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Add ability to toggle PID integral gain #1

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53 changes: 53 additions & 0 deletions external_modules/src/modules/rl_tools_commander/RLtoolsCommander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ RLtoolsCommander::RLtoolsCommander() : ModuleParams(nullptr), ScheduledWorkItem(
overwrite = false;
mode = DEFAULT_MODE;
trajectory.initialized = false;
parameters_update();
}

RLtoolsCommander::~RLtoolsCommander(){
Expand All @@ -37,6 +38,54 @@ bool RLtoolsCommander::init()
return true;
}

void RLtoolsCommander::parameters_update()
{
// check for parameter updates
if (_parameter_update_sub.updated())
{
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
ModuleParams::updateParams();
_xy_vel_i_acc = _param_mpc_xy_vel_i_acc.get() > 0.0f ? _param_mpc_xy_vel_i_acc.get() : _xy_vel_i_acc;
_z_vel_i_acc = _param_mpc_z_vel_i_acc.get() > 0.0f ? _param_mpc_z_vel_i_acc.get() : _z_vel_i_acc;
_rollrate_i = _param_mc_rollrate_i.get() > 0.0f ? _param_mc_rollrate_i.get() : _rollrate_i;
_pitchrate_i = _param_mc_pitchrate_i.get() > 0.0f ? _param_mc_pitchrate_i.get() : _pitchrate_i;
_yawrate_i = _param_mc_yawrate_i.get() > 0.0f ? _param_mc_yawrate_i.get() : _yawrate_i;
}
}

void RLtoolsCommander::toggle_integral_gain(bool use_model)
{
if (use_model)
{
_param_mpc_xy_vel_i_acc.set(0.0f);
_param_mpc_xy_vel_i_acc.commit();
_param_mpc_z_vel_i_acc.set(0.0f);
_param_mpc_z_vel_i_acc.commit();
_param_mc_rollrate_i.set(0.0f);
_param_mc_rollrate_i.commit();
_param_mc_pitchrate_i.set(0.0f);
_param_mc_pitchrate_i.commit();
_param_mc_yawrate_i.set(0.0f);
_param_mc_yawrate_i.commit();
PX4_INFO("Integral gain removed");
}
else
{
_param_mpc_xy_vel_i_acc.set(_xy_vel_i_acc);
_param_mpc_xy_vel_i_acc.commit();
_param_mpc_z_vel_i_acc.set(_z_vel_i_acc);
_param_mpc_z_vel_i_acc.commit();
_param_mc_rollrate_i.set(_rollrate_i);
_param_mc_rollrate_i.commit();
_param_mc_pitchrate_i.set(_pitchrate_i);
_param_mc_pitchrate_i.commit();
_param_mc_yawrate_i.set(_yawrate_i);
_param_mc_yawrate_i.commit();
PX4_INFO("Integral gain restored");
}
}

void RLtoolsCommander::FigureEight::update(hrt_abstime now){
if(!initialized){
reset(now);
Expand All @@ -62,6 +111,7 @@ void RLtoolsCommander::FigureEight::update(hrt_abstime now){
void RLtoolsCommander::Run()
{
if (should_exit()) {
toggle_integral_gain(false);
_vehicle_local_position_sub.unregisterCallback();
ScheduleClear();
exit_and_cleanup();
Expand All @@ -73,6 +123,8 @@ void RLtoolsCommander::Run()
bool prev_command_active = command_active;
bool next_command_active = command_active;

parameters_update();

{
manual_control_setpoint_s manual_control_input;
if(_manual_control_input_sub.update(&manual_control_input)) {
Expand Down Expand Up @@ -145,6 +197,7 @@ void RLtoolsCommander::Run()
else{
PX4_INFO("Command disabled");
}
toggle_integral_gain(next_command_active);
}

command_active = next_command_active;
Expand Down
20 changes: 19 additions & 1 deletion external_modules/src/modules/rl_tools_commander/RLtoolsCommander.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/rl_tools_command.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/tune_control.h>
Expand Down Expand Up @@ -73,8 +74,10 @@ class RLtoolsCommander : public ModuleBase<RLtoolsCommander>, public ModuleParam
STEP_RESPONSE = 2
};


void parameters_update();
void toggle_integral_gain(bool use_model);

uORB::SubscriptionInterval _parameter_update_sub{ ORB_ID(parameter_update), 1_s };
uORB::Subscription _manual_control_input_sub{ORB_ID(manual_control_input)};
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
Expand Down Expand Up @@ -104,4 +107,19 @@ class RLtoolsCommander : public ModuleBase<RLtoolsCommander>, public ModuleParam
float step_response_offset[3] = {1, 0, 0};

perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};

// integral gain parameters
float _xy_vel_i_acc = 0.0f;
float _z_vel_i_acc = 0.0f;
float _rollrate_i = 0.0f;
float _pitchrate_i = 0.0f;
float _yawrate_i = 0.0f;

DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_XY_VEL_I_ACC>)_param_mpc_xy_vel_i_acc,
(ParamFloat<px4::params::MPC_Z_VEL_I_ACC>)_param_mpc_z_vel_i_acc,
(ParamFloat<px4::params::MC_ROLLRATE_I>)_param_mc_rollrate_i,
(ParamFloat<px4::params::MC_PITCHRATE_I>)_param_mc_pitchrate_i,
(ParamFloat<px4::params::MC_YAWRATE_I>)_param_mc_yawrate_i
)
};