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AC_AttitudeControl: AC_PosControl: Increase Jerk with Accel when out of velocity range

This commit is contained in:
Leonard Hall 2022-01-25 01:10:38 +10:30 committed by Randy Mackay
parent 550a4a9c1a
commit 6d9969cf2a
2 changed files with 33 additions and 39 deletions
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69
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -346,14 +346,9 @@ void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_offset_z, float
_vel_desired.z -= _vel_offset_z; _vel_desired.z -= _vel_offset_z;
_accel_desired.z -= _accel_offset_z; _accel_desired.z -= _accel_offset_z;
// calculated increased maximum acceleration if over speed // calculated increased maximum acceleration and jerk if over speed
float accel_z_cmss = _accel_max_z_cmss; float accel_max_z_cmss = _accel_max_z_cmss * calculate_overspeed_gain();
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) { float jerk_max_z_cmsss = _jerk_max_z_cmsss * calculate_overspeed_gain();
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
}
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
}
update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error()); update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error());
@ -385,8 +380,8 @@ void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_offset_z, float
shape_pos_vel_accel(posz, 0, 0, shape_pos_vel_accel(posz, 0, 0,
_pos_target.z, _vel_desired.z, _accel_desired.z, _pos_target.z, _vel_desired.z, _accel_desired.z,
-vel_max_z_cms, vel_max_z_cms, -vel_max_z_cms, vel_max_z_cms,
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss, -constrain_float(accel_max_z_cmss, 0.0f, 750.0f), accel_max_z_cmss,
_jerk_max_z_cmsss, _dt, false); jerk_max_z_cmsss, _dt, false);
// update the vertical position, velocity and acceleration offsets // update the vertical position, velocity and acceleration offsets
update_pos_offset_z(pos_offset_z); update_pos_offset_z(pos_offset_z);
@ -815,19 +810,13 @@ void AC_PosControl::init_z()
/// The function alters the vel to be the kinematic path based on accel /// The function alters the vel to be the kinematic path based on accel
void AC_PosControl::input_accel_z(float accel) void AC_PosControl::input_accel_z(float accel)
{ {
// calculated increased maximum acceleration if over speed // calculated increased maximum jerk if over speed
float accel_z_cmss = _accel_max_z_cmss; float jerk_max_z_cmsss = _jerk_max_z_cmsss * calculate_overspeed_gain();
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) {
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
}
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
}
// adjust desired alt if motors have not hit their limits // adjust desired alt if motors have not hit their limits
update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
shape_accel(accel, _accel_desired.z, _jerk_max_z_cmsss, _dt); shape_accel(accel, _accel_desired.z, jerk_max_z_cmsss, _dt);
} }
/// input_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration. /// input_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration.
@ -841,22 +830,17 @@ void AC_PosControl::input_vel_accel_z(float &vel, float accel, bool ignore_desce
_limit_vector.z = MAX(_limit_vector.z, 0.0f); _limit_vector.z = MAX(_limit_vector.z, 0.0f);
} }
// calculated increased maximum acceleration if over speed // calculated increased maximum acceleration and jerk if over speed
float accel_z_cmss = _accel_max_z_cmss; float accel_max_z_cmss = _accel_max_z_cmss * calculate_overspeed_gain();
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) { float jerk_max_z_cmsss = _jerk_max_z_cmsss * calculate_overspeed_gain();
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
}
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
}
// adjust desired alt if motors have not hit their limits // adjust desired alt if motors have not hit their limits
update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
shape_vel_accel(vel, accel, shape_vel_accel(vel, accel,
_vel_desired.z, _accel_desired.z, _vel_desired.z, _accel_desired.z,
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss, -constrain_float(accel_max_z_cmss, 0.0f, 750.0f), accel_max_z_cmss,
_jerk_max_z_cmsss, _dt, limit_output); jerk_max_z_cmsss, _dt, limit_output);
update_vel_accel(vel, accel, _dt, 0.0, 0.0); update_vel_accel(vel, accel, _dt, 0.0, 0.0);
} }
@ -898,14 +882,9 @@ void AC_PosControl::land_at_climb_rate_cm(float vel, bool ignore_descent_limit)
/// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, bool limit_output) void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, bool limit_output)
{ {
// calculated increased maximum acceleration if over speed // calculated increased maximum acceleration and jerk if over speed
float accel_z_cmss = _accel_max_z_cmss; float accel_max_z_cmss = _accel_max_z_cmss * calculate_overspeed_gain();
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) { float jerk_max_z_cmsss = _jerk_max_z_cmsss * calculate_overspeed_gain();
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
}
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
}
// adjust desired altitude if motors have not hit their limits // adjust desired altitude if motors have not hit their limits
update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error()); update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
@ -913,8 +892,8 @@ void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, b
shape_pos_vel_accel(pos, vel, accel, shape_pos_vel_accel(pos, vel, accel,
_pos_target.z, _vel_desired.z, _accel_desired.z, _pos_target.z, _vel_desired.z, _accel_desired.z,
_vel_max_down_cms, _vel_max_up_cms, _vel_max_down_cms, _vel_max_up_cms,
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss, -constrain_float(accel_max_z_cmss, 0.0f, 750.0f), accel_max_z_cmss,
_jerk_max_z_cmsss, _dt, limit_output); jerk_max_z_cmsss, _dt, limit_output);
postype_t posp = pos; postype_t posp = pos;
update_pos_vel_accel(posp, vel, accel, _dt, 0.0, 0.0, 0.0); update_pos_vel_accel(posp, vel, accel, _dt, 0.0, 0.0, 0.0);
@ -1271,6 +1250,18 @@ bool AC_PosControl::calculate_yaw_and_rate_yaw()
return false; return false;
} }
// calculate_overspeed_gain - calculated increased maximum acceleration and jerk if over speed condition is detected
float AC_PosControl::calculate_overspeed_gain()
{
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) {
return POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
}
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
return POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
}
return 1.0;
}
/// initialise ekf xy position reset check /// initialise ekf xy position reset check
void AC_PosControl::init_ekf_xy_reset() void AC_PosControl::init_ekf_xy_reset()
{ {

3
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -420,6 +420,9 @@ protected:
// calculate_yaw_and_rate_yaw - calculate the vehicle yaw and rate of yaw. // calculate_yaw_and_rate_yaw - calculate the vehicle yaw and rate of yaw.
bool calculate_yaw_and_rate_yaw(); bool calculate_yaw_and_rate_yaw();
// calculate_overspeed_gain - calculated increased maximum acceleration and jerk if over speed condition is detected
float calculate_overspeed_gain();
/// initialise and check for ekf position resets /// initialise and check for ekf position resets
void init_ekf_xy_reset(); void init_ekf_xy_reset();
void handle_ekf_xy_reset(); void handle_ekf_xy_reset();