Paparazzi UAS  v5.15_devel-109-gee85905
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stabilization_attitude_quat_int.c
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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10  *
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14  * GNU General Public License for more details.
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20  */
21 
26 #include "generated/airframe.h"
27 
31 
32 #include "std.h"
33 #include "paparazzi.h"
35 #include "math/pprz_algebra_int.h"
36 #include "state.h"
37 
39 #ifndef STABILIZATION_ATTITUDE_PHI_FFDGAIN
40 #define STABILIZATION_ATTITUDE_PHI_FFDGAIN 0
41 #endif
42 #ifndef STABILIZATION_ATTITUDE_THETA_FFDGAIN
43 #define STABILIZATION_ATTITUDE_THETA_FFDGAIN 0
44 #endif
45 #ifndef STABILIZATION_ATTITUDE_PSI_FFDGAIN
46 #define STABILIZATION_ATTITUDE_PSI_FFDGAIN 0
47 #endif
48 
50  {STABILIZATION_ATTITUDE_PHI_PGAIN, STABILIZATION_ATTITUDE_THETA_PGAIN, STABILIZATION_ATTITUDE_PSI_PGAIN },
51  {STABILIZATION_ATTITUDE_PHI_DGAIN, STABILIZATION_ATTITUDE_THETA_DGAIN, STABILIZATION_ATTITUDE_PSI_DGAIN },
52  {STABILIZATION_ATTITUDE_PHI_DDGAIN, STABILIZATION_ATTITUDE_THETA_DDGAIN, STABILIZATION_ATTITUDE_PSI_DDGAIN },
53  {STABILIZATION_ATTITUDE_PHI_IGAIN, STABILIZATION_ATTITUDE_THETA_IGAIN, STABILIZATION_ATTITUDE_PSI_IGAIN },
55 };
56 
57 /* warn if some gains are still negative */
58 #if (STABILIZATION_ATTITUDE_PHI_PGAIN < 0) || \
59  (STABILIZATION_ATTITUDE_THETA_PGAIN < 0) || \
60  (STABILIZATION_ATTITUDE_PSI_PGAIN < 0) || \
61  (STABILIZATION_ATTITUDE_PHI_DGAIN < 0) || \
62  (STABILIZATION_ATTITUDE_THETA_DGAIN < 0) || \
63  (STABILIZATION_ATTITUDE_PSI_DGAIN < 0) || \
64  (STABILIZATION_ATTITUDE_PHI_IGAIN < 0) || \
65  (STABILIZATION_ATTITUDE_THETA_IGAIN < 0) || \
66  (STABILIZATION_ATTITUDE_PSI_IGAIN < 0)
67 #error "ALL control gains have to be positive!!!"
68 #endif
69 
71 
74 
77 
79 
80 #define IERROR_SCALE 128
81 #define GAIN_PRESCALER_FF 48
82 #define GAIN_PRESCALER_P 12
83 #define GAIN_PRESCALER_D 3
84 #define GAIN_PRESCALER_I 3
85 
86 #if PERIODIC_TELEMETRY
88 
89 static void send_att(struct transport_tx *trans, struct link_device *dev) //FIXME really use this message here ?
90 {
91  struct Int32Rates *body_rate = stateGetBodyRates_i();
92  struct Int32Eulers *att = stateGetNedToBodyEulers_i();
93  pprz_msg_send_STAB_ATTITUDE_INT(trans, dev, AC_ID,
94  &(body_rate->p), &(body_rate->q), &(body_rate->r),
95  &(att->phi), &(att->theta), &(att->psi),
102  &stabilization_att_fb_cmd[COMMAND_ROLL],
103  &stabilization_att_fb_cmd[COMMAND_PITCH],
104  &stabilization_att_fb_cmd[COMMAND_YAW],
105  &stabilization_att_ff_cmd[COMMAND_ROLL],
106  &stabilization_att_ff_cmd[COMMAND_PITCH],
107  &stabilization_att_ff_cmd[COMMAND_YAW],
108  &stabilization_cmd[COMMAND_ROLL],
109  &stabilization_cmd[COMMAND_PITCH],
110  &stabilization_cmd[COMMAND_YAW]);
111 }
112 
113 static void send_att_ref(struct transport_tx *trans, struct link_device *dev)
114 {
115  // ref eulers in message are with REF_ANGLE_FRAC, convert
116  struct Int32Eulers ref_euler;
118  pprz_msg_send_STAB_ATTITUDE_REF_INT(trans, dev, AC_ID,
122  &ref_euler.phi,
123  &ref_euler.theta,
124  &ref_euler.psi,
131 }
132 
133 static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
134 {
135  struct Int32Quat *quat = stateGetNedToBodyQuat_i();
136  pprz_msg_send_AHRS_REF_QUAT(trans, dev, AC_ID,
141  &(quat->qi),
142  &(quat->qx),
143  &(quat->qy),
144  &(quat->qz));
145 }
146 #endif
147 
149 {
150 
152 
154 
155 #if PERIODIC_TELEMETRY
156  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE_INT, send_att);
157  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STAB_ATTITUDE_REF_INT, send_att_ref);
159 #endif
160 }
161 
163 {
164 
165  /* reset psi setpoint to current psi angle */
167 
169 
171 
172 }
173 
175 {
176  /* set failsafe to zero roll/pitch and current heading */
179  stab_att_sp_quat.qx = 0;
180  stab_att_sp_quat.qy = 0;
182 }
183 
185 {
186  // stab_att_sp_euler.psi still used in ref..
187  stab_att_sp_euler = *rpy;
188 
190 }
191 
193 {
194  // stab_att_sp_euler.psi still used in ref..
196 
197  // compute sp_euler phi/theta for debugging/telemetry
198  /* Rotate horizontal commands to body frame by psi */
200  int32_t s_psi, c_psi;
201  PPRZ_ITRIG_SIN(s_psi, psi);
202  PPRZ_ITRIG_COS(c_psi, psi);
203  stab_att_sp_euler.phi = (-s_psi * cmd->x + c_psi * cmd->y) >> INT32_TRIG_FRAC;
204  stab_att_sp_euler.theta = -(c_psi * cmd->x + s_psi * cmd->y) >> INT32_TRIG_FRAC;
205 
206  quat_from_earth_cmd_i(&stab_att_sp_quat, cmd, heading);
207 }
208 
209 #define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
210 #define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
211 
212 static void attitude_run_ff(int32_t ff_commands[], struct Int32AttitudeGains *gains, struct Int32Rates *ref_accel)
213 {
214  /* Compute feedforward based on reference acceleration */
215 
216  ff_commands[COMMAND_ROLL] = GAIN_PRESCALER_FF * gains->dd.x * RATE_FLOAT_OF_BFP(ref_accel->p) / (1 << 7);
217  ff_commands[COMMAND_PITCH] = GAIN_PRESCALER_FF * gains->dd.y * RATE_FLOAT_OF_BFP(ref_accel->q) / (1 << 7);
218  ff_commands[COMMAND_YAW] = GAIN_PRESCALER_FF * gains->dd.z * RATE_FLOAT_OF_BFP(ref_accel->r) / (1 << 7);
219 }
220 
221 static void attitude_run_fb(int32_t fb_commands[], struct Int32AttitudeGains *gains, struct Int32Quat *att_err,
222  struct Int32Rates *rate_err, struct Int32Quat *sum_err)
223 {
224  /* PID feedback */
225  fb_commands[COMMAND_ROLL] =
226  GAIN_PRESCALER_P * gains->p.x * QUAT1_FLOAT_OF_BFP(att_err->qx) +
227  GAIN_PRESCALER_D * gains->d.x * RATE_FLOAT_OF_BFP(rate_err->p) +
228  GAIN_PRESCALER_I * gains->i.x * QUAT1_FLOAT_OF_BFP(sum_err->qx);
229 
230  fb_commands[COMMAND_PITCH] =
231  GAIN_PRESCALER_P * gains->p.y * QUAT1_FLOAT_OF_BFP(att_err->qy) +
232  GAIN_PRESCALER_D * gains->d.y * RATE_FLOAT_OF_BFP(rate_err->q) +
233  GAIN_PRESCALER_I * gains->i.y * QUAT1_FLOAT_OF_BFP(sum_err->qy);
234 
235  fb_commands[COMMAND_YAW] =
236  GAIN_PRESCALER_P * gains->p.z * QUAT1_FLOAT_OF_BFP(att_err->qz) +
237  GAIN_PRESCALER_D * gains->d.z * RATE_FLOAT_OF_BFP(rate_err->r) +
238  GAIN_PRESCALER_I * gains->i.z * QUAT1_FLOAT_OF_BFP(sum_err->qz);
239 
240 }
241 
242 void stabilization_attitude_run(bool enable_integrator)
243 {
244 
245  /*
246  * Update reference
247  * Warning: dt is currently not used in the quat_int ref impl
248  * PERIODIC_FREQUENCY is assumed to be 512Hz
249  */
250  static const float dt = (1./PERIODIC_FREQUENCY);
252 
253  /*
254  * Compute errors for feedback
255  */
256 
257  /* attitude error */
258  struct Int32Quat att_err;
259  struct Int32Quat *att_quat = stateGetNedToBodyQuat_i();
260  int32_quat_inv_comp(&att_err, att_quat, &att_ref_quat_i.quat);
261  /* wrap it in the shortest direction */
262  int32_quat_wrap_shortest(&att_err);
263  int32_quat_normalize(&att_err);
264 
265  /* rate error */
266  const struct Int32Rates rate_ref_scaled = {
270  };
271  struct Int32Rates rate_err;
272  struct Int32Rates *body_rate = stateGetBodyRates_i();
273  RATES_DIFF(rate_err, rate_ref_scaled, (*body_rate));
274 
275 #define INTEGRATOR_BOUND 100000
276  /* integrated error */
277  if (enable_integrator) {
284  } else {
285  /* reset accumulator */
287  }
288 
289  /* compute the feed forward command */
291 
292  /* compute the feed back command */
293  attitude_run_fb(stabilization_att_fb_cmd, &stabilization_gains, &att_err, &rate_err, &stabilization_att_sum_err_quat);
294 
295  /* sum feedforward and feedback */
296  stabilization_cmd[COMMAND_ROLL] = stabilization_att_fb_cmd[COMMAND_ROLL] + stabilization_att_ff_cmd[COMMAND_ROLL];
297  stabilization_cmd[COMMAND_PITCH] = stabilization_att_fb_cmd[COMMAND_PITCH] + stabilization_att_ff_cmd[COMMAND_PITCH];
298  stabilization_cmd[COMMAND_YAW] = stabilization_att_fb_cmd[COMMAND_YAW] + stabilization_att_ff_cmd[COMMAND_YAW];
299 
300  /* bound the result */
301  BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
302  BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
303  BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
304 }
305 
306 void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
307 {
308  struct FloatQuat q_sp;
309 #if USE_EARTH_BOUND_RC_SETPOINT
310  stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(&q_sp, in_flight, in_carefree, coordinated_turn);
311 #else
312  stabilization_attitude_read_rc_setpoint_quat_f(&q_sp, in_flight, in_carefree, coordinated_turn);
313 #endif
315 }
int32_t psi
in rad with INT32_ANGLE_FRAC
#define INT32_RATE_FRAC
struct Int32Quat stab_att_sp_quat
with INT32_QUAT_FRAC
angular rates
void attitude_ref_quat_int_init(struct AttRefQuatInt *ref)
#define INTEGRATOR_BOUND
int32_t stabilization_att_fb_cmd[COMMANDS_NB]
struct Int32Rates rate
with REF_RATE_FRAC
void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat *q_sp, bool in_flight, bool in_carefree, bool coordinated_turn)
Read attitude setpoint from RC as quaternion Interprets the stick positions as axes.
static void int32_quat_normalize(struct Int32Quat *q)
normalize a quaternion inplace
void int32_quat_inv_comp(struct Int32Quat *b2c, struct Int32Quat *a2b, struct Int32Quat *a2c)
Composition (multiplication) of two quaternions.
Quaternion transformation functions.
Periodic telemetry system header (includes downlink utility and generated code).
General attitude stabilization interface for rotorcrafts.
int32_t theta
in rad with INT32_ANGLE_FRAC
void int32_quat_of_eulers(struct Int32Quat *q, struct Int32Eulers *e)
Quaternion from Euler angles.
#define INT32_ANGLE_FRAC
void stabilization_attitude_set_failsafe_setpoint(void)
int32_t stabilization_attitude_get_heading_i(void)
Read an attitude setpoint from the RC.
void stabilization_attitude_init(void)
stabilization_attitude_init
#define GAIN_PRESCALER_I
void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn)
#define OFFSET_AND_ROUND(_a, _b)
void attitude_ref_quat_int_enter(struct AttRefQuatInt *ref, int32_t psi)
#define RATES_DIFF(_c, _a, _b)
Definition: pprz_algebra.h:372
static struct Int32Quat * stateGetNedToBodyQuat_i(void)
Get vehicle body attitude quaternion (int).
Definition: state.h:1113
Roation quaternion.
#define GAIN_PRESCALER_D
#define STABILIZATION_ATTITUDE_PSI_FFDGAIN
void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(struct FloatQuat *q_sp, bool in_flight, bool in_carefree, bool coordinated_turn)
#define INT32_EULERS_LSHIFT(_o, _i, _r)
int32_t r
in rad/s with INT32_RATE_FRAC
#define PPRZ_ITRIG_SIN(_s, _a)
#define STABILIZATION_ATTITUDE_THETA_FFDGAIN
static struct Int32Rates * stateGetBodyRates_i(void)
Get vehicle body angular rate (int).
Definition: state.h:1191
static float heading
Definition: ahrs_infrared.c:45
Paparazzi floating point algebra.
#define REF_RATE_FRAC
static void attitude_run_fb(int32_t fb_commands[], struct Int32AttitudeGains *gains, struct Int32Quat *att_err, struct Int32Rates *rate_err, struct Int32Quat *sum_err)
euler angles
#define QUAT_BFP_OF_REAL(_qi, _qf)
Definition: pprz_algebra.h:752
struct Int32AttitudeGains stabilization_gains
void attitude_ref_quat_int_update(struct AttRefQuatInt *ref, struct Int32Quat *sp_quat, float dt)
Propagate reference.
#define DefaultPeriodic
Set default periodic telemetry.
Definition: telemetry.h:66
static void int32_quat_identity(struct Int32Quat *q)
initialises a quaternion to identity
#define IERROR_SCALE
void quat_from_earth_cmd_i(struct Int32Quat *quat, struct Int32Vect2 *cmd, int32_t heading)
#define REF_ANGLE_FRAC
#define RATE_FLOAT_OF_BFP(_ai)
signed long int32_t
Definition: types.h:19
struct Int32Eulers euler
with INT32_ANGLE_FRAC
#define QUAT1_FLOAT_OF_BFP(_qi)
static const struct usb_device_descriptor dev
Definition: usb_ser_hw.c:73
#define INT32_TRIG_FRAC
int32_t stabilization_att_ff_cmd[COMMANDS_NB]
#define GAIN_PRESCALER_FF
int32_t phi
in rad with INT32_ANGLE_FRAC
API to get/set the generic vehicle states.
Attitude reference models and state/output (quat int)
static void attitude_run_ff(int32_t ff_commands[], struct Int32AttitudeGains *gains, struct Int32Rates *ref_accel)
#define STABILIZATION_ATTITUDE_PHI_FFDGAIN
explicitly define to zero to disable feed-forward rate term by default
void stabilization_attitude_run(bool enable_integrator)
struct AttRefQuatInt att_ref_quat_i
static void int32_quat_wrap_shortest(struct Int32Quat *q)
struct Int32Rates accel
with REF_ACCEL_FRAC
int32_t stabilization_cmd[COMMANDS_NB]
Stabilization commands.
Definition: stabilization.c:32
void stabilization_attitude_enter(void)
int32_t p
in rad/s with INT32_RATE_FRAC
static void send_att(struct transport_tx *trans, struct link_device *dev)
static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
#define MAX_PPRZ
Definition: paparazzi.h:8
#define GAIN_PRESCALER_P
static struct Int32Eulers * stateGetNedToBodyEulers_i(void)
Get vehicle body attitude euler angles (int).
Definition: state.h:1125
void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy)
struct Int32Eulers stab_att_sp_euler
with INT32_ANGLE_FRAC
int32_t q
in rad/s with INT32_RATE_FRAC
struct Int32Quat stabilization_att_sum_err_quat
Rotation quaternion.
static void send_att_ref(struct transport_tx *trans, struct link_device *dev)
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition: telemetry.c:46
void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
#define PPRZ_ITRIG_COS(_c, _a)
Paparazzi fixed point algebra.