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154 lines
3.3 KiB
154 lines
3.3 KiB
/* motor.c */ |
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#include "stick.h" |
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#include "timer.h" |
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#include "dcm.h" |
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#include "uart.h" |
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#include "status.h" |
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float integral[3] = {0.0f, 0.0f, 0.0f}; |
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float last[3]; |
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float throttle = 0.0f; |
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#define Kp 0.2 |
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#define Ki 0.04 |
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#define Kd 0.08 |
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#define Ka 0.0 |
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#define Kp_y 0.2 |
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#define Ki_y 0.00 |
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#define Kd_y 0.00 |
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#define Ka_y 0.0 |
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/* |
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* Perform a PID loop iteration. |
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* roll and pitch are absolute values |
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* yaw is, currently, a rate. |
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*/ |
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void motor_pid_update(float troll, float mroll, |
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float tpitch, float mpitch, |
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float tyaw, float myaw) |
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{ |
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float derivative[3]; |
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float out[3]; |
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float motor[3]; |
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float roll, pitch, yaw; |
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float error, max_error; |
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float min_motor; |
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int i; |
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roll = troll - mroll; |
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pitch = tpitch - mpitch; |
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yaw = tyaw - myaw; |
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#if 0 |
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if ((stick_counter % 100) == 0) { |
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putstr("{"); |
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putint_s((int)(tyaw * 10000)); |
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putstr(", "); |
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putint_s((int)(myaw * 10000)); |
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putstr("}\r\n"); |
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} |
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#endif |
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integral[0] += roll * delta_t; |
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integral[1] += pitch * delta_t; |
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integral[2] += yaw * delta_t; |
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/* The measurements are the opposite sign to the error */ |
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derivative[0] = (-mroll - last[0]) / delta_t; |
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derivative[1] = (-mpitch - last[1]) / delta_t; |
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derivative[2] = (-myaw - last[2]) / delta_t; |
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last[0] = -mroll; |
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last[1] = -mpitch; |
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last[2] = -myaw; |
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out[0] = roll * Kp + integral[0] * Ki + derivative[0] * Kd; |
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out[1] = pitch * Kp + integral[1] * Ki + derivative[1] * Kd; |
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out[2] = yaw * Kp_y + integral[2] * Ki_y + derivative[2] * Kd_y; |
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if (status_armed()) { |
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/* Front right */ |
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motor[0] = throttle + out[0] + out[1] + out[2]; |
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/* Front left */ |
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motor[1] = throttle - out[0] + out[1] - out[2]; |
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/* Rear left */ |
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motor[2] = throttle - out[0] - out[1] + out[2]; |
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/* Rear right */ |
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motor[3] = throttle + out[0] - out[1] - out[2]; |
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} else { |
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motor[0] = 0.0; |
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motor[1] = 0.0; |
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motor[2] = 0.0; |
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motor[3] = 0.0; |
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} |
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max_error = 0.0; |
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min_motor = 1.0; |
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for (i = 0; i < 3; i++) { |
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if (motor[i] < 0.0) |
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motor[i] = 0.0; |
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if (motor[i] > 1.0f) { |
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error = motor[i] - 1.0f; |
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if (error > max_error) |
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max_error = error; |
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} |
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if (motor[i] < min_motor) |
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min_motor = motor[i]; |
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} |
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if (max_error > 0.0) { |
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for (i = 0; i < 3; i++) { |
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motor[i] -= max_error; |
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if (motor[i] < 0.0) |
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motor[i] = 0.0; |
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} |
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} |
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if (throttle <= 0.0) { |
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motor[0] = 0.0; |
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motor[1] = 0.0; |
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motor[2] = 0.0; |
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motor[3] = 0.0; |
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integral[0] = 0.0; |
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integral[1] = 0.0; |
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integral[2] = 0.0; |
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} |
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if (max_error < min_motor) { |
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float new_throttle2, new_out[3]; |
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new_throttle2 = (motor[0] + motor[1] + motor[2] + motor[3])/2.0; |
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new_out[0] = (motor[0] + motor[3] - new_throttle2)/2.0; |
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new_out[1] = (motor[0] + motor[1] - new_throttle2)/2.0; |
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new_out[2] = (motor[0] + motor[2] - new_throttle2)/2.0; |
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/* Anti-windup */ |
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for (i = 0; i < 3; i++) { |
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if (new_out[i] > 1.0) |
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integral[i] -= (new_out[i]-1.0) * Ka; |
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if (new_out[i] < 0.0) |
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integral[i] -= (new_out[i]) * Ka; |
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} |
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} |
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timer_set_pwm_value(0, (int)(motor[0] * PWM_MAX)); |
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timer_set_pwm_value(1, (int)(motor[1] * PWM_MAX)); |
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timer_set_pwm_value(2, (int)(motor[2] * PWM_MAX)); |
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timer_set_pwm_value(3, (int)(motor[3] * PWM_MAX)); |
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} |
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void motor_kill(void) { |
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throttle = 0.0; |
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timer_set_pwm_value(0, 0); |
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timer_set_pwm_value(1, 0); |
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timer_set_pwm_value(2, 0); |
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timer_set_pwm_value(3, 0); |
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} |
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void motor_set_throttle(float t) { |
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if (status_armed()) |
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throttle = t; |
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} |
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