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AC_PosControl: 2d jerk constraint in accel_to_lean_angles

This commit is contained in:
Jonathan Challinger 2015-03-10 00:11:26 -07:00 committed by Randy Mackay
parent 9871b95586
commit 4408c1b935
2 changed files with 17 additions and 23 deletions
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37
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -42,7 +42,9 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
_roll_target(0.0f), _roll_target(0.0f),
_pitch_target(0.0f), _pitch_target(0.0f),
_alt_max(0.0f), _alt_max(0.0f),
_distance_to_target(0.0f) _distance_to_target(0.0f),
_accel_target_jerk_limited(0.0f,0.0f),
_accel_target_filtered(0.0f,0.0f)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -797,40 +799,29 @@ void AC_PosControl::rate_to_accel_xy(float dt, float ekfNavVelGainScaler)
/// 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(float dt, float ekfNavVelGainScaler) void AC_PosControl::accel_to_lean_angles(float dt, float ekfNavVelGainScaler)
{ {
float accel_north = _accel_target.x;
float accel_east = _accel_target.y;
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();
// apply jerk limit of 17 m/s^3 - equates to a worst case of about 100 deg/sec/sec
static float last_accel_north = 0.0f;
static float last_accel_east = 0.0f;
float max_delta_accel = dt * 1700.0f; float max_delta_accel = dt * 1700.0f;
if (accel_north - last_accel_north > max_delta_accel) {
accel_north = last_accel_north + max_delta_accel;
} else if (accel_north - last_accel_north < -max_delta_accel) {
accel_north = last_accel_north - max_delta_accel;
}
last_accel_north = accel_north;
if (accel_east - last_accel_east > max_delta_accel) { Vector2f accel_in(_accel_target.x, _accel_target.y);
accel_east = last_accel_east + max_delta_accel; Vector2f accel_change = accel_in-_accel_target_jerk_limited;
} else if (accel_east - last_accel_east < -max_delta_accel) { float accel_change_length = accel_change.length();
accel_east = last_accel_east - max_delta_accel;
if(accel_change_length > max_delta_accel) {
accel_change *= max_delta_accel/accel_change_length;
_accel_target_jerk_limited += accel_change;
} }
last_accel_east = accel_east;
// 5Hz lowpass filter on NE accel // 5Hz lowpass filter on NE accel
float freq_cut = 5.0f * ekfNavVelGainScaler; float freq_cut = 5.0f * ekfNavVelGainScaler;
float alpha = constrain_float(dt/(dt + 1.0f/(2.0f*(float)M_PI*freq_cut)),0.0f,1.0f); float alpha = constrain_float(dt/(dt + 1.0f/(2.0f*(float)M_PI*freq_cut)),0.0f,1.0f);
static float accel_north_filtered = 0.0f; _accel_target_filtered.x += alpha * (_accel_target_jerk_limited.x - _accel_target_filtered.x);
static float accel_east_filtered = 0.0f; _accel_target_filtered.y += alpha * (_accel_target_jerk_limited.y - _accel_target_filtered.y);
accel_north_filtered += alpha * (accel_north - accel_north_filtered);
accel_east_filtered += alpha * (accel_east - accel_east_filtered);
// rotate accelerations into body forward-right frame // rotate accelerations into body forward-right frame
accel_forward = accel_north_filtered*_ahrs.cos_yaw() + accel_east_filtered*_ahrs.sin_yaw(); accel_forward = _accel_target_filtered.x*_ahrs.cos_yaw() + _accel_target_filtered.y*_ahrs.sin_yaw();
accel_right = -accel_north_filtered*_ahrs.sin_yaw() + accel_east_filtered*_ahrs.cos_yaw(); accel_right = -_accel_target_filtered.x*_ahrs.sin_yaw() + _accel_target_filtered.y*_ahrs.cos_yaw();
// update angle targets that will be passed to stabilize controller // update angle targets that will be passed to stabilize controller
_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);

3
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -369,5 +369,8 @@ private:
float _distance_to_target; // distance to position target - for reporting only float _distance_to_target; // distance to position target - for reporting only
LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error
LowPassFilterFloat _accel_error_filter; // low-pass-filter on z-axis accelerometer error LowPassFilterFloat _accel_error_filter; // low-pass-filter on z-axis accelerometer error
Vector2f _accel_target_jerk_limited;
Vector2f _accel_target_filtered;
}; };
#endif // AC_POSCONTROL_H #endif // AC_POSCONTROL_H