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Merge pull request #707 from thomasgubler/fwtrim
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Add simple control offset parameter for fw attitude (master)
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@LorenzMeier
LorenzMeier committed Mar 10, 2014
2 parents 36843b5 + f60a8af commit b4cec85
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Showing 2 changed files with 55 additions and 11 deletions.
56 changes: 45 additions & 11 deletions src/modules/fw_att_control/fw_att_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -166,6 +166,15 @@ class FixedwingAttitudeControl
float airspeed_min;
float airspeed_trim;
float airspeed_max;

float trim_roll;
float trim_pitch;
float trim_yaw;
float rollsp_offset_deg; /**< Roll Setpoint Offset in deg */
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */

} _parameters; /**< local copies of interesting parameters */

struct {
Expand Down Expand Up @@ -197,6 +206,12 @@ class FixedwingAttitudeControl
param_t airspeed_min;
param_t airspeed_trim;
param_t airspeed_max;

param_t trim_roll;
param_t trim_pitch;
param_t trim_yaw;
param_t rollsp_offset_deg;
param_t pitchsp_offset_deg;
} _parameter_handles; /**< handles for interesting parameters */


Expand Down Expand Up @@ -335,6 +350,12 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :

_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");

_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");

/* fetch initial parameter values */
parameters_update();
}
Expand Down Expand Up @@ -395,6 +416,15 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));

param_get(_parameter_handles.trim_roll, &(_parameters.trim_roll));
param_get(_parameter_handles.trim_pitch, &(_parameters.trim_pitch));
param_get(_parameter_handles.trim_yaw, &(_parameters.trim_yaw));
param_get(_parameter_handles.rollsp_offset_deg, &(_parameters.rollsp_offset_deg));
param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);


/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
Expand Down Expand Up @@ -648,13 +678,13 @@ FixedwingAttitudeControl::task_main()
float airspeed_scaling = _parameters.airspeed_trim / airspeed;
//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);

float roll_sp = 0.0f;
float pitch_sp = 0.0f;
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;

if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
roll_sp = _att_sp.roll_body;
pitch_sp = _att_sp.pitch_body;
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;

/* reset integrals where needed */
Expand All @@ -670,9 +700,13 @@ FixedwingAttitudeControl::task_main()
* With this mapping the stick angle is a 1:1 representation of
* the commanded attitude. If more than 45 degrees are desired,
* a scaling parameter can be applied to the remote.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
roll_sp = _manual.roll * 0.75f;
pitch_sp = _manual.pitch * 0.75f;
roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset_rad;
pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset_rad;
throttle_sp = _manual.throttle;
_actuators.control[4] = _manual.flaps;

Expand All @@ -685,7 +719,7 @@ FixedwingAttitudeControl::task_main()
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = roll_sp;
att_sp.pitch_body = pitch_sp;
att_sp.yaw_body = 0.0f;
att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
att_sp.thrust = throttle_sp;

/* lazily publish the setpoint only once available */
Expand Down Expand Up @@ -719,12 +753,12 @@ FixedwingAttitudeControl::task_main()
speed_body_u, speed_body_v, speed_body_w,
_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude

/* Run attitude RATE controllers which need the desired attitudes from above */
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
_att.rollspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[0] = (isfinite(roll_u)) ? roll_u : 0.0f;
_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
if (!isfinite(roll_u)) {
warnx("roll_u %.4f", roll_u);
}
Expand All @@ -733,7 +767,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f;
_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
if (!isfinite(pitch_u)) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body);
Expand All @@ -743,7 +777,7 @@ FixedwingAttitudeControl::task_main()
_att.pitchspeed, _att.yawspeed,
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u : 0.0f;
_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
if (!isfinite(yaw_u)) {
warnx("yaw_u %.4f", yaw_u);
}
Expand Down
10 changes: 10 additions & 0 deletions src/modules/fw_att_control/fw_att_control_params.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -176,3 +176,13 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively
// @Range 0.0 to 30
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);

// @DisplayName Roll Setpoint Offset
// @Description An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);

// @DisplayName Pitch Setpoint Offset
// @Description An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);

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