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AC_AttitudeControl: add new rate only attitude control

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Leonard Hall 2018-01-01 10:23:29 +10:30 committed by Randy Mackay
parent a16d4ddad7
commit c53ba22daa
2 changed files with 74 additions and 0 deletions
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68
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -425,6 +425,74 @@ void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, fl
attitude_controller_run_quat();
}
// Command an angular velocity with angular velocity smoothing using rate loops only with no attitude loop stabilization
void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_2(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
{
// Convert from centidegrees on public interface to radians
float roll_rate_rads = radians(roll_rate_bf_cds*0.01f);
float pitch_rate_rads = radians(pitch_rate_bf_cds*0.01f);
float yaw_rate_rads = radians(yaw_rate_bf_cds*0.01f);
// Compute acceleration-limited body frame rates
// When acceleration limiting is enabled, the input shaper constrains angular acceleration about the axis, slewing
// the output rate towards the input rate.
_attitude_target_ang_vel.x = input_shaping_ang_vel(_attitude_target_ang_vel.x, roll_rate_rads, get_accel_roll_max_radss(), _dt);
_attitude_target_ang_vel.y = input_shaping_ang_vel(_attitude_target_ang_vel.y, pitch_rate_rads, get_accel_pitch_max_radss(), _dt);
_attitude_target_ang_vel.z = input_shaping_ang_vel(_attitude_target_ang_vel.z, yaw_rate_rads, get_accel_yaw_max_radss(), _dt);
// Update the unused targets attitude based on current attitude to condition mode change
_attitude_target_quat.from_rotation_matrix(_ahrs.get_rotation_body_to_ned());
_attitude_target_quat.to_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
// Convert body-frame angular velocity into euler angle derivative of desired attitude
ang_vel_to_euler_rate(_attitude_target_euler_angle, _attitude_target_ang_vel, _attitude_target_euler_rate);
_rate_target_ang_vel = _attitude_target_ang_vel;
}
// Command an angular velocity with angular velocity smoothing using rate loops only with integrated rate error stabilization
void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
{
// Convert from centidegrees on public interface to radians
float roll_rate_rads = radians(roll_rate_bf_cds*0.01f);
float pitch_rate_rads = radians(pitch_rate_bf_cds*0.01f);
float yaw_rate_rads = radians(yaw_rate_bf_cds*0.01f);
// Update attitude error
Vector3f gyro_latest = _ahrs.get_gyro_latest();
Quaternion attitude_ang_error_update_quat;
attitude_ang_error_update_quat.from_axis_angle(Vector3f((_attitude_target_ang_vel.x-gyro_latest.x) * _dt, (_attitude_target_ang_vel.y-gyro_latest.y) * _dt, (_attitude_target_ang_vel.z-gyro_latest.z) * _dt));
_attitude_ang_error = attitude_ang_error_update_quat * _attitude_ang_error;
// Compute acceleration-limited body frame rates
// When acceleration limiting is enabled, the input shaper constrains angular acceleration about the axis, slewing
// the output rate towards the input rate.
_attitude_target_ang_vel.x = input_shaping_ang_vel(_attitude_target_ang_vel.x, roll_rate_rads, get_accel_roll_max_radss(), _dt);
_attitude_target_ang_vel.y = input_shaping_ang_vel(_attitude_target_ang_vel.y, pitch_rate_rads, get_accel_pitch_max_radss(), _dt);
_attitude_target_ang_vel.z = input_shaping_ang_vel(_attitude_target_ang_vel.z, yaw_rate_rads, get_accel_yaw_max_radss(), _dt);
// Retrieve quaternion vehicle attitude
// TODO add _ahrs.get_quaternion()
Quaternion attitude_vehicle_quat;
attitude_vehicle_quat.from_rotation_matrix(_ahrs.get_rotation_body_to_ned());
// Update the unused targets attitude based on current attitude to condition mode change
_attitude_target_quat = attitude_vehicle_quat*_attitude_ang_error;
// calculate the attitude target euler angles
_attitude_target_quat.to_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
// Convert body-frame angular velocity into euler angle derivative of desired attitude
ang_vel_to_euler_rate(_attitude_target_euler_angle, _attitude_target_ang_vel, _attitude_target_euler_rate);
// Compute the angular velocity target from the integrated rate error
Vector3f attitude_error_vector;
_attitude_ang_error.to_axis_angle(attitude_error_vector);
_rate_target_ang_vel = update_ang_vel_target_from_att_error(attitude_error_vector);
_rate_target_ang_vel += _attitude_target_ang_vel;
// ensure Quaternions stay normalized
_attitude_ang_error.normalize();
}
// Command an angular step (i.e change) in body frame angle
// Used to command a step in angle without exciting the orthogonal axis during autotune
void AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw(float roll_angle_step_bf_cd, float pitch_angle_step_bf_cd, float yaw_angle_step_bf_cd)

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -140,6 +140,12 @@ public:
// Command an angular velocity with angular velocity feedforward and smoothing
virtual void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds);
// Command an angular velocity with angular velocity feedforward and smoothing
void input_rate_bf_roll_pitch_yaw_2(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds);
// Command an angular velocity with angular velocity smoothing using rate loops only with integrated rate error stabilization
void input_rate_bf_roll_pitch_yaw_3(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds);
// Command an angular step (i.e change) in body frame angle
virtual void input_angle_step_bf_roll_pitch_yaw(float roll_angle_step_bf_cd, float pitch_angle_step_bf_cd, float yaw_angle_step_bf_cd);