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stabilization_attitude_quat_int.c
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stabilization_attitude_quat_int.c
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/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file stabilization_attitude_quat_int.c
* Rotorcraft quaternion attitude stabilization
*/
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#if USE_SETPOINTS_WITH_TRANSITIONS
#include "firmwares/rotorcraft/stabilization/quat_setpoint_int.h"
#endif
#include <stdio.h>
#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"
#include "state.h"
#include "generated/airframe.h"
struct Int32AttitudeGains stabilization_gains = {
{STABILIZATION_ATTITUDE_PHI_PGAIN, STABILIZATION_ATTITUDE_THETA_PGAIN, STABILIZATION_ATTITUDE_PSI_PGAIN },
{STABILIZATION_ATTITUDE_PHI_DGAIN, STABILIZATION_ATTITUDE_THETA_DGAIN, STABILIZATION_ATTITUDE_PSI_DGAIN },
{STABILIZATION_ATTITUDE_PHI_DDGAIN, STABILIZATION_ATTITUDE_THETA_DDGAIN, STABILIZATION_ATTITUDE_PSI_DDGAIN },
{STABILIZATION_ATTITUDE_PHI_IGAIN, STABILIZATION_ATTITUDE_THETA_IGAIN, STABILIZATION_ATTITUDE_PSI_IGAIN }
};
/* warn if some gains are still negative */
#if (STABILIZATION_ATTITUDE_PHI_PGAIN < 0) || \
(STABILIZATION_ATTITUDE_THETA_PGAIN < 0) || \
(STABILIZATION_ATTITUDE_PSI_PGAIN < 0) || \
(STABILIZATION_ATTITUDE_PHI_DGAIN < 0) || \
(STABILIZATION_ATTITUDE_THETA_DGAIN < 0) || \
(STABILIZATION_ATTITUDE_PSI_DGAIN < 0) || \
(STABILIZATION_ATTITUDE_PHI_IGAIN < 0) || \
(STABILIZATION_ATTITUDE_THETA_IGAIN < 0) || \
(STABILIZATION_ATTITUDE_PSI_IGAIN < 0)
#warning "ALL control gains are now positive!!!"
#endif
struct Int32Quat stabilization_att_sum_err_quat;
struct Int32Eulers stabilization_att_sum_err;
int32_t stabilization_att_fb_cmd[COMMANDS_NB];
int32_t stabilization_att_ff_cmd[COMMANDS_NB];
#define IERROR_SCALE 1024
#define GAIN_PRESCALER_FF 48
#define GAIN_PRESCALER_P 48
#define GAIN_PRESCALER_D 48
#define GAIN_PRESCALER_I 48
void stabilization_attitude_init(void) {
stabilization_attitude_ref_init();
INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
INT_EULERS_ZERO( stabilization_att_sum_err );
}
void stabilization_attitude_enter(void) {
#if !USE_SETPOINTS_WITH_TRANSITIONS
/* reset psi setpoint to current psi angle */
stab_att_sp_euler.psi = stateGetNedToBodyEulers_i()->psi;
#endif
stabilization_attitude_ref_enter();
INT32_QUAT_ZERO(stabilization_att_sum_err_quat);
INT_EULERS_ZERO(stabilization_att_sum_err);
}
#define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
#define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
static void attitude_run_ff(int32_t ff_commands[], struct Int32AttitudeGains *gains, struct Int32Rates *ref_accel)
{
/* Compute feedforward based on reference acceleration */
ff_commands[COMMAND_ROLL] = GAIN_PRESCALER_FF * gains->dd.x * RATE_FLOAT_OF_BFP(ref_accel->p) / (1 << 7);
ff_commands[COMMAND_PITCH] = GAIN_PRESCALER_FF * gains->dd.y * RATE_FLOAT_OF_BFP(ref_accel->q) / (1 << 7);
ff_commands[COMMAND_YAW] = GAIN_PRESCALER_FF * gains->dd.z * RATE_FLOAT_OF_BFP(ref_accel->r) / (1 << 7);
}
static void attitude_run_fb(int32_t fb_commands[], struct Int32AttitudeGains *gains, struct Int32Quat *att_err,
struct Int32Rates *rate_err, struct Int32Quat *sum_err)
{
/* PID feedback */
fb_commands[COMMAND_ROLL] =
GAIN_PRESCALER_P * gains->p.x * QUAT1_FLOAT_OF_BFP(att_err->qx) / 4 +
GAIN_PRESCALER_D * gains->d.x * RATE_FLOAT_OF_BFP(rate_err->p) / 16 +
GAIN_PRESCALER_I * gains->i.x * QUAT1_FLOAT_OF_BFP(sum_err->qx) / 2;
fb_commands[COMMAND_PITCH] =
GAIN_PRESCALER_P * gains->p.y * QUAT1_FLOAT_OF_BFP(att_err->qy) / 4 +
GAIN_PRESCALER_D * gains->d.y * RATE_FLOAT_OF_BFP(rate_err->q) / 16 +
GAIN_PRESCALER_I * gains->i.y * QUAT1_FLOAT_OF_BFP(sum_err->qy) / 2;
fb_commands[COMMAND_YAW] =
GAIN_PRESCALER_P * gains->p.z * QUAT1_FLOAT_OF_BFP(att_err->qz) / 4 +
GAIN_PRESCALER_D * gains->d.z * RATE_FLOAT_OF_BFP(rate_err->r) / 16 +
GAIN_PRESCALER_I * gains->i.z * QUAT1_FLOAT_OF_BFP(sum_err->qz) / 2;
}
void stabilization_attitude_run(bool_t enable_integrator) {
/*
* Update reference
*/
stabilization_attitude_ref_update();
/*
* Compute errors for feedback
*/
/* attitude error */
struct Int32Quat att_err;
struct Int32Quat* att_quat = stateGetNedToBodyQuat_i();
INT32_QUAT_INV_COMP(att_err, *att_quat, stab_att_ref_quat);
/* wrap it in the shortest direction */
INT32_QUAT_WRAP_SHORTEST(att_err);
INT32_QUAT_NORMALIZE(att_err);
/* rate error */
struct Int32Rates rate_err;
struct Int32Rates* body_rate = stateGetBodyRates_i();
RATES_DIFF(rate_err, stab_att_ref_rate, *body_rate);
/* integrated error */
if (enable_integrator) {
struct Int32Quat new_sum_err, scaled_att_err;
/* update accumulator */
scaled_att_err.qi = att_err.qi;
scaled_att_err.qx = att_err.qx / IERROR_SCALE;
scaled_att_err.qy = att_err.qy / IERROR_SCALE;
scaled_att_err.qz = att_err.qz / IERROR_SCALE;
INT32_QUAT_COMP(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err);
INT32_QUAT_NORMALIZE(new_sum_err);
QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
INT32_EULERS_OF_QUAT(stabilization_att_sum_err, stabilization_att_sum_err_quat);
} else {
/* reset accumulator */
INT32_QUAT_ZERO( stabilization_att_sum_err_quat );
INT_EULERS_ZERO( stabilization_att_sum_err );
}
/* compute the feed forward command */
attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains, &stab_att_ref_accel);
/* compute the feed back command */
attitude_run_fb(stabilization_att_fb_cmd, &stabilization_gains, &att_err, &rate_err, &stabilization_att_sum_err_quat);
/* sum feedforward and feedback */
stabilization_cmd[COMMAND_ROLL] = stabilization_att_fb_cmd[COMMAND_ROLL] + stabilization_att_ff_cmd[COMMAND_ROLL];
stabilization_cmd[COMMAND_PITCH] = stabilization_att_fb_cmd[COMMAND_PITCH] + stabilization_att_ff_cmd[COMMAND_PITCH];
stabilization_cmd[COMMAND_YAW] = stabilization_att_fb_cmd[COMMAND_YAW] + stabilization_att_ff_cmd[COMMAND_YAW];
/* 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_read_rc(bool_t in_flight) {
#if USE_SETPOINTS_WITH_TRANSITIONS
stabilization_attitude_read_rc_absolute(in_flight);
#else
//FIXME: remove me, do in quaternion directly
stabilization_attitude_read_rc_setpoint_eulers(&stab_att_sp_euler, in_flight);
struct FloatQuat q_rp_cmd;
stabilization_attitude_read_rc_roll_pitch_quat(&q_rp_cmd);
/* get current heading */
const struct FloatVect3 zaxis = {0., 0., 1.};
struct FloatQuat q_yaw;
FLOAT_QUAT_OF_AXIS_ANGLE(q_yaw, zaxis, ANGLE_FLOAT_OF_BFP(stateGetNedToBodyEulers_i()->psi));
/* apply roll and pitch commands with respect to current heading */
struct FloatQuat q_sp;
FLOAT_QUAT_COMP(q_sp, q_yaw, q_rp_cmd);
FLOAT_QUAT_NORMALIZE(q_sp);
if (in_flight)
{
/* get current heading setpoint */
struct FloatQuat q_yaw_sp;
FLOAT_QUAT_OF_AXIS_ANGLE(q_yaw_sp, zaxis, ANGLE_FLOAT_OF_BFP(stab_att_sp_euler.psi));
/* rotation between current yaw and yaw setpoint */
struct FloatQuat q_yaw_diff;
FLOAT_QUAT_COMP_INV(q_yaw_diff, q_yaw_sp, q_yaw);
/* temporary copy with roll/pitch command and current heading */
struct FloatQuat q_rp_sp;
QUAT_COPY(q_rp_sp, q_sp);
/* compute final setpoint with yaw */
FLOAT_QUAT_COMP_NORM_SHORTEST(q_sp, q_rp_sp, q_yaw_diff);
}
QUAT_BFP_OF_REAL(stab_att_sp_quat, q_sp);
#endif
}