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AC_AttControl: leonard's body frame rate controller

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Randy Mackay 2014-01-25 11:59:48 +09:00 committed by Andrew Tridgell
parent cdc0f8e414
commit 4003b4da9b
2 changed files with 56 additions and 31 deletions
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81
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -48,7 +48,7 @@ void AC_AttitudeControl::angleef_rp_rateef_y(float roll_angle_ef, float pitch_an
rate_stab_ef_to_rate_ef_yaw(); rate_stab_ef_to_rate_ef_yaw();
// convert earth-frame rates to body-frame rates // convert earth-frame rates to body-frame rates
rate_ef_targets_to_bf(); rate_ef_targets_to_bf(_rate_ef_target, _rate_bf_target);
// body-frame to motor outputs should be called separately // body-frame to motor outputs should be called separately
} }
@ -67,11 +67,31 @@ void AC_AttitudeControl::angleef_rpy(float roll_angle_ef, float pitch_angle_ef,
angle_to_rate_ef_yaw(); angle_to_rate_ef_yaw();
// convert earth-frame rates to body-frame rates // convert earth-frame rates to body-frame rates
rate_ef_targets_to_bf(); rate_ef_targets_to_bf(_rate_ef_target, _rate_bf_target);
// body-frame to motor outputs should be called separately // body-frame to motor outputs should be called separately
} }
// rateef_rpy - attempts to maintain a roll, pitch and yaw angle rate (all body frame)
void AC_AttitudeControl::ratebf_rpy(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf)
{
// Update angle error
rate_stab_bf_update_error();
// set earth-frame angle targets
_rate_stab_bf_target.x = roll_rate_bf;
_rate_stab_bf_target.y = pitch_rate_bf;
_rate_stab_bf_target.z = yaw_rate_bf;
// convert stabilize rates to regular rates
rate_stab_bf_to_rate_bf_roll();
rate_stab_bf_to_rate_bf_pitch();
rate_stab_bf_to_rate_bf_yaw();
// body-frame to motor outputs should be called separately
}
// //
// angle controller methods // angle controller methods
// //
@ -218,9 +238,34 @@ void AC_AttitudeControl::rate_stab_ef_to_rate_ef_yaw()
// stabilized rate controller (body-frame) methods // stabilized rate controller (body-frame) methods
// //
// rate_stab_bf_to_rate_ef_roll - converts body-frame stabilized rate targets to regular body-frame rate targets for roll, pitch and yaw axis // rate_stab_bf_to_rate_ef_roll - converts body-frame stabilized rate targets to regular body-frame rate targets for roll, pitch and yaw axis
// targets rates in centi-degrees/second taken from _rate_stab_bf_target // targets rates in centi-degrees/second taken from _rate_stab_bf_target
// results in centi-degrees/sec put into _rate_bf_target // results in centi-degrees/sec put into _rate_bf_target
void AC_AttitudeControl::rate_stab_bf_update_error()
{
// roll - calculate body-frame angle error by integrating body-frame rate error
_rate_stab_bf_error.x += (_rate_stab_bf_target.x - (_ins.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// roll - limit maximum error
_rate_stab_bf_error.x = constrain_float(_rate_stab_bf_error.x, -AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX);
// pitch - calculate body-frame angle error by integrating body-frame rate error
_rate_stab_bf_error.y += (_rate_stab_bf_target.y - (_ins.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// pitch - limit maximum error
_rate_stab_bf_error.y = constrain_float(_rate_stab_bf_error.y, -AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX);
// yaw - calculate body-frame angle error by integrating body-frame rate error
_rate_stab_bf_error.z += (_rate_stab_bf_target.z - (_ins.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// yaw - limit maximum error
_rate_stab_bf_error.z = constrain_float(_rate_stab_bf_error.z, -AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
// To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero
}
void AC_AttitudeControl::rate_stab_bf_to_rate_bf_roll() void AC_AttitudeControl::rate_stab_bf_to_rate_bf_roll()
{ {
// calculate rate correction from angle errors // calculate rate correction from angle errors
@ -229,14 +274,6 @@ void AC_AttitudeControl::rate_stab_bf_to_rate_bf_roll()
// set body frame targets for rate controller // set body frame targets for rate controller
_rate_bf_target.x = _rate_stab_bf_target.x + rate_correction; _rate_bf_target.x = _rate_stab_bf_target.x + rate_correction;
// calculate body-frame angle error by integrating body-frame rate error
_rate_stab_bf_error.x += (_rate_stab_bf_target.x - (_ins.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// limit maximum error
_rate_stab_bf_error.x = constrain_float(_rate_stab_bf_error.x, -AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX);
// To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero
} }
void AC_AttitudeControl::rate_stab_bf_to_rate_bf_pitch() void AC_AttitudeControl::rate_stab_bf_to_rate_bf_pitch()
@ -247,14 +284,6 @@ void AC_AttitudeControl::rate_stab_bf_to_rate_bf_pitch()
// set body frame targets for rate controller // set body frame targets for rate controller
_rate_bf_target.y = _rate_stab_bf_target.y + rate_correction; _rate_bf_target.y = _rate_stab_bf_target.y + rate_correction;
// calculate body-frame angle error by integrating body-frame rate error
_rate_stab_bf_error.y += (_rate_stab_bf_target.y - (_ins.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// limit maximum error
_rate_stab_bf_error.y = constrain_float(_rate_stab_bf_error.y, -AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX);
// To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero
} }
void AC_AttitudeControl::rate_stab_bf_to_rate_bf_yaw() void AC_AttitudeControl::rate_stab_bf_to_rate_bf_yaw()
@ -264,14 +293,6 @@ void AC_AttitudeControl::rate_stab_bf_to_rate_bf_yaw()
// set body frame targets for rate controller // set body frame targets for rate controller
_rate_bf_target.y = _rate_stab_bf_target.y + rate_correction; _rate_bf_target.y = _rate_stab_bf_target.y + rate_correction;
// calculate body-frame angle error by integrating body-frame rate error
_rate_stab_bf_error.z += (_rate_stab_bf_target.z - (_ins.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// limit maximum error
_rate_stab_bf_error.z = constrain_float(_rate_stab_bf_error.z, -AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
// To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero
} }
// //
@ -279,12 +300,12 @@ void AC_AttitudeControl::rate_stab_bf_to_rate_bf_yaw()
// //
// rate_ef_targets_to_bf - converts earth frame rate targets to body frame rate targets // rate_ef_targets_to_bf - converts earth frame rate targets to body frame rate targets
void AC_AttitudeControl::rate_ef_targets_to_bf() void AC_AttitudeControl::rate_ef_targets_to_bf(Vector3f rate_ef_target, Vector3f &rate_bf_target)
{ {
// convert earth frame rates to body frame rates // convert earth frame rates to body frame rates
_rate_bf_target.x = _rate_ef_target.x - _sin_pitch * _rate_ef_target.z; rate_bf_target.x = rate_ef_target.x - _sin_pitch * rate_ef_target.z;
_rate_bf_target.y = _cos_roll * _rate_ef_target.y + _sin_roll * _cos_pitch * _rate_ef_target.z; rate_bf_target.y = _cos_roll * rate_ef_target.y + _sin_roll * _cos_pitch * rate_ef_target.z;
_rate_bf_target.z = _cos_pitch * _cos_roll * _rate_ef_target.z - _sin_roll * _rate_ef_target.y; rate_bf_target.z = _cos_pitch * _cos_roll * rate_ef_target.z - _sin_roll * rate_ef_target.y;
} }
// //

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -82,6 +82,9 @@ public:
// angleef_rpy - attempts to maintain a roll, pitch and yaw angle (all earth frame) // angleef_rpy - attempts to maintain a roll, pitch and yaw angle (all earth frame)
void angleef_rpy(float roll_angle_ef, float pitch_angle_ef, float yaw_angle_ef); void angleef_rpy(float roll_angle_ef, float pitch_angle_ef, float yaw_angle_ef);
// rateef_rpy - attempts to maintain a roll, pitch and yaw angle rate (all body frame)
void ratebf_rpy(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf);
// //
// angle controller (earth-frame) methods // angle controller (earth-frame) methods
// //
@ -127,6 +130,7 @@ public:
// rate_stab_bf_to_rate_ef_roll - converts body-frame stabilized rate targets to regular body-frame rate targets for roll, pitch and yaw axis // rate_stab_bf_to_rate_ef_roll - converts body-frame stabilized rate targets to regular body-frame rate targets for roll, pitch and yaw axis
// targets rates in centi-degrees/second taken from _rate_stab_bf_target // targets rates in centi-degrees/second taken from _rate_stab_bf_target
// results in centi-degrees/sec put into _rate_bf_target // results in centi-degrees/sec put into _rate_bf_target
void rate_stab_bf_update_error();
void rate_stab_bf_to_rate_bf_roll(); void rate_stab_bf_to_rate_bf_roll();
void rate_stab_bf_to_rate_bf_pitch(); void rate_stab_bf_to_rate_bf_pitch();
void rate_stab_bf_to_rate_bf_yaw(); void rate_stab_bf_to_rate_bf_yaw();
@ -140,7 +144,7 @@ public:
void rate_ef_targets(Vector3f& rates_cds) { _rate_ef_target = rates_cds; } void rate_ef_targets(Vector3f& rates_cds) { _rate_ef_target = rates_cds; }
// rate_ef_targets_to_bf - converts earth frame rate targets to body frame rate targets // rate_ef_targets_to_bf - converts earth frame rate targets to body frame rate targets
void rate_ef_targets_to_bf(); void rate_ef_targets_to_bf(Vector3f rate_ef_target, Vector3f &rate_bf_target);
// //