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Copter: Acro use same error limit in all three axis

This commit is contained in:
lthall 2014-07-13 01:23:19 +09:30 committed by Randy Mackay
parent 2889f5abc4
commit fb55658c91
2 changed files with 25 additions and 24 deletions
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42
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -117,7 +117,7 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
_rate_ef_desired.x = constrain_float(rate_ef_desired, _rate_ef_desired.x-rate_change_limit, _rate_ef_desired.x+rate_change_limit); _rate_ef_desired.x = constrain_float(rate_ef_desired, _rate_ef_desired.x-rate_change_limit, _rate_ef_desired.x+rate_change_limit);
// update earth-frame roll angle target using desired roll rate // update earth-frame roll angle target using desired roll rate
update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error); update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX);
// calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away // calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away
angle_to_target = pitch_angle_ef - _angle_ef_target.y; angle_to_target = pitch_angle_ef - _angle_ef_target.y;
@ -131,7 +131,7 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
_rate_ef_desired.y = constrain_float(rate_ef_desired, _rate_ef_desired.y-rate_change_limit, _rate_ef_desired.y+rate_change_limit); _rate_ef_desired.y = constrain_float(rate_ef_desired, _rate_ef_desired.y-rate_change_limit, _rate_ef_desired.y+rate_change_limit);
// update earth-frame pitch angle target using desired pitch rate // update earth-frame pitch angle target using desired pitch rate
update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error); update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX);
} else { } else {
// target roll and pitch to desired input roll and pitch // target roll and pitch to desired input roll and pitch
_angle_ef_target.x = roll_angle_ef; _angle_ef_target.x = roll_angle_ef;
@ -156,12 +156,12 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit); rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit);
_rate_ef_desired.z += rate_change; _rate_ef_desired.z += rate_change;
// calculate yaw target angle and angle error // calculate yaw target angle and angle error
update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
} else { } else {
// set yaw feed forward to zero // set yaw feed forward to zero
_rate_ef_desired.z = yaw_rate_ef; _rate_ef_desired.z = yaw_rate_ef;
// calculate yaw target angle and angle error // calculate yaw target angle and angle error
update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
} }
// convert earth-frame angle errors to body-frame angle errors // convert earth-frame angle errors to body-frame angle errors
@ -210,12 +210,12 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw(float roll_angle_ef, fl
rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit); rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit);
_rate_ef_desired.z += rate_change; _rate_ef_desired.z += rate_change;
// calculate yaw target angle and angle error // calculate yaw target angle and angle error
update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
} else { } else {
// set yaw feed forward to zero // set yaw feed forward to zero
_rate_ef_desired.z = yaw_rate_ef; _rate_ef_desired.z = yaw_rate_ef;
// calculate yaw target angle and angle error // calculate yaw target angle and angle error
update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
} }
// convert earth-frame angle errors to body-frame angle errors // convert earth-frame angle errors to body-frame angle errors
@ -299,9 +299,9 @@ void AC_AttitudeControl::rate_ef_roll_pitch_yaw(float roll_rate_ef, float pitch_
} }
// update earth frame angle targets and errors // update earth frame angle targets and errors
update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error); update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX);
update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error); update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX);
update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX);
// constrain earth-frame angle targets // constrain earth-frame angle targets
_angle_ef_target.x = constrain_float(_angle_ef_target.x, -_aparm.angle_max, _aparm.angle_max); _angle_ef_target.x = constrain_float(_angle_ef_target.x, -_aparm.angle_max, _aparm.angle_max);
@ -334,9 +334,9 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_
frame_conversion_bf_to_ef(_rate_bf_desired, _rate_ef_desired); frame_conversion_bf_to_ef(_rate_bf_desired, _rate_ef_desired);
// update earth frame angle targets and errors // update earth frame angle targets and errors
update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error); update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX);
update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error); update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX);
update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX);
// convert earth-frame angle errors to body-frame angle errors // convert earth-frame angle errors to body-frame angle errors
frame_conversion_ef_to_bf(angle_ef_error, _angle_bf_error); frame_conversion_ef_to_bf(angle_ef_error, _angle_bf_error);
@ -438,11 +438,11 @@ void AC_AttitudeControl::frame_conversion_bf_to_ef(const Vector3f& bf_vector, Ve
// //
// update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request // update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request
void AC_AttitudeControl::update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error) void AC_AttitudeControl::update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error, float overshoot_max)
{ {
// calculate angle error with maximum of +- max angle overshoot // calculate angle error with maximum of +- max angle overshoot
angle_ef_error.x = wrap_180_cd(_angle_ef_target.x - _ahrs.roll_sensor); angle_ef_error.x = wrap_180_cd(_angle_ef_target.x - _ahrs.roll_sensor);
angle_ef_error.x = constrain_float(angle_ef_error.x, -AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); angle_ef_error.x = constrain_float(angle_ef_error.x, -overshoot_max, overshoot_max);
// update roll angle target to be within max angle overshoot of our roll angle // update roll angle target to be within max angle overshoot of our roll angle
_angle_ef_target.x = angle_ef_error.x + _ahrs.roll_sensor; _angle_ef_target.x = angle_ef_error.x + _ahrs.roll_sensor;
@ -453,12 +453,12 @@ void AC_AttitudeControl::update_ef_roll_angle_and_error(float roll_rate_ef, Vect
} }
// update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request // update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request
void AC_AttitudeControl::update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error) void AC_AttitudeControl::update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error, float overshoot_max)
{ {
// calculate angle error with maximum of +- max angle overshoot // calculate angle error with maximum of +- max angle overshoot
// To-Do: should we do something better as we cross 90 degrees? // To-Do: should we do something better as we cross 90 degrees?
angle_ef_error.y = wrap_180_cd(_angle_ef_target.y - _ahrs.pitch_sensor); angle_ef_error.y = wrap_180_cd(_angle_ef_target.y - _ahrs.pitch_sensor);
angle_ef_error.y = constrain_float(angle_ef_error.y, -AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX); angle_ef_error.y = constrain_float(angle_ef_error.y, -overshoot_max, overshoot_max);
// update pitch angle target to be within max angle overshoot of our pitch angle // update pitch angle target to be within max angle overshoot of our pitch angle
_angle_ef_target.y = angle_ef_error.y + _ahrs.pitch_sensor; _angle_ef_target.y = angle_ef_error.y + _ahrs.pitch_sensor;
@ -469,11 +469,11 @@ void AC_AttitudeControl::update_ef_pitch_angle_and_error(float pitch_rate_ef, Ve
} }
// update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request // update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request
void AC_AttitudeControl::update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error) void AC_AttitudeControl::update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error, float overshoot_max)
{ {
// calculate angle error with maximum of +- max angle overshoot // calculate angle error with maximum of +- max angle overshoot
angle_ef_error.z = wrap_180_cd(_angle_ef_target.z - _ahrs.yaw_sensor); angle_ef_error.z = wrap_180_cd(_angle_ef_target.z - _ahrs.yaw_sensor);
angle_ef_error.z = constrain_float(angle_ef_error.z, -AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); angle_ef_error.z = constrain_float(angle_ef_error.z, -overshoot_max, overshoot_max);
// update yaw angle target to be within max angle overshoot of our current heading // update yaw angle target to be within max angle overshoot of our current heading
_angle_ef_target.z = angle_ef_error.z + _ahrs.yaw_sensor; _angle_ef_target.z = angle_ef_error.z + _ahrs.yaw_sensor;
@ -491,19 +491,19 @@ void AC_AttitudeControl::integrate_bf_rate_error_to_angle_errors()
// roll - calculate body-frame angle error by integrating body-frame rate error // roll - calculate body-frame angle error by integrating body-frame rate error
_angle_bf_error.x += (_rate_bf_desired.x - (_ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100)) * _dt; _angle_bf_error.x += (_rate_bf_desired.x - (_ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// roll - limit maximum error // roll - limit maximum error
_angle_bf_error.x = constrain_float(_angle_bf_error.x, -AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); _angle_bf_error.x = constrain_float(_angle_bf_error.x, -AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX);
// pitch - calculate body-frame angle error by integrating body-frame rate error // pitch - calculate body-frame angle error by integrating body-frame rate error
_angle_bf_error.y += (_rate_bf_desired.y - (_ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100)) * _dt; _angle_bf_error.y += (_rate_bf_desired.y - (_ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// pitch - limit maximum error // pitch - limit maximum error
_angle_bf_error.y = constrain_float(_angle_bf_error.y, -AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX); _angle_bf_error.y = constrain_float(_angle_bf_error.y, -AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX);
// yaw - calculate body-frame angle error by integrating body-frame rate error // yaw - calculate body-frame angle error by integrating body-frame rate error
_angle_bf_error.z += (_rate_bf_desired.z - (_ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100)) * _dt; _angle_bf_error.z += (_rate_bf_desired.z - (_ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100)) * _dt;
// yaw - limit maximum error // yaw - limit maximum error
_angle_bf_error.z = constrain_float(_angle_bf_error.z, -AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); _angle_bf_error.z = constrain_float(_angle_bf_error.z, -AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX);
// To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero // To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero
} }

7
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -33,6 +33,7 @@
#define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_100HZ_DT 0.0100f // delta time in seconds for 100hz update rate #define AC_ATTITUDE_100HZ_DT 0.0100f // delta time in seconds for 100hz update rate
#define AC_ATTITUDE_400HZ_DT 0.0025f // delta time in seconds for 400hz update rate #define AC_ATTITUDE_400HZ_DT 0.0025f // delta time in seconds for 400hz update rate
@ -171,13 +172,13 @@ protected:
} _flags; } _flags;
// update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request // update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request
void update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error); void update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
// update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request // update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request
void update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error); void update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
// update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request // update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request
void update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error); void update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
// integrate_bf_rate_error_to_angle_errors - calculates body frame angle errors // integrate_bf_rate_error_to_angle_errors - calculates body frame angle errors
// body-frame feed forward rates (centi-degrees / second) taken from _angle_bf_error // body-frame feed forward rates (centi-degrees / second) taken from _angle_bf_error