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Beat Küng authored
Previously the rate controller disabled updating the integral below 20% throttle. This is not ideal for several reasons: - some racers already hover with 20% throttle. - for acro it is important to always keep the integral enabled, it has a noticeable effect on flight performance.
Beat Küng authoredPreviously the rate controller disabled updating the integral below 20% throttle. This is not ideal for several reasons: - some racers already hover with 20% throttle. - for acro it is important to always keep the integral enabled, it has a noticeable effect on flight performance.
mc_att_control.hpp 11.37 KiB
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#include <lib/mixer/mixer.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <matrix/matrix/math.hpp>
#include <perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
/**
* Multicopter attitude control app start / stop handling function
*/
extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MAX_GYRO_COUNT 3
class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>, public ModuleParams
{
public: MulticopterAttitudeControl();
virtual ~MulticopterAttitudeControl() = default;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static MulticopterAttitudeControl *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
private:
/**
* initialize some vectors/matrices from parameters
*/
void parameters_updated();
/**
* Check for parameter update and handle it.
*/
void battery_status_poll();
void parameter_update_poll();
void sensor_bias_poll();
void vehicle_land_detected_poll();
void sensor_correction_poll();
void vehicle_attitude_poll();
void vehicle_attitude_setpoint_poll();
void vehicle_control_mode_poll();
void vehicle_manual_poll();
void vehicle_motor_limits_poll();
void vehicle_rates_setpoint_poll();
void vehicle_status_poll();
/**
* Attitude controller.
*/
void control_attitude(float dt);
/**
* Attitude rates controller.
*/
void control_attitude_rates(float dt);
/**
* Throttle PID attenuation.
*/
matrix::Vector3f pid_attenuations(float tpa_breakpoint, float tpa_rate);
int _v_att_sub{-1}; /**< vehicle attitude subscription */
int _v_att_sp_sub{-1}; /**< vehicle attitude setpoint subscription */
int _v_rates_sp_sub{-1}; /**< vehicle rates setpoint subscription */
int _v_control_mode_sub{-1}; /**< vehicle control mode subscription */
int _params_sub{-1}; /**< parameter updates subscription */
int _manual_control_sp_sub{-1}; /**< manual control setpoint subscription */
int _vehicle_status_sub{-1}; /**< vehicle status subscription */
int _motor_limits_sub{-1}; /**< motor limits subscription */
int _battery_status_sub{-1}; /**< battery status subscription */
int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
int _sensor_correction_sub{-1}; /**< sensor thermal correction subscription */
int _sensor_bias_sub{-1}; /**< sensor in-run bias correction subscription */ int _vehicle_land_detected_sub{-1}; /**< vehicle land detected subscription */
unsigned _gyro_count{1};
int _selected_gyro{0};
orb_advert_t _v_rates_sp_pub{nullptr}; /**< rate setpoint publication */
orb_advert_t _actuators_0_pub{nullptr}; /**< attitude actuator controls publication */
orb_advert_t _controller_status_pub{nullptr}; /**< controller status publication */
orb_id_t _rates_sp_id{nullptr}; /**< pointer to correct rates setpoint uORB metadata structure */
orb_id_t _actuators_id{nullptr}; /**< pointer to correct actuator controls0 uORB metadata structure */
bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
struct vehicle_attitude_s _v_att {}; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _v_att_sp {}; /**< vehicle attitude setpoint */
struct vehicle_rates_setpoint_s _v_rates_sp {}; /**< vehicle rates setpoint */
struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
struct vehicle_control_mode_s _v_control_mode {}; /**< vehicle control mode */
struct actuator_controls_s _actuators {}; /**< actuator controls */
struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
struct battery_status_s _battery_status {}; /**< battery status */
struct sensor_gyro_s _sensor_gyro {}; /**< gyro data before thermal correctons and ekf bias estimates are applied */
struct sensor_correction_s _sensor_correction {}; /**< sensor thermal corrections */
struct sensor_bias_s _sensor_bias {}; /**< sensor in-run bias corrections */
struct vehicle_land_detected_s _vehicle_land_detected {};
MultirotorMixer::saturation_status _saturation_status{};
perf_counter_t _loop_perf; /**< loop performance counter */
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
float _loop_update_rate_hz{initial_update_rate_hz}; /**< current rate-controller loop update rate in [Hz] */
matrix::Vector3f _rates_prev; /**< angular rates on previous step */
matrix::Vector3f _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
matrix::Vector3f _rates_sp; /**< angular rates setpoint */
matrix::Vector3f _rates_int; /**< angular rates integral error */
float _thrust_sp; /**< thrust setpoint */
matrix::Vector3f _att_control; /**< attitude control vector */
matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MC_ROLL_P>) _roll_p,
(ParamFloat<px4::params::MC_ROLLRATE_P>) _roll_rate_p,
(ParamFloat<px4::params::MC_ROLLRATE_I>) _roll_rate_i,
(ParamFloat<px4::params::MC_RR_INT_LIM>) _roll_rate_integ_lim,
(ParamFloat<px4::params::MC_ROLLRATE_D>) _roll_rate_d,
(ParamFloat<px4::params::MC_ROLLRATE_FF>) _roll_rate_ff,
(ParamFloat<px4::params::MC_PITCH_P>) _pitch_p,
(ParamFloat<px4::params::MC_PITCHRATE_P>) _pitch_rate_p,
(ParamFloat<px4::params::MC_PITCHRATE_I>) _pitch_rate_i,
(ParamFloat<px4::params::MC_PR_INT_LIM>) _pitch_rate_integ_lim,
(ParamFloat<px4::params::MC_PITCHRATE_D>) _pitch_rate_d,
(ParamFloat<px4::params::MC_PITCHRATE_FF>) _pitch_rate_ff,
(ParamFloat<px4::params::MC_YAW_P>) _yaw_p,
(ParamFloat<px4::params::MC_YAWRATE_P>) _yaw_rate_p,
(ParamFloat<px4::params::MC_YAWRATE_I>) _yaw_rate_i,
(ParamFloat<px4::params::MC_YR_INT_LIM>) _yaw_rate_integ_lim,
(ParamFloat<px4::params::MC_YAWRATE_D>) _yaw_rate_d,
(ParamFloat<px4::params::MC_YAWRATE_FF>) _yaw_rate_ff,
(ParamFloat<px4::params::MC_YAW_FF>) _yaw_ff, /**< yaw control feed-forward */
(ParamFloat<px4::params::MC_DTERM_CUTOFF>) _d_term_cutoff_freq, /**< Cutoff frequency for the D-term filter */
(ParamFloat<px4::params::MC_TPA_BREAK_P>) _tpa_breakpoint_p, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_BREAK_I>) _tpa_breakpoint_i, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_BREAK_D>) _tpa_breakpoint_d, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_RATE_P>) _tpa_rate_p, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_RATE_I>) _tpa_rate_i, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_RATE_D>) _tpa_rate_d, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _roll_rate_max,
(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _pitch_rate_max,
(ParamFloat<px4::params::MC_YAWRATE_MAX>) _yaw_rate_max,
(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _yaw_auto_max,
(ParamFloat<px4::params::MC_ACRO_R_MAX>) _acro_roll_max,
(ParamFloat<px4::params::MC_ACRO_P_MAX>) _acro_pitch_max,
(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _acro_yaw_max,
(ParamFloat<px4::params::MC_ACRO_EXPO>) _acro_expo_rp, /**< expo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _acro_expo_y, /**< expo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _acro_superexpo_rp, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _acro_superexpo_y, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_RATT_TH>) _rattitude_thres,
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _bat_scale_en,
(ParamInt<px4::params::SENS_BOARD_ROT>) _board_rotation_param,
(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _board_offset_x,
(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _board_offset_y,
(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _board_offset_z,
(ParamFloat<px4::params::VT_WV_YAWR_SCL>) _vtol_wv_yaw_rate_scale /**< Scale value [0, 1] for yaw rate setpoint */
)
matrix::Vector3f _attitude_p; /**< P gain for attitude control */
matrix::Vector3f _rate_p; /**< P gain for angular rate error */
matrix::Vector3f _rate_i; /**< I gain for angular rate error */
matrix::Vector3f _rate_int_lim; /**< integrator state limit for rate loop */
matrix::Vector3f _rate_d; /**< D gain for angular rate error */
matrix::Vector3f _rate_ff; /**< Feedforward gain for desired rates */
matrix::Vector3f _mc_rate_max; /**< attitude rate limits in stabilized modes */
matrix::Vector3f _auto_rate_max; /**< attitude rate limits in auto modes */
matrix::Vector3f _acro_rate_max; /**< max attitude rates in acro mode */
};