void control_quadrotor_attitude(
const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const struct vehicle_rates_setpoint_s *rate_sp,
const struct attitude_control_quat_params *control,
struct actuator_controls_s *actuators)
{
float pitchCommand, rollCommand, ruddCommand, throttleCommand;
if(fabsf(rate_sp->yaw) < FLT_MIN) {
// hold heading
float yawRateTarget = pidUpdate(controlData.yawAngle, 0.0f, compassDifferenceRad(controlData.yawSetpoint, att->yaw)); // seek a 0 deg difference between hold heading and actual yaw
ruddCommand = constrainFloat(pidUpdate(controlData.yawRate, yawRateTarget, att->yawspeed), -control->controlMax, control->controlMax);
}
else {
// rate controls
ruddCommand = constrainFloat(pidUpdate(controlData.yawRate, rate_sp->yaw, att->yawspeed), -control->controlMax, control->controlMax);
control_quadrotor_set_yaw(att->yaw);
}
// smooth
float rollTarget = utilFilter3(controlData.rollFilter, att_sp->roll_body);
// roll angle
rollCommand = pidUpdate(controlData.rollAngle, rollTarget, att->roll);
// rate
rollCommand += pidUpdate(controlData.rollRate, 0.0f, att->rollspeed);
rollCommand = constrainFloat(rollCommand, -control->controlMax, control->controlMax);
// smooth
float pitchTarget = utilFilter3(controlData.pitchFilter, att_sp->pitch_body);
// pitch angle
pitchCommand = pidUpdate(controlData.pitchAngle, pitchTarget, att->pitch);
// rate
pitchCommand += pidUpdate(controlData.pitchRate, 0.0f, att->pitchspeed);
pitchCommand = constrainFloat(pitchCommand, -control->controlMax, control->controlMax);
throttleCommand = att_sp->thrust;
actuators->control[0] = rollCommand;
actuators->control[1] = pitchCommand;
actuators->control[2] = ruddCommand;
actuators->control[3] = throttleCommand;
}
void controlTaskCode(void *unused) {
float yaw;
float throttle;
float ratesDesired[3];
uint16_t overrides[3];
#ifdef USE_QUATOS
float quatDesired[4];
float ratesActual[3];
#else
float pitch, roll;
float pitchCommand, rollCommand, ruddCommand;
#endif // USE_QUATOS
AQ_NOTICE("Control task started\n");
// disable all axes' rate overrides
overrides[0] = 0;
overrides[1] = 0;
overrides[2] = 0;
while (1) {
// wait for work
CoWaitForSingleFlag(imuData.dRateFlag, 0);
// this needs to be done ASAP with the freshest of data
if (supervisorData.state & STATE_ARMED) {
if (RADIO_THROT > p[CTRL_MIN_THROT] || navData.mode > NAV_STATUS_MANUAL) {
supervisorThrottleUp(1);
// are we in altitude hold mode?
if (navData.mode > NAV_STATUS_MANUAL) {
// override throttle with nav's request
throttle = pidUpdate(navData.altSpeedPID, navData.holdSpeedAlt, -VELOCITYD) * MOTORS_SCALE / RADIO_MID_THROTTLE;
// don't allow negative throttle to be built up
if (navData.altSpeedPID->iState < 0.0f) {
navData.altSpeedPID->iState = 0.0f;
}
} else {
throttle = ((uint32_t)RADIO_THROT - p[CTRL_MIN_THROT]) * MOTORS_SCALE / RADIO_MID_THROTTLE * p[CTRL_FACT_THRO];
}
// limit
throttle = constrainInt(throttle, 1, MOTORS_SCALE);
// if motors are not yet running, use this heading as hold heading
if (motorsData.throttle == 0) {
navData.holdHeading = AQ_YAW;
controlData.yaw = navData.holdHeading;
// Reset all PIDs
pidZeroIntegral(controlData.pitchRatePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.rollRatePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.yawRatePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.pitchAnglePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.rollAnglePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.yawAnglePID, 0.0f, 0.0f);
// also set this position as hold position
if (navData.mode == NAV_STATUS_POSHOLD) {
navUkfSetHereAsPositionTarget();
}
}
// constrict nav (only) yaw rates
yaw = compassDifference(controlData.yaw, navData.holdHeading);
yaw = constrainFloat(yaw, -p[CTRL_NAV_YAW_RT]/400.0f, +p[CTRL_NAV_YAW_RT]/400.0f);
controlData.yaw = compassNormalize(controlData.yaw + yaw);
// DVH overrides direct user pitch / roll requests
if (navData.mode != NAV_STATUS_DVH) {
controlData.userPitchTarget = RADIO_PITCH * p[CTRL_FACT_PITC];
controlData.userRollTarget = RADIO_ROLL * p[CTRL_FACT_ROLL];
} else {
controlData.userPitchTarget = 0.0f;
controlData.userRollTarget = 0.0f;
}
// navigation requests
if (navData.mode > NAV_STATUS_ALTHOLD) {
controlData.navPitchTarget = navData.holdTiltN;
controlData.navRollTarget = navData.holdTiltE;
} else {
controlData.navPitchTarget = 0.0f;
controlData.navRollTarget = 0.0f;
}
// manual rate cut through for yaw
if (RADIO_RUDD > p[CTRL_DEAD_BAND] || RADIO_RUDD < -p[CTRL_DEAD_BAND]) {
// fisrt remove dead band
if (RADIO_RUDD > p[CTRL_DEAD_BAND]) {
ratesDesired[2] = (RADIO_RUDD - p[CTRL_DEAD_BAND]);
} else {
ratesDesired[2] = (RADIO_RUDD + p[CTRL_DEAD_BAND]);
}
// calculate desired rate based on full stick scale
ratesDesired[2] = ratesDesired[2] * p[CTRL_MAN_YAW_RT] * DEG_TO_RAD * (1.0f / 700.0f);
// keep up with actual craft heading
controlData.yaw = AQ_YAW;
navData.holdHeading = AQ_YAW;
// request override
overrides[2] = CONTROL_MIN_YAW_OVERRIDE;
} else {
// currently overriding?
if (overrides[2] > 0) {
// request zero rate
ratesDesired[2] = 0.0f;
// follow actual craft heading
controlData.yaw = AQ_YAW;
navData.holdHeading = AQ_YAW;
// decrease override timer
overrides[2]--;
}
}
#ifdef USE_QUATOS
// determine which frame of reference to control from
if (navData.mode <= NAV_STATUS_ALTHOLD)
// craft frame - manual
{
eulerToQuatYPR(quatDesired, controlData.yaw, controlData.userPitchTarget, controlData.userRollTarget);
} else
// world frame - autonomous
{
eulerToQuatRPY(quatDesired, controlData.navRollTarget, controlData.navPitchTarget, controlData.yaw);
}
// reset controller on startup
if (motorsData.throttle == 0) {
quatDesired[0] = UKF_Q1;
quatDesired[1] = UKF_Q2;
quatDesired[2] = UKF_Q3;
quatDesired[3] = UKF_Q4;
quatosReset(quatDesired);
}
ratesActual[0] = IMU_DRATEX + UKF_GYO_BIAS_X;
ratesActual[1] = IMU_DRATEY + UKF_GYO_BIAS_Y;
ratesActual[2] = IMU_DRATEZ + UKF_GYO_BIAS_Z;
quatos(&UKF_Q1, quatDesired, ratesActual, ratesDesired, overrides);
quatosPowerDistribution(throttle);
motorsSendThrust();
motorsData.throttle = throttle;
#else
// smooth
controlData.userPitchTarget = utilFilter3(controlData.userPitchFilter, controlData.userPitchTarget);
controlData.userRollTarget = utilFilter3(controlData.userRollFilter, controlData.userRollTarget);
// smooth
controlData.navPitchTarget = utilFilter3(controlData.navPitchFilter, controlData.navPitchTarget);
controlData.navRollTarget = utilFilter3(controlData.navRollFilter, controlData.navRollTarget);
// rotate nav's NE frame of reference to our craft's local frame of reference
pitch = controlData.navPitchTarget * navUkfData.yawCos - controlData.navRollTarget * navUkfData.yawSin;
roll = controlData.navRollTarget * navUkfData.yawCos + controlData.navPitchTarget * navUkfData.yawSin;
// combine nav & user requests (both are already smoothed)
controlData.pitch = pitch + controlData.userPitchTarget;
controlData.roll = roll + controlData.userRollTarget;
if (p[CTRL_PID_TYPE] == 0) {
// pitch angle
pitchCommand = pidUpdate(controlData.pitchAnglePID, controlData.pitch, AQ_PITCH);
// rate
pitchCommand += pidUpdate(controlData.pitchRatePID, 0.0f, IMU_DRATEY);
// roll angle
rollCommand = pidUpdate(controlData.rollAnglePID, controlData.roll, AQ_ROLL);
// rate
rollCommand += pidUpdate(controlData.rollRatePID, 0.0f, IMU_DRATEX);
} else if (p[CTRL_PID_TYPE] == 1) {
// pitch rate from angle
pitchCommand = pidUpdate(controlData.pitchRatePID, pidUpdate(controlData.pitchAnglePID, controlData.pitch, AQ_PITCH), IMU_DRATEY);
// roll rate from angle
rollCommand = pidUpdate(controlData.rollRatePID, pidUpdate(controlData.rollAnglePID, controlData.roll, AQ_ROLL), IMU_DRATEX);
}
else if (p[CTRL_PID_TYPE] == 2) {
// pitch angle
pitchCommand = pidUpdate(controlData.pitchAnglePID, controlData.pitch, AQ_PITCH);
// rate
pitchCommand += pidUpdate(controlData.pitchRatePID, 0.0f, IMU_DRATEY);
int axis = 0; // ROLL
float PID_P = 3.7;
float PID_I = 0.031;
float PID_D = 23.0;
float error, errorAngle, AngleRateTmp, RateError, delta, deltaSum;
float PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t lastGyro[3] = { 0, 0, 0 };
static float delta1[3], delta2[3];
static float errorGyroI[3] = { 0, 0, 0 }, errorAngleI[2] = { 0, 0 };
static float lastError[3] = { 0, 0, 0 }, lastDTerm[3] = { 0, 0, 0 }; // pt1 element http://www.multiwii.com/forum/viewtopic.php?f=23&t=2624;
static int16_t axisPID[3];
static float rollPitchRate = 0.0;
static float newpidimax = 0.0;
float dT;
uint8_t ANGLE_MODE = 0;
uint8_t HORIZON_MODE = 0;
uint16_t cycleTime = IMU_LASTUPD -
controlData.lastUpdate; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
if ((ANGLE_MODE || HORIZON_MODE)) { // MODE relying on ACC
errorAngle = constrainFloat(2.0f * (float)controlData.roll, -500.0f, +500.0f) - AQ_ROLL;
}
if (!ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = (float)(rollPitchRate + 27) * (float)controlData.roll *
0.0625f; // AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (HORIZON_MODE) {
AngleRateTmp += PID_I * errorAngle *
0.0390625f; //increased by x10 //0.00390625f AngleRateTmp += (errorAngle * (float)cfg.I8[PIDLEVEL]) >> 8;
}
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
AngleRateTmp = PID_P * errorAngle * 0.0223214286f; // AngleRateTmp = (errorAngle * (float)cfg.P8[PIDLEVEL]) >> 4; * LevelPprescale;
}
RateError = AngleRateTmp - IMU_DRATEX;
PTerm = PID_P * RateError * 0.0078125f;
errorGyroI[axis] += PID_I * RateError * (float)cycleTime / 2048.0f;
errorGyroI[axis] = constrainFloat(errorGyroI[axis], -newpidimax, newpidimax);
ITerm = errorGyroI[axis] / 8192.0f;
delta = RateError - lastError[axis];
lastError[axis] = RateError;
delta = delta * 16383.75f / (float)cycleTime;
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = PID_D * deltaSum * 0.00390625f;
axisPID[axis] = PTerm + ITerm + DTerm;
rollCommand = AngleRateTmp;
}
else {
pitchCommand = 0.0f;
rollCommand = 0.0f;
ruddCommand = 0.0f;
}
// yaw rate override?
if (overrides[2] > 0)
// manual yaw rate
{
ruddCommand = pidUpdate(controlData.yawRatePID, ratesDesired[2], IMU_DRATEZ);
} else
// seek a 0 deg difference between hold heading and actual yaw
{
ruddCommand = pidUpdate(controlData.yawRatePID, pidUpdate(controlData.yawAnglePID, 0.0f, compassDifference(controlData.yaw, AQ_YAW)),
IMU_DRATEZ);
}
rollCommand = constrainFloat(rollCommand, -p[CTRL_MAX], p[CTRL_MAX]);
pitchCommand = constrainFloat(pitchCommand, -p[CTRL_MAX], p[CTRL_MAX]);
ruddCommand = constrainFloat(ruddCommand, -p[CTRL_MAX], p[CTRL_MAX]);
motorsCommands(throttle, pitchCommand, rollCommand, ruddCommand);
#endif
}
// no throttle input
else {
supervisorThrottleUp(0);
motorsOff();
}
}
// not armed
else {
motorsOff();
}
controlData.lastUpdate = IMU_LASTUPD;
controlData.loops++;
}
}
