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AC_PosControl: Add spike and noise filter to demanded angles

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This has been done to provide a smooth psotion hold when using an optical flow aided EKF which can be noisy.

Signed-off-by: priseborough <p_riseborough@live.com.au>
This commit is contained in:
priseborough 2014-11-08 14:47:33 +11:00 committed by Andrew Tridgell
parent 84944fdd4e
commit 2dff76394d
1 changed files with 36 additions and 0 deletions
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36
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -823,6 +823,13 @@ void AC_PosControl::rate_to_accel_xy(float dt)
/// converts desired accelerations provided in lat/lon frame to roll/pitch angles /// converts desired accelerations provided in lat/lon frame to roll/pitch angles
void AC_PosControl::accel_to_lean_angles() void AC_PosControl::accel_to_lean_angles()
{ {
// catch if we've just been started
uint32_t now = hal.scheduler->millis();
if ((now - _last_update_xy_ms) >= POSCONTROL_ACTIVE_TIMEOUT_MS) {
now = _last_update_xy_ms;
}
float dt_xy = (now - _last_update_xy_ms) * 0.001f;
float accel_right, accel_forward; float accel_right, accel_forward;
float lean_angle_max = _attitude_control.lean_angle_max(); float lean_angle_max = _attitude_control.lean_angle_max();
@ -835,6 +842,35 @@ void AC_PosControl::accel_to_lean_angles()
// update angle targets that will be passed to stabilize controller // update angle targets that will be passed to stabilize controller
_roll_target = constrain_float(fast_atan(accel_right*_ahrs.cos_pitch()/(GRAVITY_MSS * 100))*(18000/M_PI), -lean_angle_max, lean_angle_max); _roll_target = constrain_float(fast_atan(accel_right*_ahrs.cos_pitch()/(GRAVITY_MSS * 100))*(18000/M_PI), -lean_angle_max, lean_angle_max);
_pitch_target = constrain_float(fast_atan(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI),-lean_angle_max, lean_angle_max); _pitch_target = constrain_float(fast_atan(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI),-lean_angle_max, lean_angle_max);
// apply a rate limit of 100 deg/sec - required due to optical flow sensor saturation and impulse noise effects
static float lastRollDem = 0.0f;
static float lastPitchDem = 0.0f;
float maxDeltaAngle = dt_xy * 10000.0f;
if (_roll_target - lastRollDem > maxDeltaAngle) {
_roll_target = lastRollDem + maxDeltaAngle;
} else if (_roll_target - lastRollDem < -maxDeltaAngle) {
_roll_target = lastRollDem - maxDeltaAngle;
}
lastRollDem = _roll_target;
if (_pitch_target - lastPitchDem > maxDeltaAngle) {
_pitch_target = lastPitchDem + maxDeltaAngle;
} else if (_pitch_target - lastPitchDem < -maxDeltaAngle) {
_pitch_target = lastPitchDem - maxDeltaAngle;
}
lastPitchDem = _pitch_target;
// 5Hz lowpass filter on angles - required due to optical flow noise
float freq_cut = 5.0f;
float alpha = constrain_float(dt_xy/(dt_xy + 1.0f/(2.0f*(float)M_PI*freq_cut)),0.0f,1.0f);
static float roll_target_filtered = 0.0f;
static float pitch_target_filtered = 0.0f;
roll_target_filtered += alpha * ( _roll_target - roll_target_filtered);
pitch_target_filtered += alpha * (_pitch_target - pitch_target_filtered);
_roll_target = roll_target_filtered;
_pitch_target = pitch_target_filtered;
} }
// get_lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s // get_lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s