From 180ebd289a9ea2d9d65416f1ac4ff0e36643124b Mon Sep 17 00:00:00 2001
From: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
Date: Tue, 29 Nov 2022 12:49:38 -0800
Subject: [PATCH] adaptive INDI fix (#2955)

---
 conf/airframes/tudelft/bebop2_no_damping.xml  |  26 ++-
 .../tudelft/bebop2_no_damping_WLS.xml         | 197 ++++++++++++++++++
 conf/modules/stabilization_indi_simple.xml    |   6 +-
 conf/userconf/tudelft/conf.xml                |   2 +-
 .../stabilization/stabilization_indi.c        |  25 ++-
 sw/airborne/modules/ins/ins_int.c             |   5 +-
 6 files changed, 240 insertions(+), 21 deletions(-)
 create mode 100644 conf/airframes/tudelft/bebop2_no_damping_WLS.xml

diff --git a/conf/airframes/tudelft/bebop2_no_damping.xml b/conf/airframes/tudelft/bebop2_no_damping.xml
index 4fc9039a7a9..0684889a99c 100644
--- a/conf/airframes/tudelft/bebop2_no_damping.xml
+++ b/conf/airframes/tudelft/bebop2_no_damping.xml
@@ -5,7 +5,9 @@
   </description>
 
   <firmware name="rotorcraft">
-    <target name="ap" board="bebop2"/>
+    <target name="ap" board="bebop2">
+      <define name="INDI_RPM_FEEDBACK" value="TRUE"/>
+    </target>
 
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -18,7 +20,14 @@
     <module name="actuators" type="bebop"/>
     <module name="imu" type="bebop"/>
     <module name="gps" type="ublox"/>
+
     <module name="stabilization" type="indi_simple"/>
+    <module name="guidance" type="indi">
+      <define name="GUIDANCE_INDI_POS_GAIN" value="0.5"/>
+      <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.8"/>
+      <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.06"/>
+    </module>
+
     <module name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="TRUE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
@@ -93,7 +102,6 @@
     <define name="SONAR_MAX_RANGE" value="2.2"/>
   </section>
 
-
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
     <!-- setpoint limits for attitude stabilization rc flight -->
     <define name="SP_MAX_PHI" value="45" unit="deg"/>
@@ -130,12 +138,12 @@
     <define name="G2_R" value="0.20"/>
 
     <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="600.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="28.0"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
+    <define name="REF_ERR_P" value="320.0"/>
+    <define name="REF_ERR_Q" value="320.0"/>
+    <define name="REF_ERR_R" value="320.0"/>
+    <define name="REF_RATE_P" value="16.0"/>
+    <define name="REF_RATE_Q" value="16.0"/>
+    <define name="REF_RATE_R" value="16.0"/>
 
     <!-- second order filter parameters -->
     <define name="FILT_CUTOFF" value="3.2"/>
@@ -160,7 +168,7 @@
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
+    <define name="REF_MAX_SPEED" value="8" unit="m/s"/>
     <define name="MAX_BANK" value="32" unit="deg"/>
     <define name="PGAIN" value="120"/>
     <define name="DGAIN" value="100"/>
diff --git a/conf/airframes/tudelft/bebop2_no_damping_WLS.xml b/conf/airframes/tudelft/bebop2_no_damping_WLS.xml
new file mode 100644
index 00000000000..de73e64c7f2
--- /dev/null
+++ b/conf/airframes/tudelft/bebop2_no_damping_WLS.xml
@@ -0,0 +1,197 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="bebop2_indi">
+  <description>Bebop2, Outdoor
+  </description>
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="bebop2">
+      <define name="INDI_RPM_FEEDBACK" value="TRUE"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="udp"/>
+    </target>
+
+    <module name="telemetry" type="transparent_udp"/>
+    <module name="radio_control" type="datalink"/>
+    <module name="actuators" type="bebop"/>
+    <module name="imu" type="bebop"/>
+    <module name="gps" type="ublox"/>
+
+    <module name="stabilization" type="indi"/>
+    <module name="guidance" type="indi">
+      <define name="GUIDANCE_INDI_POS_GAIN" value="0.5"/>
+      <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.8"/>
+      <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.06"/>
+    </module>
+
+    <module name="ahrs" type="int_cmpl_quat">
+      <configure name="USE_MAGNETOMETER" value="TRUE"/>
+      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
+    </module>
+    <module name="ins" type="extended"/>
+
+    <module name="geo_mag"/>
+    <module name="air_data"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="logger_file">
+      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
+    </module>
+  </firmware>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="6000"/>
+  </commands>
+
+  <servos driver="Default">
+    <servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
+    <servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
+    <servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
+  </servos>
+
+  <command_laws>
+    <set servo="TOP_LEFT"     value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
+    <set servo="TOP_RIGHT"    value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
+    <set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
+    <set servo="BOTTOM_LEFT"  value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+  </command_laws>
+
+  <section name="AIR_DATA" prefix="AIR_DATA_">
+    <define name="CALC_AIRSPEED" value="FALSE"/>
+    <define name="CALC_TAS_FACTOR" value="FALSE"/>
+    <define name="CALC_AMSL_BARO" value="TRUE"/>
+  </section>
+
+  <!-- Magnetometer still needs to be calibrated -->
+  <section name="IMU" prefix="IMU_">
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+    <define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
+    <define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
+  </section>
+
+  <!-- local magnetic field -->
+  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
+  <section name="AHRS" prefix="AHRS_">
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
+    <!-- Delft -->
+    <define name="H_X" value="0.3892503"/>
+    <define name="H_Y" value="0.0017972"/>
+    <define name="H_Z" value="0.9211303"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="SONAR_MAX_RANGE" value="2.2"/>
+  </section>
+
+  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoint limits for attitude stabilization rc flight -->
+    <define name="SP_MAX_PHI" value="45" unit="deg"/>
+    <define name="SP_MAX_THETA" value="45" unit="deg"/>
+    <define name="SP_MAX_R" value="300" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="50"/>
+  </section>
+
+  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- attitude reference generation model -->
+    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.9"/>
+    <define name="REF_MAX_P" value="600." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.9"/>
+    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.9"/>
+    <define name="REF_MAX_R" value="600." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <!-- control effectiveness -->
+    <define name="G1_ROLL" value="{16 ,  -16, -16,  16}"/>
+    <define name="G1_PITCH" value="{12,   12, -12,  -12}"/>
+    <define name="G1_YAW" value="{ 0.8, -0.8, 0.8, -0.8}"/>
+    <define name="G1_THRUST" value="{-.6, -.6, -.6, -.6}"/>
+    <!--Counter torque effect of spinning up a rotor-->
+    <define name="G2" value="{112, -112, 112, -112}"/>
+
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="320.0"/>
+    <define name="REF_ERR_Q" value="320.0"/>
+    <define name="REF_ERR_R" value="320.0"/>
+    <define name="REF_RATE_P" value="16.0"/>
+    <define name="REF_RATE_Q" value="16.0"/>
+    <define name="REF_RATE_R" value="16.0"/>
+
+    <define name="ESTIMATION_FILT_CUTOFF" value="3.2"/>
+    <define name="FILT_CUTOFF" value="3.2"/>
+
+    <!-- first order actuator dynamics -->
+    <define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+
+    <!--Priority for each axis (roll, pitch, yaw and thrust)-->
+    <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="350"/>
+    <define name="HOVER_KD" value="85"/>
+    <define name="HOVER_KI" value="20"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="REF_MAX_SPEED" value="8" unit="m/s"/>
+    <define name="MAX_BANK" value="32" unit="deg"/>
+    <define name="PGAIN" value="120"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="30"/>
+  </section>
+
+  <section name="NAVIGATION" prefix="NAV_">
+    <define name="CLIMB_VSPEED" value="4.5"/>
+    <define name="DESCEND_VSPEED" value="-1.0"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="bebop2" type="string"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+</airframe>
diff --git a/conf/modules/stabilization_indi_simple.xml b/conf/modules/stabilization_indi_simple.xml
index 3d712956450..2aa961f8993 100644
--- a/conf/modules/stabilization_indi_simple.xml
+++ b/conf/modules/stabilization_indi_simple.xml
@@ -56,13 +56,13 @@
       <dl_settings NAME="indi">
         <dl_setting var="indi.gains.att.p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true" module="stabilization/stabilization_indi_simple"/>
         <dl_setting var="indi.gains.rate.p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
-        <dl_setting var="indi.g1.p" min="0" step="0.001" max="10" shortname="ctl_eff_p" param="STABILIZATION_INDI_G1_P" persistent="true"/>
+        <dl_setting var="indi.g1.p" min="0.001" step="0.001" max="10" shortname="ctl_eff_p" param="STABILIZATION_INDI_G1_P" persistent="true"/>
         <dl_setting var="indi.gains.att.q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
         <dl_setting var="indi.gains.rate.q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
-        <dl_setting var="indi.g1.q" min="0" step="0.001" max="10" shortname="ctl_eff_q" param="STABILIZATION_INDI_G1_Q" persistent="true"/>
+        <dl_setting var="indi.g1.q" min="0.001" step="0.001" max="10" shortname="ctl_eff_q" param="STABILIZATION_INDI_G1_Q" persistent="true"/>
         <dl_setting var="indi.gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
         <dl_setting var="indi.gains.rate.r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
-        <dl_setting var="indi.g1.r" min="0" step="0.001" max="10" shortname="ctl_eff_r" param="STABILIZATION_INDI_G1_R" persistent="true"/>
+        <dl_setting var="indi.g1.r" min="0.0001" step="0.0001" max="10" shortname="ctl_eff_r" param="STABILIZATION_INDI_G1_R" persistent="true"/>
         <dl_setting var="indi.g2" min="0" step="0.01" max="10" shortname="g2" param="STABILIZATION_INDI_G2_R" persistent="true"/>
         <dl_setting var="indi.adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
         <dl_setting var="indi.max_rate" min="0" step="0.01" max="400.0" shortname="max_rate" param="STABILIZATION_INDI_MAX_RATE" unit="rad/s" alt_unit="deg/s"/>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 766c752c269..d2f5247d63e 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_optitrack_path.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index 6df64ebe42e..f5d6c4be4a0 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -192,6 +192,7 @@ static struct FirstOrderLowPass rates_filt_fo[3];
 struct FloatVect3 body_accel_f;
 
 void init_filters(void);
+void sum_g1_g2(void);
 
 #if PERIODIC_TELEMETRY
 #include "modules/datalink/telemetry.h"
@@ -237,6 +238,7 @@ void stabilization_indi_init(void)
   float_vect_zero(actuator_state_filt_vect, INDI_NUM_ACT);
 
   //Calculate G1G2_PSEUDO_INVERSE
+  sum_g1_g2();
   calc_g1g2_pseudo_inv();
 
   // Initialize the array of pointers to the rows of g1g2
@@ -735,6 +737,9 @@ void lms_estimation(void)
   float_vect_copy(g1[0], g1_est[0], INDI_OUTPUTS * INDI_NUM_ACT);
   float_vect_copy(g2, g2_est, INDI_NUM_ACT);
 
+  // Calculate sum of G1 and G2 for Bwls
+  sum_g1_g2();
+
 #if STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
   // Calculate the inverse of (G1+G2)
   calc_g1g2_pseudo_inv();
@@ -742,12 +747,10 @@ void lms_estimation(void)
 }
 
 /**
- * Function that calculates the pseudo-inverse of (G1+G2).
+ * Function that sums g1 and g2 to obtain the g1g2 matrix
+ * It also undoes the scaling that was done to make the values readable
  */
-void calc_g1g2_pseudo_inv(void)
-{
-
-  //sum of G1 and G2
+void sum_g1_g2(void) {
   int8_t i;
   int8_t j;
   for (i = 0; i < INDI_OUTPUTS; i++) {
@@ -759,12 +762,20 @@ void calc_g1g2_pseudo_inv(void)
       }
     }
   }
+}
 
+/**
+ * Function that calculates the pseudo-inverse of (G1+G2).
+ * Make sure to sum of G1 and G2 before running this!
+ */
+void calc_g1g2_pseudo_inv(void)
+{
   //G1G2*transpose(G1G2)
   //calculate matrix multiplication of its transpose INDI_OUTPUTSxnum_act x num_actxINDI_OUTPUTS
   float element = 0;
   int8_t row;
   int8_t col;
+  int8_t i;
   for (row = 0; row < INDI_OUTPUTS; row++) {
     for (col = 0; col < INDI_OUTPUTS; col++) {
       element = 0;
@@ -776,13 +787,13 @@ void calc_g1g2_pseudo_inv(void)
   }
 
   //there are numerical errors if the scaling is not right.
-  float_vect_scale(g1g2_trans_mult[0], 100.0, INDI_OUTPUTS * INDI_OUTPUTS);
+  float_vect_scale(g1g2_trans_mult[0], 1000.0, INDI_OUTPUTS * INDI_OUTPUTS);
 
   //inverse of 4x4 matrix
   float_mat_inv_4d(g1g2inv[0], g1g2_trans_mult[0]);
 
   //scale back
-  float_vect_scale(g1g2inv[0], 100.0, INDI_OUTPUTS * INDI_OUTPUTS);
+  float_vect_scale(g1g2inv[0], 1000.0, INDI_OUTPUTS * INDI_OUTPUTS);
 
   //G1G2'*G1G2inv
   //calculate matrix multiplication INDI_NUM_ACTxINDI_OUTPUTS x INDI_OUTPUTSxINDI_OUTPUTS
diff --git a/sw/airborne/modules/ins/ins_int.c b/sw/airborne/modules/ins/ins_int.c
index e86c3846c87..3569ca8ed8d 100644
--- a/sw/airborne/modules/ins/ins_int.c
+++ b/sw/airborne/modules/ins/ins_int.c
@@ -295,6 +295,9 @@ void ins_reset_vertical_pos(void)
 
 void ins_int_propagate(struct Int32Vect3 *accel, float dt)
 {
+  // Set body acceleration in the state
+  stateSetAccelBody_i(accel);
+
   /* untilt accels */
   struct Int32Vect3 accel_meas_ltp;
   int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), accel);
@@ -639,7 +642,7 @@ static void pos_est_cb(uint8_t sender_id __attribute__((unused)),
                        float x, float y, float z,
                        float noise_x, float noise_y, float noise_z)
 {
-  
+
 #if USE_HFF
   struct FloatVect2 pos = {x, y};
   struct FloatVect2 Rpos = {noise_x, noise_y};