philip/MDH-UAV-Control-System
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PID functions

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Added new global variables and functions to the PID controller which is
supposed to sync with the main program
This commit is contained in:
johan9107 2016-10-14 10:27:46 +02:00
parent de4348c385
commit a9bde4513a
4 changed files with 151 additions and 16 deletions
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32
UAV-ControlSystem/inc/Flight/pid.h
View File

@ -31,9 +31,24 @@
#define PITCH 1 /*Index terms to the PID*/
#define YAW 2 /*Index terms to the PID*/
#define PID_ID_GYRO 10
#define PID_ID_ACCELEROMETER 11
#define PID_ID_COMPASS 12
#define PID_ID_BAROMETER 13
typedef struct
{
int Roll;
int Pitch;
int Yaw;
int Throttle;
} control_data_t;
/*Struct that belongs to a certain PID controller*/
typedef struct pidProfile_s {
bool pidEnabled;
bool pidStabilisationEnabled; /*Enables/Dissables PID controller*/
uint8_t ID_profile; /*ID of a certain PID, shall be referenced to a certain sensor*/
@ -63,6 +78,11 @@ typedef struct pidProfile_s {
} pidProfile_t;
extern control_data_t RawRcCommand;
extern pidProfile_t PidGyroProfile, PidAccelerometerProfile;
extern pidProfile_t PidCompassProfile, PidBarometerProfile;
/**************************************************************************
* BRIEF: Constrain float values within a defined limit *
* INFORMATION: Used in PID loop to limit values *
@ -81,6 +101,12 @@ void getCurrentValues(float *sensorValues, uint8_t ID_profile);
**************************************************************************/
void getPointRate(float *desiredCommand, uint8_t ID_profile);
/**************************************************************************
* BRIEF: Initializes PID profiles *
* INFORMATION: *
**************************************************************************/
void pidInit();
/**************************************************************************
* BRIEF: Initializes the pid profile PID controller *
* INFORMATION: Recommended to use if unexpected values occur of profile *
@ -94,4 +120,10 @@ void pidUAVInit(pidProfile_t *pidProfile);
**************************************************************************/
void pidUAV(pidProfile_t *pidProfile);
/**************************************************************************
* BRIEF: Runs a certain PID Controller *
* INFORMATION: *
**************************************************************************/
void pidRun(uint8_t ID);
#endif /* FLIGHT_PID_H_ */

105
UAV-ControlSystem/src/Flight/pid.c
View File

@ -15,6 +15,17 @@
#include "Flight/pid.h"
#define BAROMETER_RANGE 2000
#define RADIO_RANGE 1000
#define ACCELEROMETER_RANGE 4000
#define GYRO_RANGE 32
#define COMPASS_RANGE 360
control_data_t RawRcCommand = {0};
pidProfile_t PidGyroProfile = {0}, PidAccelerometerProfile = {0};
pidProfile_t PidCompassProfile = {0}, PidBarometerProfile = {0};
/**************************************************************************
* BRIEF: Constrain float values within a defined limit *
* INFORMATION: Used in PID loop to limit values *
@ -58,6 +69,11 @@ void getCurrentValues(float *sensorValues, uint8_t ID_profile)
};
float convertData(int inputRange, int outputRange, int offset, float value)
{
return (outputRange/inputRange)*(value-offset);
}
/**************************************************************************
* BRIEF: Update desired values from rc command *
* INFORMATION: *
@ -67,24 +83,27 @@ void getPointRate(float *desiredCommand, uint8_t ID_profile)
//*Do something smart*//
switch(ID_profile)
{
case 1:
desiredCommand[ROLL] = 0;
desiredCommand[PITCH] = 0;
desiredCommand[YAW] = 0;
case PID_ID_GYRO:
desiredCommand[ROLL] = PidAccelerometerProfile.PID_Out[ROLL];
desiredCommand[PITCH] = PidAccelerometerProfile.PID_Out[PITCH];
desiredCommand[YAW] = PidCompassProfile.PID_Out[0];
break;
case 2:
case PID_ID_ACCELEROMETER:
desiredCommand[ROLL] = convertData(RADIO_RANGE, ACCELEROMETER_RANGE, 0, RawRcCommand.Roll);
desiredCommand[PITCH] = convertData(RADIO_RANGE, ACCELEROMETER_RANGE, 0, RawRcCommand.Pitch);
break;
case 3:
case PID_ID_COMPASS:
desiredCommand[0] = convertData(RADIO_RANGE, COMPASS_RANGE, 0, RawRcCommand.Yaw); /*desiredCommand must have an index of 0, since its only loop once*/
break;
case 4:
break;
case 5:
case PID_ID_BAROMETER:
desiredCommand[THROTTLE] = convertData(RADIO_RANGE,BAROMETER_RANGE,0, RawRcCommand.Throttle);
break;
default:
break;
}
}
/**************************************************************************
* BRIEF: Initializes the pid profile PID controller *
* INFORMATION: Recommended to use if unexpected values occur of profile *
@ -153,6 +172,16 @@ void pidUAVInit(pidProfile_t *pidProfile)
}
/**************************************************************************
* BRIEF: Initializes PID profiles *
* INFORMATION: *
**************************************************************************/
void pidInit()
{
int test;
}
/**************************************************************************
* BRIEF: Dynamic PID controller, able to handle several PID controller *
* connected to different profiles.
@ -249,3 +278,61 @@ void pidUAV(pidProfile_t *pidProfile)
pidProfile->PID_Out[axis] = PID_Out[axis];
}
}
/**************************************************************************
* BRIEF: Runs a certain PID Controller *
* INFORMATION: *
**************************************************************************/
void pidRun(uint8_t ID)
{
switch(ID)
{
case PID_ID_GYRO:
pidUAV(&PidGyroProfile);
break;
case PID_ID_ACCELEROMETER:
if (!PidAccelerometerProfile.pidEnabled)
{
PidAccelerometerProfile.PID_Out[ROLL] = RawRcCommand.Roll;
PidAccelerometerProfile.PID_Out[PITCH] = RawRcCommand.Pitch;
}
else
{
pidUAV(&PidAccelerometerProfile);
}
break;
case PID_ID_COMPASS:
if (!PidCompassProfile.pidEnabled)
{
PidCompassProfile.PID_Out[0] = RawRcCommand.Yaw;
}
else
{
pidUAV(&PidCompassProfile);
}
break;
case PID_ID_BAROMETER:
if (!PidBarometerProfile.pidEnabled)
{
PidBarometerProfile.PID_Out[0] = RawRcCommand.Throttle;
}
else
{
//convertData(1000, 3000, 0, );
pidUAV(&PidBarometerProfile);
}
break;
default:
break;
}
}

4
UAV-ControlSystem/src/main.c
View File

@ -27,6 +27,7 @@
#include "drivers/sbus.h"
#include "drivers/motormix.h"
#include "drivers/motors.h"
#include "Flight/pid.h"
/**************************************************************************
* BRIEF: Should contain all the initializations of the system, needs to
@ -47,7 +48,6 @@ void init_system()
/* read saved variables from eeprom, in most cases eeprom should be read after a lot of the initializes */
readEEPROM();
//initialize the CLI NOTE: Cant use the same usart as anything else or there will be some big trouble
cliInit(USART3);
@ -57,6 +57,8 @@ void init_system()
//init motors to run with oneshot 125
pwmEnableAllMotors(Oneshot125);
pidInit();
#ifdef USE_LEDS
//Initialize the on board leds
ledReavoEnable();

24
UAV-ControlSystem/src/tasks_main.c
View File

@ -40,17 +40,30 @@
#include "drivers/I2C.h"
#include "drivers/accel_gyro.h"
#include "drivers/motormix.h"
#include "Flight/pid.h"
void systemTaskGyroPid(void)
{
//Read gyro and update PID and finally update the motors. The most important task in the system
//Update Gyro
//Convert?
//PID Gyro
pidRun(PID_ID_GYRO);
//MIX GO
//call the motor mix
mix();
}
void systemTaskAccelerometer(void)
{
pidRun(PID_ID_ACCELEROMETER);
//update the accelerometer data
// uint8_t c = 97;
// usart_transmit(&cliUsart, &c, 1, 1000000000);
@ -78,9 +91,10 @@ void systemTaskRx(void)
}
//temporary send data from the RC directly form the RC
PID_Out[0] = frame.chan1 - 1500;
PID_Out[1] = frame.chan2 - 1500;
PID_Out[2] = frame.chan4 - 1500;
RawRcCommand.Roll = frame.chan1;
RawRcCommand.Pitch = frame.chan2;
RawRcCommand.Yaw = frame.chan4;
RawRcCommand.Throttle = frame.chan4;
}
@ -155,12 +169,12 @@ void systemTaskBattery(void)
void systemTaskBaro(void)
{
//Obtain the barometer data
pidRun(PID_ID_BAROMETER);
}
void systemTaskCompass(void)
{
//Obtain compass data
pidRun(PID_ID_COMPASS);
}
void systemTaskGps(void)