From 925fa5d21448e0330d4073aa52fa6729dc2b7db6 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 7 Feb 2017 19:49:33 -0500 Subject: [PATCH] AC_AttitudeControl: Add AC_AttitudeControl_Sub class --- .../AC_AttitudeControl_Sub.cpp | 272 ++++++++++++++++++ .../AC_AttitudeControl_Sub.h | 82 ++++++ 2 files changed, 354 insertions(+) create mode 100644 libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp create mode 100644 libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp new file mode 100644 index 0000000000..68c106c1b5 --- /dev/null +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp @@ -0,0 +1,272 @@ +#include "AC_AttitudeControl_Sub.h" +#include +#include + +// table of user settable parameters +const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = { + // parameters from parent vehicle + AP_NESTEDGROUPINFO(AC_AttitudeControl, 0), + + // @Param: RAT_RLL_P + // @DisplayName: Roll axis rate controller P gain + // @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output + // @Range: 0.08 0.30 + // @Increment: 0.005 + // @User: Standard + + // @Param: RAT_RLL_I + // @DisplayName: Roll axis rate controller I gain + // @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate + // @Range: 0.01 0.5 + // @Increment: 0.01 + // @User: Standard + + // @Param: RAT_RLL_IMAX + // @DisplayName: Roll axis rate controller I gain maximum + // @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output + // @Range: 0 1 + // @Increment: 0.01 + // @Units: Percent + // @User: Standard + + // @Param: RAT_RLL_D + // @DisplayName: Roll axis rate controller D gain + // @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate + // @Range: 0.0 0.02 + // @Increment: 0.001 + // @User: Standard + + // @Param: RAT_RLL_FILT + // @DisplayName: Roll axis rate controller input frequency in Hz + // @Description: Roll axis rate controller input frequency in Hz + // @Range: 1 100 + // @Increment: 1 + // @Units: Hz + // @User: Standard + AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Sub, AC_PID), + + // @Param: RAT_PIT_P + // @DisplayName: Pitch axis rate controller P gain + // @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output + // @Range: 0.08 0.30 + // @Increment: 0.005 + // @User: Standard + + // @Param: RAT_PIT_I + // @DisplayName: Pitch axis rate controller I gain + // @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate + // @Range: 0.01 0.5 + // @Increment: 0.01 + // @User: Standard + + // @Param: RAT_PIT_IMAX + // @DisplayName: Pitch axis rate controller I gain maximum + // @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output + // @Range: 0 1 + // @Increment: 0.01 + // @Units: Percent + // @User: Standard + + // @Param: RAT_PIT_D + // @DisplayName: Pitch axis rate controller D gain + // @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate + // @Range: 0.0 0.02 + // @Increment: 0.001 + // @User: Standard + + // @Param: RAT_PIT_FILT + // @DisplayName: Pitch axis rate controller input frequency in Hz + // @Description: Pitch axis rate controller input frequency in Hz + // @Range: 1 100 + // @Increment: 1 + // @Units: Hz + // @User: Standard + AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Sub, AC_PID), + + // @Param: RAT_YAW_P + // @DisplayName: Yaw axis rate controller P gain + // @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output + // @Range: 0.10 0.50 + // @Increment: 0.005 + // @User: Standard + + // @Param: RAT_YAW_I + // @DisplayName: Yaw axis rate controller I gain + // @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate + // @Range: 0.010 0.05 + // @Increment: 0.01 + // @User: Standard + + // @Param: RAT_YAW_IMAX + // @DisplayName: Yaw axis rate controller I gain maximum + // @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output + // @Range: 0 1 + // @Increment: 0.01 + // @Units: Percent + // @User: Standard + + // @Param: RAT_YAW_D + // @DisplayName: Yaw axis rate controller D gain + // @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate + // @Range: 0.000 0.02 + // @Increment: 0.001 + // @User: Standard + + // @Param: RAT_YAW_FILT + // @DisplayName: Yaw axis rate controller input frequency in Hz + // @Description: Yaw axis rate controller input frequency in Hz + // @Range: 1 100 + // @Increment: 1 + // @Units: Hz + // @User: Standard + AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Sub, AC_PID), + + // @Param: THR_MIX_MIN + // @DisplayName: Throttle Mix Minimum + // @Description: Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle) + // @Range: 0.1 0.25 + // @User: Advanced + AP_GROUPINFO("THR_MIX_MIN", 4, AC_AttitudeControl_Sub, _thr_mix_min, AC_ATTITUDE_CONTROL_MIN_DEFAULT), + + // @Param: THR_MIX_MAX + // @DisplayName: Throttle Mix Maximum + // @Description: Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle) + // @Range: 0.5 0.9 + // @User: Advanced + AP_GROUPINFO("THR_MIX_MAX", 5, AC_AttitudeControl_Sub, _thr_mix_max, AC_ATTITUDE_CONTROL_MAX_DEFAULT), + + // @Param: THR_MIX_MAN + // @DisplayName: Throttle Mix Manual + // @Description: Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle) + // @Range: 0.5 0.9 + // @User: Advanced + AP_GROUPINFO("THR_MIX_MAN", 6, AC_AttitudeControl_Sub, _thr_mix_man, AC_ATTITUDE_CONTROL_MAN_DEFAULT), + + 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), + _motors_multi(motors), + _pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, AC_ATC_SUB_RATE_RP_IMAX, 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, AC_ATC_SUB_RATE_RP_IMAX, 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, AC_ATC_SUB_RATE_YAW_IMAX, AC_ATC_SUB_RATE_YAW_FILT_HZ, dt) +{ + AP_Param::setup_object_defaults(this, var_info); + + // Sub-specific defaults for parent class + _p_angle_roll.kP().set_default(AC_ATC_SUB_ANGLE_P); + _p_angle_pitch.kP().set_default(AC_ATC_SUB_ANGLE_P); + _p_angle_yaw.kP().set_default(AC_ATC_SUB_ANGLE_P); + + _accel_yaw_max.set_default(AC_ATC_SUB_ACCEL_Y_MAX); +} + +// Update Alt_Hold angle maximum +void AC_AttitudeControl_Sub::update_althold_lean_angle_max(float throttle_in) +{ + // calc maximum tilt angle based on throttle + float thr_max = _motors_multi.get_throttle_thrust_max(); + + // divide by zero check + if (is_zero(thr_max)) { + _althold_lean_angle_max = 0.0f; + return; + } + + float althold_lean_angle_max = acos(constrain_float(_throttle_in/(AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f)); + _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max); +} + +void AC_AttitudeControl_Sub::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff) +{ + _throttle_in = throttle_in; + update_althold_lean_angle_max(throttle_in); + _motors.set_throttle_filter_cutoff(filter_cutoff); + if (apply_angle_boost) { + // Apply angle boost + throttle_in = get_throttle_boosted(throttle_in); + }else{ + // Clear angle_boost for logging purposes + _angle_boost = 0.0f; + } + _motors.set_throttle(throttle_in); + _motors.set_throttle_avg_max(get_throttle_avg_max(MAX(throttle_in, _throttle_in))); +} + +// returns a throttle including compensation for roll/pitch angle +// throttle value should be 0 ~ 1 +float AC_AttitudeControl_Sub::get_throttle_boosted(float throttle_in) +{ + if (!_angle_boost_enabled) { + _angle_boost = 0; + return throttle_in; + } + // inverted_factor is 1 for tilt angles below 60 degrees + // inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees + + float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll(); + float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f); + float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f); + + float throttle_out = throttle_in*inverted_factor*boost_factor; + _angle_boost = constrain_float(throttle_out - throttle_in,-1.0f,1.0f); + return throttle_out; +} + +// returns a throttle including compensation for roll/pitch angle +// throttle value should be 0 ~ 1 +float AC_AttitudeControl_Sub::get_throttle_avg_max(float throttle_in) +{ + throttle_in = constrain_float(throttle_in, 0.0f, 1.0f); + return MAX(throttle_in, throttle_in*MAX(0.0f,1.0f-_throttle_rpy_mix)+_motors.get_throttle_hover()*_throttle_rpy_mix); +} + +// update_throttle_rpy_mix - slew set_throttle_rpy_mix to requested value +void AC_AttitudeControl_Sub::update_throttle_rpy_mix() +{ + // slew _throttle_rpy_mix to _throttle_rpy_mix_desired + if (_throttle_rpy_mix < _throttle_rpy_mix_desired) { + // increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds) + _throttle_rpy_mix += MIN(2.0f*_dt, _throttle_rpy_mix_desired-_throttle_rpy_mix); + } else if (_throttle_rpy_mix > _throttle_rpy_mix_desired) { + // reduce more slowly (from 0.9 to 0.1 in 1.6 seconds) + _throttle_rpy_mix -= MIN(0.5f*_dt, _throttle_rpy_mix-_throttle_rpy_mix_desired); + } + _throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX); +} + +void AC_AttitudeControl_Sub::rate_controller_run() +{ + // move throttle vs attitude mixing towards desired (called from here because this is conveniently called on every iteration) + update_throttle_rpy_mix(); + + _motors.set_roll(rate_target_to_motor_roll(_rate_target_ang_vel.x)); + _motors.set_pitch(rate_target_to_motor_pitch(_rate_target_ang_vel.y)); + _motors.set_yaw(rate_target_to_motor_yaw(_rate_target_ang_vel.z)); + + control_monitor_update(); +} + +// sanity check parameters. should be called once before takeoff +void AC_AttitudeControl_Sub::parameter_sanity_check() +{ + // sanity check throttle mix parameters + if (_thr_mix_man < 0.1f || _thr_mix_man > 4.0f) { + // parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0 + // which can be useful for very high powered copters with very low hover throttle + _thr_mix_man.set_and_save(AC_ATTITUDE_CONTROL_MAN_DEFAULT); + } + if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) { + _thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); + } + if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) { + // parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0 + // which can be useful for very high powered copters with very low hover throttle + _thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT); + } + if (_thr_mix_min > _thr_mix_max) { + _thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); + _thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT); + } +} diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h new file mode 100644 index 0000000000..4961635878 --- /dev/null +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h @@ -0,0 +1,82 @@ +#pragma once + +/// @file AC_AttitudeControl_Sub.h +/// @brief ArduSub attitude control library + +#include "AC_AttitudeControl.h" +#include + +// default angle controller PID gains +// (Sub-specific defaults for parent class) +#define AC_ATC_SUB_ANGLE_P 6.0f +#define AC_ATC_SUB_ACCEL_Y_MAX 110000.0f + +// default rate controller PID gains +#define AC_ATC_SUB_RATE_RP_P 0.135f +#define AC_ATC_SUB_RATE_RP_I 0.090f +#define AC_ATC_SUB_RATE_RP_D 0.0036f +#define AC_ATC_SUB_RATE_RP_IMAX 0.444f +#define AC_ATC_SUB_RATE_RP_FILT_HZ 30.0f +#define AC_ATC_SUB_RATE_YAW_P 0.180f +#define AC_ATC_SUB_RATE_YAW_I 0.018f +#define AC_ATC_SUB_RATE_YAW_D 0.0f +#define AC_ATC_SUB_RATE_YAW_IMAX 0.222f +#define AC_ATC_SUB_RATE_YAW_FILT_HZ 5.0f + +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); + + // empty destructor to suppress compiler warning + virtual ~AC_AttitudeControl_Sub() {} + + // pid accessors + AC_PID& get_rate_roll_pid() { return _pid_rate_roll; } + AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; } + AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; } + + // Update Alt_Hold angle maximum + void update_althold_lean_angle_max(float throttle_in) override; + + // Set output throttle + void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override; + + // calculate total body frame throttle required to produce the given earth frame throttle + float get_throttle_boosted(float throttle_in); + + // set desired throttle vs attitude mixing (actual mix is slewed towards this value over 1~2 seconds) + // low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle + // has no effect when throttle is above hover throttle + void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; } + void set_throttle_mix_man() override { _throttle_rpy_mix_desired = _thr_mix_man; } + void set_throttle_mix_max() override { _throttle_rpy_mix_desired = _thr_mix_max; } + + // are we producing min throttle? + bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); } + + // run lowest level body-frame rate controller and send outputs to the motors + void rate_controller_run(); + + // sanity check parameters. should be called once before take-off + void parameter_sanity_check(); + + // user settable parameters + static const struct AP_Param::GroupInfo var_info[]; + +protected: + + // update_throttle_rpy_mix - updates thr_low_comp value towards the target + void update_throttle_rpy_mix(); + + // get maximum value throttle can be raised to based on throttle vs attitude prioritisation + float get_throttle_avg_max(float throttle_in); + + AP_MotorsMulticopter& _motors_multi; + AC_PID _pid_rate_roll; + AC_PID _pid_rate_pitch; + AC_PID _pid_rate_yaw; + + AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle) + AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle) + AP_Float _thr_mix_max; // throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle) +};