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[1][0] * V[2][3] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
K[3][0] = (-V[2][0] * G[3] + V[3][0] * G[2] + V[3][0] * S[1] - V[2][0] * V[3][2] + V[3][0] * V[2][2] - V[2][0] * V[3][3] + V[3][0] * V[2][3] - dT * V[2][1] * G[3] + dT * V[3][1] * G[2] + dT * V[3][1] * S[1] - dT * V[2][1] * V[3][2] + dT * V[2][2] * V[3][1] - dT * V[2][1] * V[3][3] + dT * V[3][1] * V[2][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
K[3][1] = (V[0][0] * G[3] + V[3][2] * G[0] + V[3][3] * G[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[3][2] - V[0][2] * V[3][0] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[3] + G[3] * S[0] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + (dT * dT) * V[1][1] * G[3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]) / (V[0][0] * G[2] + V[0][0] * G[3] + V[2][2] * G[0] + V[2][3] * G[0] + V[3][2] * G[0] + V[3][3] * G[0] + V[0][0] * S[1] + V[2][2] * S[0] + V[2][3] * S[0] + V[3][2] * S[0] + V[3][3] * S[0] + V[0][0] * V[2][2] - V[0][2] * V[2][0] + V[0][0] * V[2][3] + V[0][0] * V[3][2] - V[0][2] * V[3][0] - V[2][0] * V[0][3] + V[0][0] * V[3][3] - V[0][3] * V[3][0] + G[0] * G[2] + G[0] * G[3] + G[0] * S[1] + G[2] * S[0] + G[3] * S[0] + S[0] * S[1] + (dT * dT) * V[1][1] * V[2][2] - (dT * dT) * V[1][2] * V[2][1] + (dT * dT) * V[1][1] * V[2][3] + (dT * dT) * V[1][1] * V[3][2] - (dT * dT) * V[1][2] * V[3][1] - (dT * dT) * V[2][1] * V[1][3] + (dT * dT) * V[1][1] * V[3][3] - (dT * dT) * V[1][3] * V[3][1] + dT * V[0][1] * G[2] + dT * V[1][0] * G[2] + dT * V[0][1] * G[3] + dT * V[1][0] * G[3] + dT * V[0][1] * S[1] + dT * V[1][0] * S[1] + (dT * dT) * V[1][1] * G[2] + (dT * dT) * V[1][1] * G[3] + (dT * dT) * V[1][1] * S[1] + dT * V[0][1] * V[2][2] + dT * V[1][0] * V[2][2] - dT * V[0][2] * V[2][1] - dT * V[2][0] * V[1][2] + dT * V[0][1] * V[2][3] + dT * V[0][1] * V[3][2] + dT * V[1][0] * V[2][3] + dT * V[1][0] * V[3][2] - dT * V[0][2] * V[3][1] - dT * V[2][0] * V[1][3] - dT * V[0][3] * V[2][1] - dT * V[1][2] * V[3][0] + dT * V[0][1] * V[3][3] + dT * V[1][0] * V[3][3] - dT * V[0][3] * V[3][1] - dT * V[3][0] * V[1][3]);
z_new[0] = -K[0][0] * (dT * z[1] - x[0] + z[0]) + dT * z[1] - K[0][1] * (-x[1] + z[2] + z[3]) + z[0];
z_new[1] = -K[1][0] * (dT * z[1] - x[0] + z[0]) + dT * z[2] - K[1][1] * (-x[1] + z[2] + z[3]) + z[1];
z_new[2] = -K[2][0] * (dT * z[1] - x[0] + z[0]) - K[2][1] * (-x[1] + z[2] + z[3]) + z[2];
z_new[3] = -K[3][0] * (dT * z[1] - x[0] + z[0]) - K[3][1] * (-x[1] + z[2] + z[3]) + z[3];
memcpy(z, z_new, sizeof(z_new));
V[0][0] = -K[0][1] * P[2][0] - K[0][1] * P[3][0] - P[0][0] * (K[0][0] - 1.0f);
V[0][1] = -K[0][1] * P[2][1] - K[0][1] * P[3][2] - P[0][1] * (K[0][0] - 1.0f);
V[0][2] = -K[0][1] * P[2][2] - K[0][1] * P[3][2] - P[0][2] * (K[0][0] - 1.0f);
V[0][3] = -K[0][1] * P[2][3] - K[0][1] * P[3][3] - P[0][3] * (K[0][0] - 1.0f);
V[1][0] = P[1][0] - K[1][0] * P[0][0] - K[1][1] * P[2][0] - K[1][1] * P[3][0];
V[1][1] = P[1][1] - K[1][0] * P[0][1] - K[1][1] * P[2][1] - K[1][1] * P[3][2];
V[1][2] = P[1][2] - K[1][0] * P[0][2] - K[1][1] * P[2][2] - K[1][1] * P[3][2];
V[1][3] = P[1][3] - K[1][0] * P[0][3] - K[1][1] * P[2][3] - K[1][1] * P[3][3];
V[2][0] = -K[2][0] * P[0][0] - K[2][1] * P[3][0] - P[2][0] * (K[2][1] - 1.0f);
V[2][1] = -K[2][0] * P[0][1] - K[2][1] * P[3][2] - P[2][1] * (K[2][1] - 1.0f);
V[2][2] = -K[2][0] * P[0][2] - K[2][1] * P[3][2] - P[2][2] * (K[2][1] - 1.0f);
V[2][3] = -K[2][0] * P[0][3] - K[2][1] * P[3][3] - P[2][3] * (K[2][1] - 1.0f);
V[3][0] = -K[3][0] * P[0][0] - K[3][1] * P[2][0] - P[3][0] * (K[3][1] - 1.0f);
V[3][1] = -K[3][0] * P[0][1] - K[3][1] * P[2][1] - P[3][2] * (K[3][1] - 1.0f);
V[3][2] = -K[3][0] * P[0][2] - K[3][1] * P[2][2] - P[3][2] * (K[3][1] - 1.0f);
V[3][3] = -K[3][0] * P[0][3] - K[3][1] * P[2][3] - P[3][3] * (K[3][1] - 1.0f);
baro_updated = false;
} else {
K[0][0] = (V[0][2] + V[0][3] + dT * V[1][2] + dT * V[1][3]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
K[1][0] = (V[1][2] + V[1][3] + dT * V[2][2] + dT * V[2][3]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
K[2][0] = (V[2][2] + V[2][3] + G[2]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
K[3][0] = (V[3][2] + V[3][3] + G[3]) / (V[2][2] + V[2][3] + V[3][2] + V[3][3] + G[2] + G[3] + S[1]);
z_new[0] = dT * z[1] - K[0][0] * (-x[1] + z[2] + z[3]) + z[0];
z_new[1] = dT * z[2] - K[1][0] * (-x[1] + z[2] + z[3]) + z[1];
z_new[2] = -K[2][0] * (-x[1] + z[2] + z[3]) + z[2];
z_new[3] = -K[3][0] * (-x[1] + z[2] + z[3]) + z[3];
memcpy(z, z_new, sizeof(z_new));
V[0][0] = P[0][0] - K[0][0] * P[2][0] - K[0][0] * P[3][0];
V[0][1] = P[0][1] - K[0][0] * P[2][1] - K[0][0] * P[3][2];
V[0][2] = P[0][2] - K[0][0] * P[2][2] - K[0][0] * P[3][2];
V[0][3] = P[0][3] - K[0][0] * P[2][3] - K[0][0] * P[3][3];
V[1][0] = P[1][0] - K[1][0] * P[2][0] - K[1][0] * P[3][0];
V[1][1] = P[1][1] - K[1][0] * P[2][1] - K[1][0] * P[3][2];
V[1][2] = P[1][2] - K[1][0] * P[2][2] - K[1][0] * P[3][2];
V[1][3] = P[1][3] - K[1][0] * P[2][3] - K[1][0] * P[3][3];
V[2][0] = -K[2][0] * P[3][0] - P[2][0] * (K[2][0] - 1.0f);
V[2][1] = -K[2][0] * P[3][2] - P[2][1] * (K[2][0] - 1.0f);
V[2][2] = -K[2][0] * P[3][2] - P[2][2] * (K[2][0] - 1.0f);
V[2][3] = -K[2][0] * P[3][3] - P[2][3] * (K[2][0] - 1.0f);
V[3][0] = -K[3][0] * P[2][0] - P[3][0] * (K[3][0] - 1.0f);
V[3][1] = -K[3][0] * P[2][1] - P[3][2] * (K[3][0] - 1.0f);
V[3][2] = -K[3][0] * P[2][2] - P[3][2] * (K[3][0] - 1.0f);
V[3][3] = -K[3][0] * P[2][3] - P[3][3] * (K[3][0] - 1.0f);
}
AltHoldSmoothedGet(&altHold);
altHold.Altitude = z[0];
altHold.Velocity = z[1];
altHold.Accel = z[2];
AltHoldSmoothedSet(&altHold);
AltHoldSmoothedGet(&altHold);
// Verify that we are in altitude hold mode
uint8_t armed;
FlightStatusArmedGet(&armed);
if (!altitudeHoldFlightMode || armed != FLIGHTSTATUS_ARMED_ARMED) {
running = false;
}
if (!running) {
lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
continue;
}
// Compute the altitude error
error = altitudeHoldDesired.Altitude - altHold.Altitude;
velError = altitudeHoldDesired.Velocity - altHold.Velocity;
if(fabsf(altitudeHoldDesired.Velocity) < 1e-3f) {
// Compute integral off altitude error
throttleIntegral += error * altitudeHoldSettings.Ki * dT;
}
// Only update stabilizationDesired less frequently
if ((thisTime - lastUpdateTime) < 20) {
continue;
}
lastUpdateTime = thisTime;
// Instead of explicit limit on integral you output limit feedback
StabilizationDesiredGet(&stabilizationDesired);
if (!enterFailSafe) {
if(fabsf(altitudeHoldDesired.Velocity) < 1e-3f) {
stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp + throttleIntegral -
altHold.Velocity * altitudeHoldSettings.Kd - altHold.Accel * altitudeHoldSettings.Ka;
// scale up throttle to compensate for roll/pitch angle but limit this to 60 deg (cos(60) == 0.5) to prevent excessive scaling
float throttlescale = Rbe[2][2] < 0.5f ? 0.5f : Rbe[2][2];
stabilizationDesired.Throttle /= throttlescale;
} else {
stabilizationDesired.Throttle = velError * altitudeHoldSettings.Kv + throttleIntegral;
}
if (stabilizationDesired.Throttle > 1) {
throttleIntegral -= (stabilizationDesired.Throttle - 1);
stabilizationDesired.Throttle = 1;
} else if (stabilizationDesired.Throttle < 0) {
throttleIntegral -= stabilizationDesired.Throttle;
stabilizationDesired.Throttle = 0;
}
} else {
// shutdown motors
stabilizationDesired.Throttle = -1;
}
stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabilizationDesired.Roll = altitudeHoldDesired.Roll;
stabilizationDesired.Pitch = altitudeHoldDesired.Pitch;
stabilizationDesired.Yaw = altitudeHoldDesired.Yaw;
StabilizationDesiredSet(&stabilizationDesired);
} else if (ev.obj == AltitudeHoldDesiredHandle()) {
// reset the failsafe timer
lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
AltitudeHoldDesiredGet(&altitudeHoldDesired);
}
}
}
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
AltitudeHoldSettingsGet(&altitudeHoldSettings);
}
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