Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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stabilization_attitude_quat_float.c
Go to the documentation of this file.
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)
9 * any later version.
10 *
11 * paparazzi is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with paparazzi; see the file COPYING. If not, write to
18 * the Free Software Foundation, 59 Temple Place - Suite 330,
19 * Boston, MA 02111-1307, USA.
20 */
21
26#include "generated/airframe.h"
27
30
31#include "std.h"
32#include "paparazzi.h"
35#include "state.h"
36
38
41
43
45
47static struct FloatRates body_rate_d;
48
51
53
57
61
65
69
73
74
75#if defined COMMAND_ROLL_SURFACE && defined COMMAND_PITCH_SURFACE && defined COMMAND_YAW_SURFACE
76#define HAS_SURFACE_COMMANDS 1
77#endif
78
79#ifdef HAS_SURFACE_COMMANDS
83
87
91
95#endif
96
97#define IERROR_SCALE 1024
98
99#if PERIODIC_TELEMETRY
101
126
143
144static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
145{
146 struct Int32Quat *quat = stateGetNedToBodyQuat_i();
147 struct Int32Quat refquat;
150 &refquat.qi,
151 &refquat.qx,
152 &refquat.qy,
153 &refquat.qz,
154 &(quat->qi),
155 &(quat->qx),
156 &(quat->qy),
157 &(quat->qz));
158}
159#endif
160
162{
163 /* setpoints */
166 /* reference */
169
170 for (int i = 0; i < STABILIZATION_ATTITUDE_GAIN_NB; i++) {
176#ifdef HAS_SURFACE_COMMANDS
181#endif
182 }
183
187
188#if PERIODIC_TELEMETRY
192#endif
193}
194
196{
198 // This could be bad -- Just say no.
199 return;
200 }
201 gain_idx = idx;
203}
204
212
213#ifndef GAIN_PRESCALER_FF
214#define GAIN_PRESCALER_FF 1
215#endif
217{
218 /* Compute feedforward based on reference acceleration */
219
223#ifdef HAS_SURFACE_COMMANDS
227#endif
228}
229
230#ifndef GAIN_PRESCALER_P
231#define GAIN_PRESCALER_P 1
232#endif
233#ifndef GAIN_PRESCALER_D
234#define GAIN_PRESCALER_D 1
235#endif
236#ifndef GAIN_PRESCALER_I
237#define GAIN_PRESCALER_I 1
238#endif
240 struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct FloatQuat *sum_err)
241{
242 /* PID feedback */
244 GAIN_PRESCALER_P * gains->p.x * att_err->qx +
245 GAIN_PRESCALER_D * gains->d.x * rate_err->p +
246 GAIN_PRESCALER_D * gains->rates_d.x * rate_err_d->p +
247 GAIN_PRESCALER_I * gains->i.x * sum_err->qx;
248
250 GAIN_PRESCALER_P * gains->p.y * att_err->qy +
251 GAIN_PRESCALER_D * gains->d.y * rate_err->q +
252 GAIN_PRESCALER_D * gains->rates_d.y * rate_err_d->q +
253 GAIN_PRESCALER_I * gains->i.y * sum_err->qy;
254
256 GAIN_PRESCALER_P * gains->p.z * att_err->qz +
257 GAIN_PRESCALER_D * gains->d.z * rate_err->r +
258 GAIN_PRESCALER_D * gains->rates_d.z * rate_err_d->r +
259 GAIN_PRESCALER_I * gains->i.z * sum_err->qz;
260
261#ifdef HAS_SURFACE_COMMANDS
263 GAIN_PRESCALER_P * gains->surface_p.x * att_err->qx +
264 GAIN_PRESCALER_D * gains->surface_d.x * rate_err->p +
265 GAIN_PRESCALER_I * gains->surface_i.x * sum_err->qx;
266
268 GAIN_PRESCALER_P * gains->surface_p.y * att_err->qy +
269 GAIN_PRESCALER_D * gains->surface_d.y * rate_err->q +
270 GAIN_PRESCALER_I * gains->surface_i.y * sum_err->qy;
271
273 GAIN_PRESCALER_P * gains->surface_p.z * att_err->qz +
274 GAIN_PRESCALER_D * gains->surface_d.z * rate_err->r +
275 GAIN_PRESCALER_I * gains->surface_i.z * sum_err->qz;
276#endif
277}
278
280{
283
284 /*
285 * Update reference
286 */
287 static const float dt = (1./PERIODIC_FREQUENCY);
289
290 /*
291 * Compute errors for feedback
292 */
293
294 /* attitude error */
295 struct FloatQuat att_err;
298 /* wrap it in the shortest direction */
300
301 /* rate error */
302 struct FloatRates rate_err;
303 struct FloatRates *body_rate = stateGetBodyRates_f();
305 /* rate_d error */
307 RATES_COPY(last_body_rate, *body_rate);
308
309#define INTEGRATOR_BOUND 1.0
310 /* integrated error */
311 if (enable_integrator) {
318 } else {
319 /* reset accumulator */
321 }
322
324
327
332
333#ifdef HAS_SURFACE_COMMANDS
340#endif
341
342 /* bound the result */
347#ifdef HAS_SURFACE_COMMANDS
351#endif
352}
353
float q
in rad/s
float phi
in radians
float p
in rad/s
float r
in rad/s
float theta
in radians
float psi
in radians
static void float_quat_identity(struct FloatQuat *q)
initialises a quaternion to identity
void float_quat_inv_comp(struct FloatQuat *b2c, struct FloatQuat *a2b, struct FloatQuat *a2c)
Composition (multiplication) of two quaternions.
#define FLOAT_EULERS_ZERO(_e)
static void float_quat_wrap_shortest(struct FloatQuat *q)
#define FLOAT_RATES_ZERO(_r)
euler angles
Roation quaternion.
angular rates
#define RATES_COPY(_a, _b)
#define QUAT_BFP_OF_REAL(_qi, _qf)
#define VECT3_ASSIGN(_a, _x, _y, _z)
#define RATES_DIFF(_c, _a, _b)
Rotation quaternion.
static struct Int32Quat * stateGetNedToBodyQuat_i(void)
Get vehicle body attitude quaternion (int).
Definition state.h:1276
static struct FloatEulers * stateGetNedToBodyEulers_f(void)
Get vehicle body attitude euler angles (float).
Definition state.h:1306
static struct FloatQuat * stateGetNedToBodyQuat_f(void)
Get vehicle body attitude quaternion (float).
Definition state.h:1294
static struct FloatRates * stateGetBodyRates_f(void)
Get vehicle body angular rate (float).
Definition state.h:1367
static float p[2][2]
uint16_t foo
Definition main_demo5.c:58
static uint32_t idx
float gains[MAX_SAMPLES_LEARNING]
#define MAX_PPRZ
Definition paparazzi.h:8
Paparazzi floating point algebra.
Paparazzi fixed point algebra.
struct Stabilization stabilization
struct FloatEulers stab_sp_to_eulers_f(struct StabilizationSetpoint *sp)
struct FloatQuat stab_sp_to_quat_f(struct StabilizationSetpoint *sp)
int32_t th_sp_to_thrust_i(struct ThrustSetpoint *th, int32_t thrust, uint8_t axis)
#define THRUST_AXIS_Z
int32_t cmd[COMMANDS_NB]
output command vector, range from [-MAX_PPRZ:MAX_PPRZ] (store for messages)
static struct FloatEulers stab_att_sp_euler
static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev)
struct FloatAttitudeGains stabilization_gains[STABILIZATION_ATTITUDE_GAIN_NB]
static void attitude_run_ff(float ff_commands[], struct FloatAttitudeGains *gains, struct FloatRates *ref_accel)
static const float theta_ddgain[]
static struct FloatRates last_body_rate
struct AttRefQuatFloat att_ref_quat_f
void stabilization_attitude_enter(void)
Attitude control enter function.
static const float theta_igain[]
void stabilization_attitude_run(bool enable_integrator, struct StabilizationSetpoint *sp, struct ThrustSetpoint *thrust, int32_t *cmd)
Attitude control run function.
static const float phi_dgain_d[]
static void send_att_ref(struct transport_tx *trans, struct link_device *dev)
static const float theta_pgain[]
float stabilization_att_ff_cmd[COMMANDS_NB]
void stabilization_attitude_quat_float_init(void)
static const float psi_igain[]
static const float theta_dgain_d[]
static const float phi_ddgain[]
static const float phi_igain[]
static const float psi_pgain[]
struct FloatQuat stabilization_att_sum_err_quat
static struct FloatQuat stab_att_sp_quat
static const float phi_pgain[]
static const float theta_dgain[]
static const float psi_ddgain[]
static void attitude_run_fb(float fb_commands[], struct FloatAttitudeGains *gains, struct FloatQuat *att_err, struct FloatRates *rate_err, struct FloatRates *rate_err_d, struct FloatQuat *sum_err)
static const float phi_dgain[]
static struct FloatRates body_rate_d
static const float psi_dgain[]
float stabilization_att_fb_cmd[COMMANDS_NB]
void stabilization_attitude_gain_schedule(uint8_t idx)
static const float psi_dgain_d[]
#define INTEGRATOR_BOUND
static void send_att(struct transport_tx *trans, struct link_device *dev)
Rotorcraft attitude stabilization in quaternion float version.
#define STABILIZATION_ATTITUDE_GAIN_IDX_DEFAULT
#define STABILIZATION_ATTITUDE_GAIN_NB
Quaternion transformation functions.
void attitude_ref_quat_float_update(struct AttRefQuatFloat *ref, struct FloatQuat *sp_quat, float dt)
void attitude_ref_quat_float_enter(struct AttRefQuatFloat *ref, struct FloatQuat *state_quat)
void attitude_ref_quat_float_init(struct AttRefQuatFloat *ref)
void attitude_ref_quat_float_schedule(struct AttRefQuatFloat *ref, uint8_t idx)
Attitude reference models and state/output (float)
API to get/set the generic vehicle states.
static const struct usb_device_descriptor dev
Definition usb_ser_hw.c:74
Stabilization setpoint.
Thrust setpoint // TODO to a setpoint header Structure to store the desired thrust vector with differ...
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Definition telemetry.c:51
Periodic telemetry system header (includes downlink utility and generated code).
#define DefaultPeriodic
Set default periodic telemetry.
Definition telemetry.h:66
int int32_t
Typedef defining 32 bit int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.