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Added filter to the barometer data. Also some fixes in PID for barometer. Also added simple beeper code.

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This commit is contained in:
Jonas Holmberg 2016-11-17 10:18:39 +01:00
parent 497e00aa2f
commit 3407813f1e
6 changed files with 100 additions and 63 deletions
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2
UAV-ControlSystem/inc/stm32f4xx_revo.h
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@ -157,7 +157,7 @@
/* Beeper */ /* Beeper */
#define BEEPER #define BEEPER
#define BEEPER_PIN 12 #define BEEPER_PIN GPIO_PIN_12
#define BEEPER_PORT GPIOB #define BEEPER_PORT GPIOB

2
UAV-ControlSystem/inc/system_variables.h
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@ -14,7 +14,7 @@
#ifndef SYSTEM_VARIABLES_H_ #ifndef SYSTEM_VARIABLES_H_
#define SYSTEM_VARIABLES_H_ #define SYSTEM_VARIABLES_H_
#define EEPROM_SYS_VERSION 110 #define EEPROM_SYS_VERSION 114
#define ADC_STATE #define ADC_STATE
#include "stm32f4xx.h" #include "stm32f4xx.h"

51
UAV-ControlSystem/src/Flight/pid.c
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@ -21,12 +21,13 @@
#include "drivers/motormix.h" #include "drivers/motormix.h"
#include "utilities.h" #include "utilities.h"
#include "drivers/barometer.h" #include "drivers/barometer.h"
#include "drivers/system_clock.h"
#define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/ #define PTERM_SCALE 0.032029f /*P-term used as a scale value to the PID controller*/
#define ITERM_SCALE 0.0012f /*I-term used as a scale value to the PID controller*/ #define ITERM_SCALE 0.0012f /*I-term used as a scale value to the PID controller*/
#define DTERM_SCALE 0.000529f /*D-term used as a scale value to the PID controller*/ #define DTERM_SCALE 0.000529f /*D-term used as a scale value to the PID controller*/
#define BAROMETER_SCALE 11 #define BAROMETER_SCALE 5
#define RADIO_RANGE 500 /*Radio range input*/ #define RADIO_RANGE 500 /*Radio range input*/
#define BAROMETER_RANGE 10 /*Determines the range of the maximum height (limits the rc input)*/ #define BAROMETER_RANGE 10 /*Determines the range of the maximum height (limits the rc input)*/
@ -90,6 +91,10 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
{ {
static float last_micros = 0; static float last_micros = 0;
static float oldHeightValue = 0; static float oldHeightValue = 0;
float current_micros = 0;
float delta_t_baro = 0;
float current_height = 0;
switch (ID_profile) switch (ID_profile)
{ {
@ -123,20 +128,24 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
break; break;
case PID_ID_BAROMETER: case PID_ID_BAROMETER:
float current_micros = clock_get_us()/1000000; current_micros = clock_get_us();
float delta_t = (current_micros - last_micros); current_micros = current_micros/1000000;
float current_height = barometer_GetCurrentAveragedtAltitude(); delta_t_baro = (current_micros - last_micros);
current_height = barometer_GetCurrentAveragedtAltitude();
last_micros = current_micros; last_micros = current_micros;
sensorValues[0] = ((current_height - oldHeightValue)/delta_t); sensorValues[0] = ((current_height - oldHeightValue)/delta_t_baro);
sensorValues[0] = (sensorValues[0] < - 6 || sensorValues[0] > 6)? sensorValues[0]:0; //sensorValues[0] = ((sensorValues[0] < - 2) || (sensorValues[0] > 2))? sensorValues[0]:0;
oldHeightValue = current_height; oldHeightValue = current_height;
sensorValues[0]*=BAROMETER_SCALE; sensorValues[0]*=BAROMETER_SCALE;
break; break;
default: default:
current_micros = clock_get_us();
current_micros = current_micros/1000000;
last_micros = current_micros;
sensorValues[ROLL] = 0; sensorValues[ROLL] = 0;
sensorValues[PITCH] = 0; sensorValues[PITCH] = 0;
@ -153,6 +162,10 @@ void getCurrentValues(float sensorValues[3], uint8_t ID_profile)
**************************************************************************/ **************************************************************************/
void getPointRate(float *desiredCommand, uint8_t ID_profile) void getPointRate(float *desiredCommand, uint8_t ID_profile)
{ {
float currentThrottle = 0;
float velocity = 0;
//*Do something smart*// //*Do something smart*//
switch (ID_profile) switch (ID_profile)
{ {
@ -193,9 +206,9 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
break; break;
case PID_ID_BAROMETER: case PID_ID_BAROMETER:
float currentThrottle = rc_input.Throttle - 1500; currentThrottle = rc_input.Throttle - 1500;
float velocity = (currentThrottle < - 10 || currentThrottle > 10 )? currentThrottle:0; velocity = (currentThrottle < - 20 || currentThrottle > 20 )? currentThrottle:0;
desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, rc_input.Throttle)*BAROMETER_SCALE; desiredCommand[THROTTLE] = convertData(RADIO_RANGE, BAROMETER_RANGE, 0, velocity)*BAROMETER_SCALE;
break; break;
default: default:
@ -209,9 +222,9 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
* the controller * the controller
**************************************************************************/ **************************************************************************/
void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff, void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
float desiredValue, float errorAxis, uint8_t axis) float desiredValue, float sensorValue, uint8_t axis)
{ {
const float rateError = desiredValue - errorAxis; const float rateError = desiredValue - sensorValue;
/* -----calculate P component ---- */ /* -----calculate P component ---- */
@ -299,16 +312,16 @@ void pidUAVcore(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff,
**************************************************************************/ **************************************************************************/
void pidUAV(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff) void pidUAV(pidProfile_t *pidProfile, pidProfileBuff_t *pidProfileBuff)
{ {
float errorAxis[3] = { 0 }; /*Array of errors for each axis*/ float sensorValue[3] = { 0 }; /*Array of errors for each axis*/
float pointRate[3] = { 0 }; /*Array of desired values for each axis*/ float desiredValue[3] = { 0 }; /*Array of desired values for each axis*/
getCurrentValues(errorAxis, pidProfile->ID_profile); /*Get sensor values*/ getCurrentValues(sensorValue, pidProfile->ID_profile); /*Get sensor values*/
getPointRate(pointRate, pidProfile->ID_profile); /*Get reference values or desired values*/ getPointRate(desiredValue, pidProfile->ID_profile); /*Get reference values or desired values*/
/* -------------PID controller------------- */ /* -------------PID controller------------- */
for (int axis = 0; axis < pidProfileBuff->DOF; axis++) for (int axis = 0; axis < pidProfileBuff->DOF; axis++)
{ {
pidUAVcore(pidProfile, pidProfileBuff, pointRate[axis], errorAxis[axis], axis); pidUAVcore(pidProfile, pidProfileBuff, desiredValue[axis], sensorValue[axis], axis);
} }
} }
@ -371,8 +384,8 @@ void pidRun(uint8_t ID)
{ {
pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]); pidUAV(&PidProfile[PID_ID_BAROMETER], &PidProfileBuff[PID_ID_BAROMETER]);
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -15, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit + (int)VelocityCompensation); //PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -15, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
PidProfile[PID_ID_BAROMETER].PID_Out[0] = constrainf(PidProfile[PID_ID_BAROMETER].PID_Out[0], -(int)PidProfile[PID_ID_BAROMETER].pid_out_limit, (int)PidProfile[PID_ID_BAROMETER].pid_out_limit);
} }
break; break;
@ -552,7 +565,7 @@ void pidInit()
void pidEproom(void) void pidEproom(void)
{ {
PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 254; PidProfile[PID_ID_BAROMETER].PIDweight[ROLL] = 200;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100; PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;

48
UAV-ControlSystem/src/drivers/barometer.c
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@ -315,6 +315,7 @@ void barometer_CalculatePTA(uint32_t D1, uint32_t D2)
float feet = ((float)1 - (pow(((float)baro_Preassure / (float)SEA_PRESS), (float)0.190284))) * (float)145366.45; float feet = ((float)1 - (pow(((float)baro_Preassure / (float)SEA_PRESS), (float)0.190284))) * (float)145366.45;
baro_Altitude = (flags_IsSet_ID(systemFlags_barometerIsCalibrated_id)) ? (feet * FTMETERS) - altitudeCalibrationValue : (feet * FTMETERS); baro_Altitude = (flags_IsSet_ID(systemFlags_barometerIsCalibrated_id)) ? (feet * FTMETERS) - altitudeCalibrationValue : (feet * FTMETERS);
/* Add altitude values to altitude buffer containing the last few readings */ /* Add altitude values to altitude buffer containing the last few readings */
barometer_addAverageAltitudeSample(); barometer_addAverageAltitudeSample();
} }
@ -504,16 +505,45 @@ float barometer_GetCurrentAltitude()
***********************************************************************/ ***********************************************************************/
float barometer_GetCurrentAveragedtAltitude() float barometer_GetCurrentAveragedtAltitude()
{ {
float toReturn = 0; // float toReturn = 0;
/* Go through all the values in the buffer */ // /* Go through all the values in the buffer */
for (int i = 0; i < averageAltitudeCount; i++) // for (int i = 0; i < averageAltitudeCount; i++)
{ // {
toReturn += averageAltitude[i]; // toReturn += averageAltitude[i];
} // }
//
// /* Return the average of the stored values */
// toReturn = toReturn/averageAltitudeCount;
// return toReturn;
//
static float lpf_Acc = 0;
static float smooth = 0;
float toReturn = 0;
/* Filter part, go thorugh each axis */
//Calculate a new smooth value based on a factor of the LPF value
smooth = lpf_Acc / 16;
//Calculate the new LPF value based on the raw sensor data - the smoothing value
lpf_Acc += baro_Altitude - smooth;
//recalculate the accelerometer data based on the smooth value, since we had to take the square root off the original value we square it to get in the original size
// toReturn = smooth * smooth;
return smooth;
// static float prevVal = 0;
// float toRet = (prevVal*6 + baro_Altitude) / 8;
// prevVal = baro_Altitude;
// return toRet;
/* Return the average of the stored values */
toReturn = toReturn/averageAltitudeCount;
return toReturn;
} }

14
UAV-ControlSystem/src/drivers/beeper.c
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@ -11,17 +11,17 @@
uint16_t beeperPin; uint16_t beeperPin;
GPIO_TypeDef* beeperPort; GPIO_TypeDef* beeperPort;
void initBeeper(uint16_t led_pin, GPIO_TypeDef* led_port) void initBeeper(uint16_t beeper_pin, GPIO_TypeDef* beeper_port)
{ {
beeperPin = led_pin; beeperPin = beeper_pin;
beeperPort = led_port; beeperPort = beeper_port;
GPIO_InitTypeDef gpinit; GPIO_InitTypeDef gpinit;
gpinit.Pin = led_pin; gpinit.Pin = beeper_pin;
gpinit.Mode = GPIO_MODE_OUTPUT_OD; gpinit.Mode = GPIO_MODE_OUTPUT_PP;
gpinit.Pull = GPIO_NOPULL; gpinit.Pull = GPIO_PULLUP;
gpinit.Speed = GPIO_SPEED_HIGH; gpinit.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(led_port, &gpinit); HAL_GPIO_Init(beeper_port, &gpinit);
} }

46
UAV-ControlSystem/src/drivers/motormix.c
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@ -74,30 +74,17 @@ typedef struct {
*/ */
static const motorMixer_s mixerUAV[] = { static const motorMixer_s mixerUAV[] = {
/* Throttle, Roll, Pitch, Yaw */ /* Throttle, Roll, Pitch, Yaw */
//
// { 1.0f, 1.0f, 1.0f, -1.0f}, //M1
// { 1.0f, 1.0f, 1.0f, 1.0f}, //M2
// { 1.0f, 0.0f, 1.0f, 0.0f}, //M3
// { 1.0f, 0.0f, 1.0f, 0.0f}, //M4
// { 1.0f, -1.0f, 1.0f, 1.0f}, //M5
// { 1.0f, -1.0f, 1.0f, -1.0f}, //M6
// { 1.0f, 1.0f, -1.0f, 1.0f}, //M7
// { 1.0f, 1.0f, -1.0f, -1.0f}, //M8
// { 1.0f, -1.0f, -1.0f, -1.0f}, //M9
// { 1.0f, -1.0f, -1.0f, 1.0f}, //M10
{ 1.0f, 1.0f, 1.0f, -1.0f}, //M1
{ 1.0f, 1.0f, 1.0f, 1.0f}, //M2
{ 1.0f, 1.0f, 1.0f, -1.0f}, //M1 { 1.0f, 0.0f, 1.0f, 0.0f}, //M3
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M2 { 1.0f, 0.0f, 1.0f, 0.0f}, //M4
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M3 { 1.0f, -1.0f, 1.0f, 1.0f}, //M5
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M4 { 1.0f, -1.0f, 1.0f, -1.0f}, //M6
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M5 { 1.0f, 1.0f, -1.0f, 1.0f}, //M7
{ 1.0f, -1.0f, 1.0f, -1.0f}, //M6 { 1.0f, 1.0f, -1.0f, -1.0f}, //M8
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M7 { 1.0f, -1.0f, -1.0f, -1.0f}, //M9
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M8 { 1.0f, -1.0f, -1.0f, 1.0f}, //M10
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M9
{ 0.0f, 0.0f, 0.0f, 0.0f}, //M10
}; };
@ -197,9 +184,9 @@ void mix()
for (int i = 0; i < MOTOR_COUNT; i++) for (int i = 0; i < MOTOR_COUNT; i++)
// Constrain in within the regulation of the mix - OBS. Constrain can be removed. Just to make sure // Constrain in within the regulation of the mix - OBS. Constrain can be removed. Just to make sure
// TODO: This line is backup as we discovered that motors could stop at times in airmode on M-UAV. But we have not seen this before // TODO: This line i>>>>>>>>>s backup as we discovered that motors could stop at times in airmode on M-UAV. But we have not seen this before
//motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax); motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax);
motor_output[i] = constrain(RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax), throttleMin, throttleMax); //motor_output[i] = constrain(RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax), throttleMin, throttleMax);
} }
else // Mixer full scale NOT active else // Mixer full scale NOT active
@ -305,6 +292,13 @@ void mix()
else else
motor_output[i] = mixerConfig.minCommand; motor_output[i] = mixerConfig.minCommand;
/* TODO: This is temp fix to be able to disable all motors but one */
// int enabled_motorA = 0;
// int enabled_motorB = 5;
// if (i != enabled_motorA && i != enabled_motorB)
// motor_output[i] = mixerConfig.minCommand;
/* Update actuators */ /* Update actuators */
pwmAdjustSpeedOfMotor( i + 1 /* Motors start from Motor 1 */,motor_output[i]); pwmAdjustSpeedOfMotor( i + 1 /* Motors start from Motor 1 */,motor_output[i]);
} }