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AC_AttitudeControl: Support changing update period

This commit is contained in:
Leonard Hall 2022-12-05 22:51:43 +10:30 committed by Randy Mackay
parent 323718b86b
commit 451faaa059
11 changed files with 80 additions and 65 deletions
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18
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -1,5 +1,6 @@
#include "AC_AttitudeControl.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Scheduler/AP_Scheduler.h>
extern const AP_HAL::HAL& hal;
@ -195,9 +196,9 @@ void AC_AttitudeControl::reset_rate_controller_I_terms()
// reset rate controller I terms smoothly to zero in 0.5 seconds
void AC_AttitudeControl::reset_rate_controller_I_terms_smoothly()
{
get_rate_roll_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);
get_rate_pitch_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);
get_rate_yaw_pid().relax_integrator(0.0, AC_ATTITUDE_RATE_RELAX_TC);
get_rate_roll_pid().relax_integrator(0.0, _dt, AC_ATTITUDE_RATE_RELAX_TC);
get_rate_pitch_pid().relax_integrator(0.0, _dt, AC_ATTITUDE_RATE_RELAX_TC);
get_rate_yaw_pid().relax_integrator(0.0, _dt, AC_ATTITUDE_RATE_RELAX_TC);
}
// The attitude controller works around the concept of the desired attitude, target attitude
@ -223,7 +224,7 @@ void AC_AttitudeControl::reset_rate_controller_I_terms_smoothly()
// trust vector drops below 2*AC_ATTITUDE_THRUST_ERROR_ANGLE. At this point the heading is also corrected.
// Command a Quaternion attitude with feedforward and smoothing
// attitude_desired_quat: is updated on each time_step (_dt) by the integral of the angular velocity
// attitude_desired_quat: is updated on each time_step by the integral of the angular velocity
void AC_AttitudeControl::input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_target)
{
Quaternion attitude_error_quat = _attitude_target.inverse() * attitude_desired_quat;
@ -1051,7 +1052,8 @@ float AC_AttitudeControl::get_althold_lean_angle_max_cd() const
// Return roll rate step size in centidegrees/s that results in maximum output after 4 time steps
float AC_AttitudeControl::max_rate_step_bf_roll()
{
float alpha = MIN(get_rate_roll_pid().get_filt_E_alpha(), get_rate_roll_pid().get_filt_D_alpha());
float dt_average = AP::scheduler().get_filtered_loop_time();
float alpha = MIN(get_rate_roll_pid().get_filt_E_alpha(dt_average), get_rate_roll_pid().get_filt_D_alpha(dt_average));
float alpha_remaining = 1 - alpha;
// todo: When a thrust_max is available we should replace 0.5f with 0.5f * _motors.thrust_max
float throttle_hover = constrain_float(_motors.get_throttle_hover(), 0.1f, 0.5f);
@ -1065,7 +1067,8 @@ float AC_AttitudeControl::max_rate_step_bf_roll()
// Return pitch rate step size in centidegrees/s that results in maximum output after 4 time steps
float AC_AttitudeControl::max_rate_step_bf_pitch()
{
float alpha = MIN(get_rate_pitch_pid().get_filt_E_alpha(), get_rate_pitch_pid().get_filt_D_alpha());
float dt_average = AP::scheduler().get_filtered_loop_time();
float alpha = MIN(get_rate_pitch_pid().get_filt_E_alpha(dt_average), get_rate_pitch_pid().get_filt_D_alpha(dt_average));
float alpha_remaining = 1 - alpha;
// todo: When a thrust_max is available we should replace 0.5f with 0.5f * _motors.thrust_max
float throttle_hover = constrain_float(_motors.get_throttle_hover(), 0.1f, 0.5f);
@ -1079,7 +1082,8 @@ float AC_AttitudeControl::max_rate_step_bf_pitch()
// Return yaw rate step size in centidegrees/s that results in maximum output after 4 time steps
float AC_AttitudeControl::max_rate_step_bf_yaw()
{
float alpha = MIN(get_rate_yaw_pid().get_filt_E_alpha(), get_rate_yaw_pid().get_filt_D_alpha());
float dt_average = AP::scheduler().get_filtered_loop_time();
float alpha = MIN(get_rate_yaw_pid().get_filt_E_alpha(dt_average), get_rate_yaw_pid().get_filt_D_alpha(dt_average));
float alpha_remaining = 1 - alpha;
// todo: When a thrust_max is available we should replace 0.5f with 0.5f * _motors.thrust_max
float throttle_hover = constrain_float(_motors.get_throttle_hover(), 0.1f, 0.5f);

10
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -49,12 +49,10 @@ class AC_AttitudeControl {
public:
AC_AttitudeControl( AP_AHRS_View &ahrs,
const AP_Vehicle::MultiCopter &aparm,
AP_Motors& motors,
float dt) :
AP_Motors& motors) :
_p_angle_roll(AC_ATTITUDE_CONTROL_ANGLE_P),
_p_angle_pitch(AC_ATTITUDE_CONTROL_ANGLE_P),
_p_angle_yaw(AC_ATTITUDE_CONTROL_ANGLE_P),
_dt(dt),
_angle_boost(0),
_use_sqrt_controller(true),
_throttle_rpy_mix_desired(AC_ATTITUDE_CONTROL_THR_MIX_DEFAULT),
@ -74,6 +72,12 @@ public:
// Empty destructor to suppress compiler warning
virtual ~AC_AttitudeControl() {}
// set_dt / get_dt - dt is the time since the last time the attitude controllers were updated
// _dt should be set based on the time of the last IMU read used by these controllers
// the attitude controller should run updates for active controllers on each loop to ensure normal operation
void set_dt(float dt) { _dt = dt; }
float get_dt() const { return _dt; }
// pid accessors
AC_P& get_angle_roll_p() { return _p_angle_roll; }
AC_P& get_angle_pitch_p() { return _p_angle_pitch; }

6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
View File

@ -387,13 +387,13 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(const Vector3f &rate_r
if (_flags_heli.leaky_i) {
_pid_rate_roll.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}
float roll_pid = _pid_rate_roll.update_all(rate_roll_target_rads, rate_rads.x, _motors.limit.roll) + _actuator_sysid.x;
float roll_pid = _pid_rate_roll.update_all(rate_roll_target_rads, rate_rads.x, _dt, _motors.limit.roll) + _actuator_sysid.x;
if (_flags_heli.leaky_i) {
_pid_rate_pitch.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}
float pitch_pid = _pid_rate_pitch.update_all(rate_pitch_target_rads, rate_rads.y, _motors.limit.pitch) + _actuator_sysid.y;
float pitch_pid = _pid_rate_pitch.update_all(rate_pitch_target_rads, rate_rads.y, _dt, _motors.limit.pitch) + _actuator_sysid.y;
// use pid library to calculate ff
float roll_ff = _pid_rate_roll.get_ff();
@ -449,7 +449,7 @@ float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_yaw_actual_ra
_pid_rate_yaw.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}
float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _motors.limit.yaw) + _actuator_sysid.z;
float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _dt, _motors.limit.yaw) + _actuator_sysid.z;
// use pid library to calculate ff
float vff = _pid_rate_yaw.get_ff()*_feedforward_scalar;

11
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -33,12 +33,11 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
public:
AC_AttitudeControl_Heli( AP_AHRS_View &ahrs,
const AP_Vehicle::MultiCopter &aparm,
AP_MotorsHeli& motors,
float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f, dt),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f, dt),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f, dt)
AP_MotorsHeli& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f)
{
AP_Param::setup_object_defaults(this, var_info);

16
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -235,12 +235,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
AP_GROUPEND
};
AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_motors_multi(motors),
_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),
_pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),
_pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, AC_ATC_MULTI_RATE_YAW_FILT_HZ, 0.0f, dt)
_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ),
_pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ),
_pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, AC_ATC_MULTI_RATE_YAW_FILT_HZ, 0.0f)
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -349,13 +349,13 @@ void AC_AttitudeControl_Multi::rate_controller_run()
Vector3f gyro_latest = _ahrs.get_gyro_latest();
_motors.set_roll(get_rate_roll_pid().update_all(_ang_vel_body.x, gyro_latest.x, _motors.limit.roll) + _actuator_sysid.x);
_motors.set_roll(get_rate_roll_pid().update_all(_ang_vel_body.x, gyro_latest.x, _dt, _motors.limit.roll) + _actuator_sysid.x);
_motors.set_roll_ff(get_rate_roll_pid().get_ff());
_motors.set_pitch(get_rate_pitch_pid().update_all(_ang_vel_body.y, gyro_latest.y, _motors.limit.pitch) + _actuator_sysid.y);
_motors.set_pitch(get_rate_pitch_pid().update_all(_ang_vel_body.y, gyro_latest.y, _dt, _motors.limit.pitch) + _actuator_sysid.y);
_motors.set_pitch_ff(get_rate_pitch_pid().get_ff());
_motors.set_yaw(get_rate_yaw_pid().update_all(_ang_vel_body.z, gyro_latest.z, _motors.limit.yaw) + _actuator_sysid.z);
_motors.set_yaw(get_rate_yaw_pid().update_all(_ang_vel_body.z, gyro_latest.z, _dt, _motors.limit.yaw) + _actuator_sysid.z);
_motors.set_yaw_ff(get_rate_yaw_pid().get_ff()*_feedforward_scalar);
_sysid_ang_vel_body.zero();

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -41,7 +41,7 @@
class AC_AttitudeControl_Multi : public AC_AttitudeControl {
public:
AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors);
// empty destructor to suppress compiler warning
virtual ~AC_AttitudeControl_Multi() {}

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h
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@ -5,8 +5,8 @@
class AC_AttitudeControl_Multi_6DoF : public AC_AttitudeControl_Multi {
public:
AC_AttitudeControl_Multi_6DoF(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt):
AC_AttitudeControl_Multi(ahrs,aparm,motors,dt) {
AC_AttitudeControl_Multi_6DoF(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors):
AC_AttitudeControl_Multi(ahrs,aparm,motors) {
if (_singleton != nullptr) {
AP_HAL::panic("Can only be one AC_AttitudeControl_Multi_6DoF");

16
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
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@ -259,12 +259,12 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
AP_GROUPEND
};
AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_motors_multi(motors),
_pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ, dt),
_pid_rate_pitch(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ, dt),
_pid_rate_yaw(AC_ATC_SUB_RATE_YAW_P, AC_ATC_SUB_RATE_YAW_I, AC_ATC_SUB_RATE_YAW_D, 0.0f, AC_ATC_SUB_RATE_YAW_IMAX, AC_ATC_SUB_RATE_YAW_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_YAW_FILT_HZ, dt)
_pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ),
_pid_rate_pitch(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ),
_pid_rate_yaw(AC_ATC_SUB_RATE_YAW_P, AC_ATC_SUB_RATE_YAW_I, AC_ATC_SUB_RATE_YAW_D, 0.0f, AC_ATC_SUB_RATE_YAW_IMAX, AC_ATC_SUB_RATE_YAW_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_YAW_FILT_HZ)
{
AP_Param::setup_object_defaults(this, var_info);
@ -356,9 +356,9 @@ void AC_AttitudeControl_Sub::rate_controller_run()
update_throttle_rpy_mix();
Vector3f gyro_latest = _ahrs.get_gyro_latest();
_motors.set_roll(get_rate_roll_pid().update_all(_ang_vel_body.x, gyro_latest.x, _motors.limit.roll));
_motors.set_pitch(get_rate_pitch_pid().update_all(_ang_vel_body.y, gyro_latest.y, _motors.limit.pitch));
_motors.set_yaw(get_rate_yaw_pid().update_all(_ang_vel_body.z, gyro_latest.z, _motors.limit.yaw));
_motors.set_roll(get_rate_roll_pid().update_all(_ang_vel_body.x, gyro_latest.x, _dt, _motors.limit.roll));
_motors.set_pitch(get_rate_pitch_pid().update_all(_ang_vel_body.y, gyro_latest.y, _dt, _motors.limit.pitch));
_motors.set_yaw(get_rate_yaw_pid().update_all(_ang_vel_body.z, gyro_latest.z, _dt, _motors.limit.yaw));
control_monitor_update();
}

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
View File

@ -25,7 +25,7 @@
class AC_AttitudeControl_Sub : public AC_AttitudeControl {
public:
AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors);
// empty destructor to suppress compiler warning
virtual ~AC_AttitudeControl_Sub() {}

47
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -4,6 +4,7 @@
#include <AP_Logger/AP_Logger.h>
#include <AP_Motors/AP_Motors.h> // motors library
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
extern const AP_HAL::HAL& hal;
@ -300,17 +301,16 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] = {
// their values.
//
AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control, float dt) :
const AP_Motors& motors, AC_AttitudeControl& attitude_control) :
_ahrs(ahrs),
_inav(inav),
_motors(motors),
_attitude_control(attitude_control),
_p_pos_z(POSCONTROL_POS_Z_P, dt),
_pid_vel_z(POSCONTROL_VEL_Z_P, 0.0f, 0.0f, 0.0f, POSCONTROL_VEL_Z_IMAX, POSCONTROL_VEL_Z_FILT_HZ, POSCONTROL_VEL_Z_FILT_D_HZ, dt),
_pid_accel_z(POSCONTROL_ACC_Z_P, POSCONTROL_ACC_Z_I, POSCONTROL_ACC_Z_D, 0.0f, POSCONTROL_ACC_Z_IMAX, 0.0f, POSCONTROL_ACC_Z_FILT_HZ, 0.0f, dt),
_p_pos_xy(POSCONTROL_POS_XY_P, dt),
_pid_vel_xy(POSCONTROL_VEL_XY_P, POSCONTROL_VEL_XY_I, POSCONTROL_VEL_XY_D, 0.0f, POSCONTROL_VEL_XY_IMAX, POSCONTROL_VEL_XY_FILT_HZ, POSCONTROL_VEL_XY_FILT_D_HZ, dt),
_dt(dt),
_p_pos_z(POSCONTROL_POS_Z_P),
_pid_vel_z(POSCONTROL_VEL_Z_P, 0.0f, 0.0f, 0.0f, POSCONTROL_VEL_Z_IMAX, POSCONTROL_VEL_Z_FILT_HZ, POSCONTROL_VEL_Z_FILT_D_HZ),
_pid_accel_z(POSCONTROL_ACC_Z_P, POSCONTROL_ACC_Z_I, POSCONTROL_ACC_Z_D, 0.0f, POSCONTROL_ACC_Z_IMAX, 0.0f, POSCONTROL_ACC_Z_FILT_HZ, 0.0f),
_p_pos_xy(POSCONTROL_POS_XY_P),
_pid_vel_xy(POSCONTROL_VEL_XY_P, POSCONTROL_VEL_XY_I, POSCONTROL_VEL_XY_D, 0.0f, POSCONTROL_VEL_XY_IMAX, POSCONTROL_VEL_XY_FILT_HZ, POSCONTROL_VEL_XY_FILT_D_HZ),
_vel_max_down_cms(POSCONTROL_SPEED_DOWN),
_vel_max_up_cms(POSCONTROL_SPEED_UP),
_vel_max_xy_cms(POSCONTROL_SPEED),
@ -458,8 +458,10 @@ void AC_PosControl::relax_velocity_controller_xy()
{
// decay acceleration and therefore current attitude target to zero
// this will be reset by init_xy_controller() if !is_active_xy()
float decay = 1.0 - _dt / (_dt + POSCONTROL_RELAX_TC);
_accel_target.xy() *= decay;
if (is_positive(_dt)) {
float decay = 1.0 - _dt / (_dt + POSCONTROL_RELAX_TC);
_accel_target.xy() *= decay;
}
init_xy_controller();
}
@ -468,7 +470,9 @@ void AC_PosControl::relax_velocity_controller_xy()
void AC_PosControl::soften_for_landing_xy()
{
// decay position error to zero
_pos_target.xy() += (_inav.get_position_xy_cm().topostype() - _pos_target.xy()) * (_dt / (_dt + POSCONTROL_RELAX_TC));
if (is_positive(_dt)) {
_pos_target.xy() += (_inav.get_position_xy_cm().topostype() - _pos_target.xy()) * (_dt / (_dt + POSCONTROL_RELAX_TC));
}
// Prevent I term build up in xy velocity controller.
// Note that this flag is reset on each loop in update_xy_controller()
@ -515,7 +519,7 @@ void AC_PosControl::init_xy_controller()
init_ekf_xy_reset();
// initialise z_controller time out
_last_update_xy_us = AP_HAL::micros64();
_last_update_xy_us = AP::ins().get_last_update_usec();
}
/// input_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration.
@ -583,10 +587,10 @@ void AC_PosControl::stop_vel_xy_stabilisation()
_pid_vel_xy.reset_I();
}
// is_active_xy - returns true if the xy position controller has been run in the previous 5 loop times
// is_active_xy - returns true if the xy position controller has bee n run in the previous 5 loop times
bool AC_PosControl::is_active_xy() const
{
return ((AP_HAL::micros64() - _last_update_xy_us) <= _dt * 5000000.0);
return ((AP::ins().get_last_update_usec() - _last_update_xy_us) <= _dt * 1500000.0);
}
/// update_xy_controller - runs the horizontal position controller correcting position, velocity and acceleration errors.
@ -606,7 +610,7 @@ void AC_PosControl::update_xy_controller()
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
_last_update_xy_us = AP_HAL::micros64();
_last_update_xy_us = AP::ins().get_last_update_usec();
float ahrsGndSpdLimit, ahrsControlScaleXY;
AP::ahrs().getControlLimits(ahrsGndSpdLimit, ahrsControlScaleXY);
@ -624,7 +628,7 @@ void AC_PosControl::update_xy_controller()
// Velocity Controller
const Vector2f &curr_vel = _inav.get_velocity_xy_cms();
Vector2f accel_target = _pid_vel_xy.update_all(_vel_target.xy(), curr_vel, _limit_vector.xy());
Vector2f accel_target = _pid_vel_xy.update_all(_vel_target.xy(), curr_vel, _dt, _limit_vector.xy());
// acceleration to correct for velocity error and scale PID output to compensate for optical flow measurement induced EKF noise
accel_target *= ahrsControlScaleXY;
@ -734,7 +738,7 @@ void AC_PosControl::relax_z_controller(float throttle_setting)
// init_z_controller has set the accel PID I term to generate the current throttle set point
// Use relax_integrator to decay the throttle set point to throttle_setting
_pid_accel_z.relax_integrator((throttle_setting - _motors.get_throttle_hover()) * 1000.0f, POSCONTROL_RELAX_TC);
_pid_accel_z.relax_integrator((throttle_setting - _motors.get_throttle_hover()) * 1000.0f, _dt, POSCONTROL_RELAX_TC);
}
/// init_z_controller - initialise the position controller to the current position, velocity, acceleration and attitude.
@ -775,7 +779,7 @@ void AC_PosControl::init_z_controller()
init_ekf_z_reset();
// initialise z_controller time out
_last_update_z_us = AP_HAL::micros64();
_last_update_z_us = AP::ins().get_last_update_usec();
}
/// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
@ -885,7 +889,6 @@ void AC_PosControl::set_alt_target_with_slew(float pos)
/// update_pos_offset_z - updates the vertical offsets used by terrain following
void AC_PosControl::update_pos_offset_z(float pos_offset_z)
{
postype_t p_offset_z = _pos_offset_z;
update_pos_vel_accel(p_offset_z, _vel_offset_z, _accel_offset_z, _dt, MIN(_limit_vector.z, 0.0f), _p_pos_z.get_error(), _pid_vel_z.get_error());
_pos_offset_z = p_offset_z;
@ -901,7 +904,7 @@ void AC_PosControl::update_pos_offset_z(float pos_offset_z)
// is_active_z - returns true if the z position controller has been run in the previous 5 loop times
bool AC_PosControl::is_active_z() const
{
return ((AP_HAL::micros64() - _last_update_z_us) <= _dt * 5000000.0);
return ((AP::ins().get_last_update_usec() - _last_update_z_us) <= _dt * 1500000.0);
}
/// update_z_controller - runs the vertical position controller correcting position, velocity and acceleration errors.
@ -921,7 +924,7 @@ void AC_PosControl::update_z_controller()
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
_last_update_z_us = AP_HAL::micros64();
_last_update_z_us = AP::ins().get_last_update_usec();
// calculate the target velocity correction
float pos_target_zf = _pos_target.z;
@ -937,7 +940,7 @@ void AC_PosControl::update_z_controller()
// Velocity Controller
const float curr_vel_z = _inav.get_velocity_z_up_cms();
_accel_target.z = _pid_vel_z.update_all(_vel_target.z, curr_vel_z, _motors.limit.throttle_lower, _motors.limit.throttle_upper);
_accel_target.z = _pid_vel_z.update_all(_vel_target.z, curr_vel_z, _dt, _motors.limit.throttle_lower, _motors.limit.throttle_upper);
_accel_target.z *= AP::ahrs().getControlScaleZ();
// add feed forward component
@ -956,7 +959,7 @@ void AC_PosControl::update_z_controller()
if (_vibe_comp_enabled) {
thr_out = get_throttle_with_vibration_override();
} else {
thr_out = _pid_accel_z.update_all(_accel_target.z, z_accel_meas, (_motors.limit.throttle_lower || _motors.limit.throttle_upper)) * 0.001f;
thr_out = _pid_accel_z.update_all(_accel_target.z, z_accel_meas, _dt, (_motors.limit.throttle_lower || _motors.limit.throttle_upper)) * 0.001f;
thr_out += _pid_accel_z.get_ff() * 0.001f;
}
thr_out += _motors.get_throttle_hover();

13
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -40,9 +40,14 @@ public:
/// Constructor
AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
const class AP_Motors& motors, AC_AttitudeControl& attitude_control, float dt);
const class AP_Motors& motors, AC_AttitudeControl& attitude_control);
/// get_dt - gets time delta in seconds for all position controllers
/// set_dt / get_dt - dt is the time since the last time the position controllers were updated
/// _dt should be set based on the time of the last IMU read used by these controllers
/// the position controller should run updates for active controllers on each loop to ensure normal operation
void set_dt(float dt) { _dt = dt; }
float get_dt() const { return _dt; }
/// get_shaping_jerk_xy_cmsss - gets the jerk limit of the xy kinematic path generation in cm/s/s/s
@ -418,7 +423,7 @@ protected:
// references to inertial nav and ahrs libraries
AP_AHRS_View& _ahrs;
const AP_InertialNav& _inav;
const class AP_Motors& _motors;
const class AP_Motors& _motors;
AC_AttitudeControl& _attitude_control;
// parameters
@ -432,7 +437,7 @@ protected:
AC_PID _pid_accel_z; // Z axis acceleration controller to convert desired acceleration to throttle output
// internal variables
float _dt; // time difference (in seconds) between calls from the main program
float _dt; // time difference (in seconds) since the last loop time
uint64_t _last_update_xy_us; // system time (in microseconds) since last update_xy_controller call
uint64_t _last_update_z_us; // system time (in microseconds) since last update_z_controller call
float _vel_max_xy_cms; // max horizontal speed in cm/s used for kinematic shaping