void stabilization_rate_run(bool_t in_flight)
{
/* compute feed-back command */
struct Int32Rates _error;
struct Int32Rates *body_rate = stateGetBodyRates_i();
RATES_DIFF(_error, stabilization_rate_sp, (*body_rate));
if (in_flight) {
/* update integrator */
RATES_ADD(stabilization_rate_sum_err, _error);
RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
} else {
INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
OFFSET_AND_ROUND2((stabilization_rate_igain.p * stabilization_rate_sum_err.p), 10);
stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
OFFSET_AND_ROUND2((stabilization_rate_igain.q * stabilization_rate_sum_err.q), 10);
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 10);
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 11;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 11;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 11;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void stabilization_rate_run(bool_t in_flight) {
/* reference */
struct Int32Rates _r;
RATES_DIFF(_r, stabilization_rate_sp, stabilization_rate_ref);
RATES_SDIV(stabilization_rate_refdot, _r, STABILIZATION_RATE_REF_TAU);
/* integrate ref */
const struct Int32Rates _delta_ref = {
stabilization_rate_refdot.p >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC),
stabilization_rate_refdot.q >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC),
stabilization_rate_refdot.r >> ( F_UPDATE_RES + REF_DOT_FRAC - REF_FRAC)};
RATES_ADD(stabilization_rate_ref, _delta_ref);
/* compute feed-forward command */
RATES_EWMULT_RSHIFT(stabilization_rate_ff_cmd, stabilization_rate_ddgain, stabilization_rate_refdot, 9);
/* compute feed-back command */
/* error for feedback */
const struct Int32Rates _ref_scaled = {
OFFSET_AND_ROUND(stabilization_rate_ref.p, (REF_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stabilization_rate_ref.q, (REF_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stabilization_rate_ref.r, (REF_FRAC - INT32_RATE_FRAC)) };
struct Int32Rates _error;
struct Int32Rates* body_rate = stateGetBodyRates_i();
RATES_DIFF(_error, _ref_scaled, (*body_rate));
if (in_flight) {
/* update integrator */
RATES_ADD(stabilization_rate_sum_err, _error);
RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
}
else {
INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
OFFSET_AND_ROUND2((stabilization_rate_igain.p * stabilization_rate_sum_err.p), 10);
stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
OFFSET_AND_ROUND2((stabilization_rate_igain.q * stabilization_rate_sum_err.q), 10);
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 10);
stabilization_rate_fb_cmd.p = stabilization_rate_fb_cmd.p >> 11;
stabilization_rate_fb_cmd.q = stabilization_rate_fb_cmd.q >> 11;
stabilization_rate_fb_cmd.r = stabilization_rate_fb_cmd.r >> 11;
/* sum to final command */
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_ff_cmd.p + stabilization_rate_fb_cmd.p;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_ff_cmd.q + stabilization_rate_fb_cmd.q;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_ff_cmd.r + stabilization_rate_fb_cmd.r;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void stabilization_rate_run(bool_t in_flight)
{
/* compute feed-back command */
struct Int32Rates _error;
struct Int32Rates *body_rate = stateGetBodyRates_i();
RATES_DIFF(_error, stabilization_rate_sp, (*body_rate));
if (in_flight) {
/* update integrator */
//divide the sum_err_increment to make sure it doesn't accumulate to the max too fast
struct Int32Rates sum_err_increment;
RATES_SDIV(sum_err_increment, _error, 5);
RATES_ADD(stabilization_rate_sum_err, sum_err_increment);
RATES_BOUND_CUBE(stabilization_rate_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
} else {
INT_RATES_ZERO(stabilization_rate_sum_err);
}
/* PI */
stabilization_rate_fb_cmd.p = stabilization_rate_gain.p * _error.p +
OFFSET_AND_ROUND2((stabilization_rate_igain.p * stabilization_rate_sum_err.p), 6);
stabilization_rate_fb_cmd.q = stabilization_rate_gain.q * _error.q +
OFFSET_AND_ROUND2((stabilization_rate_igain.q * stabilization_rate_sum_err.q), 6);
stabilization_rate_fb_cmd.r = stabilization_rate_gain.r * _error.r +
OFFSET_AND_ROUND2((stabilization_rate_igain.r * stabilization_rate_sum_err.r), 6);
stabilization_cmd[COMMAND_ROLL] = stabilization_rate_fb_cmd.p >> 11;
stabilization_cmd[COMMAND_PITCH] = stabilization_rate_fb_cmd.q >> 11;
stabilization_cmd[COMMAND_YAW] = stabilization_rate_fb_cmd.r >> 11;
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
void stabilization_attitude_run(bool_t in_flight) {
/* update reference */
stabilization_attitude_ref_update();
/* compute feedforward command */
stabilization_att_ff_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND(stabilization_gains.dd.x * stab_att_ref_accel.p, 5);
stabilization_att_ff_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND(stabilization_gains.dd.y * stab_att_ref_accel.q, 5);
stabilization_att_ff_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5);
/* compute feedback command */
/* attitude error */
const struct Int32Eulers att_ref_scaled = {
OFFSET_AND_ROUND(stab_att_ref_euler.phi, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_euler.theta, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_euler.psi, (REF_ANGLE_FRAC - INT32_ANGLE_FRAC))
};
struct Int32Eulers att_err;
struct Int32Eulers* ltp_to_body_euler = stateGetNedToBodyEulers_i();
EULERS_DIFF(att_err, att_ref_scaled, (*ltp_to_body_euler));
INT32_ANGLE_NORMALIZE(att_err.psi);
if (in_flight) {
/* update integrator */
EULERS_ADD(stabilization_att_sum_err, att_err);
EULERS_BOUND_CUBE(stabilization_att_sum_err, -MAX_SUM_ERR, MAX_SUM_ERR);
}
else {
INT_EULERS_ZERO(stabilization_att_sum_err);
}
/* rate error */
const struct Int32Rates rate_ref_scaled = {
OFFSET_AND_ROUND(stab_att_ref_rate.p, (REF_RATE_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_rate.q, (REF_RATE_FRAC - INT32_RATE_FRAC)),
OFFSET_AND_ROUND(stab_att_ref_rate.r, (REF_RATE_FRAC - INT32_RATE_FRAC))
};
struct Int32Rates rate_err;
struct Int32Rates* body_rate = stateGetBodyRates_i();
RATES_DIFF(rate_err, rate_ref_scaled, (*body_rate));
/* PID */
stabilization_att_fb_cmd[COMMAND_ROLL] =
stabilization_gains.p.x * att_err.phi +
stabilization_gains.d.x * rate_err.p +
OFFSET_AND_ROUND2((stabilization_gains.i.x * stabilization_att_sum_err.phi), 10);
stabilization_att_fb_cmd[COMMAND_PITCH] =
stabilization_gains.p.y * att_err.theta +
stabilization_gains.d.y * rate_err.q +
OFFSET_AND_ROUND2((stabilization_gains.i.y * stabilization_att_sum_err.theta), 10);
stabilization_att_fb_cmd[COMMAND_YAW] =
stabilization_gains.p.z * att_err.psi +
stabilization_gains.d.z * rate_err.r +
OFFSET_AND_ROUND2((stabilization_gains.i.z * stabilization_att_sum_err.psi), 10);
/* with P gain of 100, att_err of 180deg (3.14 rad)
* fb cmd: 100 * 3.14 * 2^12 / 2^CMD_SHIFT = 628
* max possible command is 9600
*/
#define CMD_SHIFT 11
/* sum feedforward and feedback */
stabilization_cmd[COMMAND_ROLL] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]), CMD_SHIFT);
stabilization_cmd[COMMAND_PITCH] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]), CMD_SHIFT);
stabilization_cmd[COMMAND_YAW] =
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]), CMD_SHIFT);
/* bound the result */
BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
}
