mirror of https://github.com/ArduPilot/ardupilot
Filter: SlewLimiter: always caculate slew limit
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@ -43,19 +43,46 @@ float SlewLimiter::modifier(float sample, float dt)
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if (!is_positive(dt)) {
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return 1.0;
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}
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if (slew_rate_max <= 0) {
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_output_slew_rate = 0.0;
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return 1.0;
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}
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// Calculate a low pass filtered slew rate
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const float slew_rate = slew_filter.apply((sample - last_sample) / dt, dt);
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last_sample = sample;
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uint32_t now_ms = AP_HAL::millis();
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// Apply a filter to decay maximum seen slew rate once the value had left the window period
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const float decay_alpha = fminf(dt, slew_rate_tau) / slew_rate_tau;
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// Apply a filter to increases in slew rate only to reduce the effect of gusts and large controller setpoint changes
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const float attack_alpha = fminf(2.0f * decay_alpha, 1.0f);
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// Decay the peak positive and negative slew rate if they are outside the window
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// Never drop PID gains below 10% of configured value
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if (slew_rate > _max_pos_slew_rate) {
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_max_pos_slew_rate = slew_rate;
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_max_pos_slew_event_ms = now_ms;
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} else if (now_ms - _max_pos_slew_event_ms > WINDOW_MS) {
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_max_pos_slew_rate *= (1.0f - decay_alpha);
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}
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if (-slew_rate > _max_neg_slew_rate) {
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_max_neg_slew_rate = -slew_rate;
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_max_neg_slew_event_ms = now_ms;
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} else if (now_ms - _max_neg_slew_event_ms > WINDOW_MS) {
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_max_neg_slew_rate *= (1.0f - decay_alpha);
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}
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const float raw_slew_rate = 0.5f*(_max_pos_slew_rate + _max_neg_slew_rate);
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_output_slew_rate = (1.0f - attack_alpha) * _output_slew_rate + attack_alpha * raw_slew_rate;
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_output_slew_rate = fminf(_output_slew_rate, raw_slew_rate);
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if (slew_rate_max <= 0) {
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return 1.0;
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}
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// Constrain slew rate used for calculation
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const float limited_raw_slew_rate = 0.5f*(fminf(_max_pos_slew_rate, 10.0f * slew_rate_max) + fminf(_max_neg_slew_rate, 10.0f * slew_rate_max));
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// Store a series of positive slew rate exceedance events
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if (!_pos_event_stored && slew_rate > slew_rate_max) {
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if (_pos_event_index >= N_EVENTS) {
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@ -68,7 +95,7 @@ float SlewLimiter::modifier(float sample, float dt)
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}
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// Store a series of negative slew rate exceedance events
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if (!_neg_event_stored && slew_rate < - slew_rate_max) {
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if (!_neg_event_stored && -slew_rate > slew_rate_max) {
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if (_neg_event_index >= N_EVENTS) {
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_neg_event_index = 0;
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}
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@ -81,57 +108,26 @@ float SlewLimiter::modifier(float sample, float dt)
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// Find the oldest event time
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uint32_t oldest_ms = now_ms;
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for (uint8_t index = 0; index < N_EVENTS; index++) {
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if (_pos_event_ms[index] < oldest_ms) {
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oldest_ms = _pos_event_ms[index];
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}
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if (_neg_event_ms[index] < oldest_ms) {
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oldest_ms = _neg_event_ms[index];
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}
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oldest_ms = MIN(oldest_ms, _pos_event_ms[index]);
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oldest_ms = MIN(oldest_ms, _neg_event_ms[index]);
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}
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// Decay the peak positive and negative slew rate if they are outside the window
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// Never drop PID gains below 10% of configured value
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if (slew_rate > _max_pos_slew_rate) {
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_max_pos_slew_rate = fminf(slew_rate, 10.0f * slew_rate_max);
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_max_pos_slew_event_ms = now_ms;
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} else if (now_ms - _max_pos_slew_event_ms > WINDOW_MS) {
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_max_pos_slew_rate *= (1.0f - decay_alpha);
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}
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if (slew_rate < -_max_neg_slew_rate) {
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_max_neg_slew_rate = fminf(-slew_rate, 10.0f * slew_rate_max);
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_max_neg_slew_event_ms = now_ms;
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} else if (now_ms - _max_neg_slew_event_ms > WINDOW_MS) {
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_max_neg_slew_rate *= (1.0f - decay_alpha);
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}
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const float raw_slew_rate = 0.5f*(_max_pos_slew_rate + _max_neg_slew_rate);
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// Apply a further reduction when the oldest exceedance event falls outside the window required for the
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// specified number of exceedance events. This prevents spikes due to control mode changed, etc causing
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// unwanted gain reduction and is only applied to the slew rate used for gain reduction
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float modifier_input = raw_slew_rate;
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float modifier_input = limited_raw_slew_rate;
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if (now_ms - oldest_ms > (N_EVENTS + 1) * WINDOW_MS) {
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const float oldest_time_from_window = 0.001f*(float)(now_ms - oldest_ms - (N_EVENTS + 1) * WINDOW_MS);
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modifier_input *= expf(-oldest_time_from_window / slew_rate_tau);
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}
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// Apply a filter to increases in slew rate only to reduce the effect of gusts and large controller
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// setpoint changes
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const float attack_alpha = fminf(2.0f * decay_alpha, 1.0f);
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_modifier_slew_rate = (1.0f - attack_alpha) * _modifier_slew_rate + attack_alpha * modifier_input;
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_modifier_slew_rate = fminf(_modifier_slew_rate, modifier_input);
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_output_slew_rate = (1.0f - attack_alpha) * _output_slew_rate + attack_alpha * raw_slew_rate;
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_output_slew_rate = fminf(_output_slew_rate, raw_slew_rate);
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// Calculate the gain adjustment
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float mod;
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float mod = 1.0f;
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if (_modifier_slew_rate > slew_rate_max) {
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mod = slew_rate_max / (slew_rate_max + MODIFIER_GAIN * (_modifier_slew_rate - slew_rate_max));
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} else {
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mod = 1.0f;
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}
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return mod;
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