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Copter: Hybrid fix wind_comp time constant 

Corrected timer init values and wind_comp time constant to get the best
behaviour

Check if wider deadband required (current is 30).
We were using a comparison to a 70-100 cdeg deadband in our initial
code. The deadband was there to avoid unwanted switches in case of
inaccurate fingers/radio

Adjusted timers to 100/400Hz

I_term does not init when in hybrid loiter
This commit is contained in:
Ju1ien 2014-04-23 12:32:08 +09:00 committed by Randy Mackay
parent 4778c73de2
commit b3e8112d24
1 changed files with 36 additions and 29 deletions
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65
ArduCopter/control_hybrid.pde
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@ -10,18 +10,22 @@
#if MAIN_LOOP_RATE == 100
// definitions for 100hz loop update rate
# define HYBRID_BRAKE_TIME_ESTIMATE_MAX 600 // max number of cycles the brake will be applied before we switch to loiter
# define HYBRID_BRAKE_TO_LOITER_TIMER 150 // Number of cycles to transition from brake mode to loiter mode. Must be lower than HYBRID_LOITER_STAB_TIMER
# define HYBRID_BRAKE_TO_LOITER_TIMER 150 // Number of cycles to transition from brake mode to loiter mode.
# define HYBRID_WIND_COMP_START_TIMER 150 // Number of cycles to start wind compensation update after loiter is engaged
# define HYBRID_LOITER_TO_PILOT_MIX_TIMER 50 // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
# define HYBRID_SMOOTH_RATE_FACTOR 0.04f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define HYBRID_SMOOTH_RATE_FACTOR 0.05f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define HYBRID_WIND_COMP_TIMER_10HZ 10 // counter value used to reduce wind compensation to 10hz
#else
# define LOOP_RATE_FACTOR 1 // used to adapt hybrid params to loop_rate
#else
// definitions for 400hz loop update rate
# define HYBRID_BRAKE_TIME_ESTIMATE_MAX (600*4) // max number of cycles the brake will be applied before we switch to loiter
# define HYBRID_BRAKE_TO_LOITER_TIMER (150*4) // Number of cycles to transition from brake mode to loiter mode. Must be lower than HYBRID_LOITER_STAB_TIMER
# define HYBRID_WIND_COMP_START_TIMER (150*4) // Number of cycles to start wind compensation update after loiter is engaged
# define HYBRID_LOITER_TO_PILOT_MIX_TIMER (50*4) // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
# define HYBRID_SMOOTH_RATE_FACTOR 0.01f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define HYBRID_SMOOTH_RATE_FACTOR 0.0125f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define HYBRID_WIND_COMP_TIMER_10HZ 40 // counter value used to reduce wind compensation to 10hz
#endif
# define LOOP_RATE_FACTOR 4 // used to adapt hybrid params to loop_rate
#endif
// definitions that are independent of main loop rate
#define HYBRID_STICK_RELEASE_SMOOTH_ANGLE 1800 // max angle required (in centi-degrees) after which the smooth stick release effect is applied
@ -104,8 +108,9 @@ static bool hybrid_init(bool ignore_checks)
// initialise lean angles to current attitude
hybrid.pilot_roll = 0;
hybrid.pilot_pitch = 0;
hybrid.roll = constrain_int16(ahrs.roll_sensor, -g.hybrid_brake_angle_max, g.hybrid_brake_angle_max);
hybrid.pitch = constrain_int16(ahrs.pitch_sensor, -g.hybrid_brake_angle_max, g.hybrid_brake_angle_max);
// JD - These variables will be written in hybrid_run before being used.
// hybrid.roll = constrain_int16(ahrs.roll_sensor, -g.hybrid_brake_angle_max, g.hybrid_brake_angle_max);
// hybrid.pitch = constrain_int16(ahrs.pitch_sensor, -g.hybrid_brake_angle_max, g.hybrid_brake_angle_max);
// compute brake_gain
hybrid.brake_gain = (15.0f * (float)g.hybrid_brake_rate + 95.0f) / 100.0f;
@ -138,12 +143,13 @@ static void hybrid_run()
float target_yaw_rate = 0; // pilot desired yaw rate in centi-degrees/sec
float target_climb_rate = 0; // pilot desired climb rate in centimeters/sec
float brake_to_loiter_mix; // mix of brake and loiter controls. 0 = fully brake controls, 1 = fully loiter controls
float loiter_to_pilot_mix; // mix of loiter and pilot controls. 0 = fully loiter controls, 1 = fully pilot controls
float loiter_to_pilot_roll_mix; // mix of loiter and pilot controls. 0 = fully loiter controls, 1 = fully pilot controls
float loiter_to_pilot_pitch_mix; // mix of loiter and pilot controls. 0 = fully loiter controls, 1 = fully pilot controls
float vel_fw, vel_right; // vehicle's current velocity in body-frame forward and right directions
const Vector3f& vel = inertial_nav.get_velocity();
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
if(!ap.auto_armed || !inertial_nav.position_ok()) { // JD - I hope this condition is safe!
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
@ -187,6 +193,10 @@ static void hybrid_run()
// To-Do: move this to AP_Math (or perhaps we already have a function to do this)
vel_fw = vel.x*ahrs.cos_yaw() + vel.y*ahrs.sin_yaw();
vel_right = -vel.x*ahrs.sin_yaw() + vel.y*ahrs.cos_yaw();
// If not in LOITER, get wind_comp related to current yaw
if (hybrid.roll_mode != HYBRID_LOITER || hybrid.pitch_mode == HYBRID_LOITER)
hybrid_get_wind_comp_lean_angles(hybrid.wind_comp_roll, hybrid.wind_comp_pitch);
// Roll state machine
// Each state (aka mode) is responsible for:
@ -226,14 +236,14 @@ static void hybrid_run()
hybrid.brake_angle_max_roll = abs(hybrid.brake_roll);
} else {
// braking angle has started decreasing so re-estimate braking time
hybrid.brake_timeout_roll = 1+(uint16_t)(15L*(int32_t)(abs(hybrid.brake_roll))/(10L*(int32_t)g.hybrid_brake_rate)); // the 1.2 (12/10) factor has to be tuned in flight, here it means 120% of the "normal" time.
hybrid.brake_timeout_roll = 1+(uint16_t)(LOOP_RATE_FACTOR*15L*(int32_t)(abs(hybrid.brake_roll))/(10L*(int32_t)g.hybrid_brake_rate)); // the 1.2 (12/10) factor has to be tuned in flight, here it means 120% of the "normal" time.
hybrid.braking_time_updated_roll = true;
}
}
// if velocity is very low reduce braking time to 0.5seconds
if ((fabs(vel_right) <= HYBRID_SPEED_0) && (hybrid.brake_timeout_roll > 50)) {
hybrid.brake_timeout_roll = 50;
if ((fabs(vel_right) <= HYBRID_SPEED_0) && (hybrid.brake_timeout_roll > 50*LOOP_RATE_FACTOR)) {
hybrid.brake_timeout_roll = 50*LOOP_RATE_FACTOR;
}
// reduce braking timer
@ -274,10 +284,10 @@ static void hybrid_run()
}
// calculate loiter_to_pilot mix ratio
loiter_to_pilot_mix = (float)hybrid.loiter_to_pilot_timer_roll / (float)HYBRID_LOITER_TO_PILOT_MIX_TIMER;
loiter_to_pilot_roll_mix = (float)hybrid.loiter_to_pilot_timer_roll / (float)HYBRID_LOITER_TO_PILOT_MIX_TIMER;
// mix final loiter lean angle and pilot desired lean angles
hybrid.roll = hybrid_mix_controls(loiter_to_pilot_mix, hybrid.loiter_final_roll, hybrid.pilot_roll + hybrid.wind_comp_roll);
hybrid.roll = hybrid_mix_controls(loiter_to_pilot_roll_mix, hybrid.loiter_final_roll, hybrid.pilot_roll + hybrid.wind_comp_roll);
break;
}
@ -319,15 +329,15 @@ static void hybrid_run()
hybrid.brake_angle_max_pitch = abs(hybrid.brake_pitch);
} else {
// braking angle has started decreasing so re-estimate braking time
hybrid.brake_timeout_pitch = 1+(uint16_t)(15L*(int32_t)(abs(hybrid.brake_pitch))/(10L*(int32_t)g.hybrid_brake_rate)); // the 1.2 (12/10) factor has to be tuned in flight, here it means 120% of the "normal" time.
hybrid.brake_timeout_pitch = 1+(uint16_t)(LOOP_RATE_FACTOR*15L*(int32_t)(abs(hybrid.brake_pitch))/(10L*(int32_t)g.hybrid_brake_rate)); // the 1.2 (12/10) factor has to be tuned in flight, here it means 120% of the "normal" time.
hybrid.braking_time_updated_pitch = true;
}
}
// if velocity is very low reduce braking time to 0.5seconds
// Note: this speed is extremely low (only 10cm/s) meaning this case is likely never executed
if ((fabs(vel_right) <= HYBRID_SPEED_0) && (hybrid.brake_timeout_pitch > 50)) {
hybrid.brake_timeout_pitch = 50;
if ((fabs(vel_right) <= HYBRID_SPEED_0) && (hybrid.brake_timeout_pitch > 50*LOOP_RATE_FACTOR)) {
hybrid.brake_timeout_pitch = 50*LOOP_RATE_FACTOR;
}
// reduce braking timer
@ -368,10 +378,10 @@ static void hybrid_run()
}
// calculate loiter_to_pilot mix ratio
loiter_to_pilot_mix = (float)hybrid.loiter_to_pilot_timer_pitch / (float)HYBRID_LOITER_TO_PILOT_MIX_TIMER;
loiter_to_pilot_pitch_mix = (float)hybrid.loiter_to_pilot_timer_pitch / (float)HYBRID_LOITER_TO_PILOT_MIX_TIMER;
// mix final loiter lean angle and pilot desired lean angles
hybrid.pitch = hybrid_mix_controls(loiter_to_pilot_mix, hybrid.loiter_final_pitch, hybrid.pilot_pitch + hybrid.wind_comp_pitch);
hybrid.pitch = hybrid_mix_controls(loiter_to_pilot_pitch_mix, hybrid.loiter_final_pitch, hybrid.pilot_pitch + hybrid.wind_comp_pitch);
break;
}
@ -385,10 +395,7 @@ static void hybrid_run()
hybrid.pitch_mode = HYBRID_BRAKE_TO_LOITER;
hybrid.brake_to_loiter_timer = HYBRID_BRAKE_TO_LOITER_TIMER;
// init loiter controller
wp_nav.init_loiter_target();
// move wind compensation back into loiter I term
g.pid_loiter_rate_lat.set_integrator(hybrid.wind_comp_ef.x);
g.pid_loiter_rate_lon.set_integrator(hybrid.wind_comp_ef.y);
wp_nav.init_loiter_target(false); // (false) to avoid I_term reset. In original code, velocity(0,0,0) was used instead of current velocity: wp_nav.init_loiter_target(inertial_nav.get_position(), Vector3f(0,0,0));
// set delay to start of wind compensation estimate updates
hybrid.wind_comp_start_timer = HYBRID_WIND_COMP_START_TIMER;
}
@ -488,7 +495,7 @@ static void hybrid_run()
break;
}
}
// constrain target pitch/roll angles
hybrid.roll = constrain_int16(hybrid.roll, -aparm.angle_max, aparm.angle_max);
hybrid.pitch = constrain_int16(hybrid.pitch, -aparm.angle_max, aparm.angle_max);
@ -516,13 +523,13 @@ static void hybrid_update_pilot_lean_angle(int16_t &lean_angle_filtered, int16_t
} else {
// lean_angle_raw must be pulling lean_angle_filtered towards zero, smooth the decrease
if (lean_angle_filtered > 0) {
// reduce the filtered lean angle at 4% or the brake rate (whichever is faster).
lean_angle_filtered -= max((float)lean_angle_filtered * HYBRID_SMOOTH_RATE_FACTOR, g.hybrid_brake_rate);
// reduce the filtered lean angle at 5% or the brake rate (whichever is faster).
lean_angle_filtered -= max((float)lean_angle_filtered * HYBRID_SMOOTH_RATE_FACTOR, max(1, g.hybrid_brake_rate/LOOP_RATE_FACTOR));
// do not let the filtered angle fall below the pilot's input lean angle.
// the above line pulls the filtered angle down and the below line acts as a catch
lean_angle_filtered = max(lean_angle_filtered, lean_angle_raw);
}else{
lean_angle_filtered += max(-(float)lean_angle_filtered * HYBRID_SMOOTH_RATE_FACTOR, g.hybrid_brake_rate);
lean_angle_filtered += max(-(float)lean_angle_filtered * HYBRID_SMOOTH_RATE_FACTOR, max(1, g.hybrid_brake_rate/LOOP_RATE_FACTOR));
lean_angle_filtered = min(lean_angle_filtered, lean_angle_raw);
}
}
@ -597,14 +604,14 @@ static void hybrid_update_wind_comp_estimate()
hybrid.wind_comp_ef.x = accel_target.x;
} else {
// low pass filter the position controller's lean angle output
hybrid.wind_comp_ef.x = 0.97f*hybrid.wind_comp_ef.x + 0.03f*accel_target.x;
hybrid.wind_comp_ef.x = 0.99f*hybrid.wind_comp_ef.x + 0.01f*accel_target.x;
}
if (hybrid.wind_comp_ef.y == 0) {
// if wind compensation has not been initialised set it immediately to the pos controller's desired accel in north direction
hybrid.wind_comp_ef.y = accel_target.y;
} else {
// low pass filter the position controller's lean angle output
hybrid.wind_comp_ef.y = 0.97f*hybrid.wind_comp_ef.y + 0.03f*accel_target.y;
hybrid.wind_comp_ef.y = 0.99f*hybrid.wind_comp_ef.y + 0.01f*accel_target.y;
}
}