#pragma once #include #include #include #include // P library #include // PID library #include // P library (1-axis) #include // P library (2-axis) #include // PI library (2-axis) #include // PID library (1-axis) #include // PID library (2-axis) #include // Inertial Navigation library #include "AC_AttitudeControl.h" // Attitude control library // position controller default definitions #define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers #define POSCONTROL_JERK_XY 5.0f // default horizontal jerk m/s/s/s #define POSCONTROL_STOPPING_DIST_UP_MAX 300.0f // max stopping distance (in cm) vertically while climbing #define POSCONTROL_STOPPING_DIST_DOWN_MAX 200.0f // max stopping distance (in cm) vertically while descending #define POSCONTROL_SPEED 500.0f // default horizontal speed in cm/s #define POSCONTROL_SPEED_DOWN -150.0f // default descent rate in cm/s #define POSCONTROL_SPEED_UP 250.0f // default climb rate in cm/s #define POSCONTROL_ACCEL_Z 250.0f // default vertical acceleration in cm/s/s. #define POSCONTROL_JERK_Z 5.0f // default vertical jerk m/s/s/s #define POSCONTROL_THROTTLE_CUTOFF_FREQ_HZ 2.0f // low-pass filter on acceleration error (unit: Hz) #define POSCONTROL_OVERSPEED_GAIN_Z 2.0f // gain controlling rate at which z-axis speed is brought back within SPEED_UP and SPEED_DOWN range #define POSCONTROL_RELAX_TC 0.16f // This is used to decay the I term to 5% in half a second. class AC_PosControl { public: /// Constructor AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav, const class AP_Motors& motors, AC_AttitudeControl& attitude_control); /// set_dt / get_dt - dt is the time since the last time the position controllers were updated /// _dt should be set based on the time of the last IMU read used by these controllers /// the position controller should run updates for active controllers on each loop to ensure normal operation void set_dt(float dt) { _dt = dt; } float get_dt() const { return _dt; } /// get_shaping_jerk_xy_cmsss - gets the jerk limit of the xy kinematic path generation in cm/s/s/s float get_shaping_jerk_xy_cmsss() const { return _shaping_jerk_xy*100.0; } /// /// 3D position shaper /// /// input_pos_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_xy. void input_pos_xyz(const Vector3p& pos, float pos_offset_z, float pos_offset_z_buffer); /// pos_offset_z_scaler - calculates a multiplier used to reduce the horizontal velocity to allow the z position controller to stay within the provided buffer range float pos_offset_z_scaler(float pos_offset_z, float pos_offset_z_buffer) const; /// /// Lateral position controller /// /// set_max_speed_accel_xy - set the maximum horizontal speed in cm/s and acceleration in cm/s/s /// This function only needs to be called if using the kinematic shaping. /// This can be done at any time as changes in these parameters are handled smoothly /// by the kinematic shaping. void set_max_speed_accel_xy(float speed_cms, float accel_cmss); /// set_max_speed_accel_xy - set the position controller correction velocity and acceleration limit /// This should be done only during initialisation to avoid discontinuities void set_correction_speed_accel_xy(float speed_cms, float accel_cmss); /// get_max_speed_xy_cms - get the maximum horizontal speed in cm/s float get_max_speed_xy_cms() const { return _vel_max_xy_cms; } /// get_max_accel_xy_cmss - get the maximum horizontal acceleration in cm/s/s float get_max_accel_xy_cmss() const { return _accel_max_xy_cmss; } // set the maximum horizontal position error that will be allowed in the horizontal plane void set_pos_error_max_xy_cm(float error_max) { _p_pos_xy.set_error_max(error_max); } float get_pos_error_max_xy_cm() { return _p_pos_xy.get_error_max(); } /// init_xy_controller_stopping_point - initialise the position controller to the stopping point with zero velocity and acceleration. /// This function should be used when the expected kinematic path assumes a stationary initial condition but does not specify a specific starting position. /// The starting position can be retrieved by getting the position target using get_pos_target_cm() after calling this function. void init_xy_controller_stopping_point(); // relax_velocity_controller_xy - initialise the position controller to the current position and velocity with decaying acceleration. /// This function decays the output acceleration by 95% every half second to achieve a smooth transition to zero requested acceleration. void relax_velocity_controller_xy(); /// reduce response for landing void soften_for_landing_xy(); // init_xy_controller - initialise the position controller to the current position, velocity, acceleration and attitude. /// This function is the default initialisation for any position control that provides position, velocity and acceleration. /// This function is private and contains all the shared xy axis initialisation functions void init_xy_controller(); /// input_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_xy. /// The jerk limit defines the acceleration error decay in the kinematic path as the system approaches constant acceleration. /// The jerk limit also defines the time taken to achieve the maximum acceleration. void input_accel_xy(const Vector3f& accel); /// input_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_xy. /// The function alters the vel to be the kinematic path based on accel /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. void input_vel_accel_xy(Vector2f& vel, const Vector2f& accel, bool limit_output = true); /// input_pos_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_xy. /// The function alters the pos and vel to be the kinematic path based on accel /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. void input_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel, bool limit_output = true); // is_active_xy - returns true if the xy position controller has been run in the previous 5 loop times bool is_active_xy() const; /// stop_pos_xy_stabilisation - sets the target to the current position to remove any position corrections from the system void stop_pos_xy_stabilisation(); /// stop_vel_xy_stabilisation - sets the target to the current position and velocity to the current velocity to remove any position and velocity corrections from the system void stop_vel_xy_stabilisation(); /// update_xy_controller - runs the horizontal position controller correcting position, velocity and acceleration errors. /// Position and velocity errors are converted to velocity and acceleration targets using PID objects /// Desired velocity and accelerations are added to these corrections as they are calculated /// Kinematically consistent target position and desired velocity and accelerations should be provided before calling this function void update_xy_controller(); /// /// Vertical position controller /// /// set_max_speed_accel_z - set the maximum vertical speed in cm/s and acceleration in cm/s/s /// speed_down can be positive or negative but will always be interpreted as a descent speed /// This can be done at any time as changes in these parameters are handled smoothly /// by the kinematic shaping. void set_max_speed_accel_z(float speed_down, float speed_up, float accel_cmss); /// set_correction_speed_accel_z - set the position controller correction velocity and acceleration limit /// speed_down can be positive or negative but will always be interpreted as a descent speed /// This should be done only during initialisation to avoid discontinuities void set_correction_speed_accel_z(float speed_down, float speed_up, float accel_cmss); /// get_max_accel_z_cmss - get the maximum vertical acceleration in cm/s/s float get_max_accel_z_cmss() const { return _accel_max_z_cmss; } // get_pos_error_z_up_cm - get the maximum vertical position error up that will be allowed float get_pos_error_z_up_cm() { return _p_pos_z.get_error_max(); } // get_pos_error_z_down_cm - get the maximum vertical position error down that will be allowed float get_pos_error_z_down_cm() { return _p_pos_z.get_error_min(); } /// get_max_speed_up_cms - accessors for current maximum up speed in cm/s float get_max_speed_up_cms() const { return _vel_max_up_cms; } /// get_max_speed_down_cms - accessors for current maximum down speed in cm/s. Will be a negative number float get_max_speed_down_cms() const { return _vel_max_down_cms; } /// init_z_controller_no_descent - initialise the position controller to the current position, velocity, acceleration and attitude. /// This function is the default initialisation for any position control that provides position, velocity and acceleration. /// This function does not allow any negative velocity or acceleration void init_z_controller_no_descent(); /// init_z_controller_stopping_point - initialise the position controller to the stopping point with zero velocity and acceleration. /// This function should be used when the expected kinematic path assumes a stationary initial condition but does not specify a specific starting position. /// The starting position can be retrieved by getting the position target using get_pos_target_cm() after calling this function. void init_z_controller_stopping_point(); // relax_z_controller - initialise the position controller to the current position and velocity with decaying acceleration. /// This function decays the output acceleration by 95% every half second to achieve a smooth transition to zero requested acceleration. void relax_z_controller(float throttle_setting); // init_z_controller - initialise the position controller to the current position, velocity, acceleration and attitude. /// This function is the default initialisation for any position control that provides position, velocity and acceleration. /// This function is private and contains all the shared z axis initialisation functions void init_z_controller(); /// input_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z. virtual void input_accel_z(float accel); /// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z. /// The function alters the vel to be the kinematic path based on accel /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. virtual void input_vel_accel_z(float &vel, float accel, bool ignore_descent_limit, bool limit_output = true); /// set_pos_target_z_from_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s /// using the default position control kinematic path. /// The zero target altitude is varied to follow pos_offset_z void set_pos_target_z_from_climb_rate_cm(float vel); /// land_at_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s /// using the default position control kinematic path. /// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing. void land_at_climb_rate_cm(float vel, bool ignore_descent_limit); /// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration. /// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt. /// The function alters the pos and vel to be the kinematic path based on accel /// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction. void input_pos_vel_accel_z(float &pos, float &vel, float accel, bool limit_output = true); /// set_alt_target_with_slew - adjusts target up or down using a commanded altitude in cm /// using the default position control kinematic path. void set_alt_target_with_slew(float pos); /// update_pos_offset_z - updates the vertical offsets used by terrain following void update_pos_offset_z(float pos_offset); // is_active_z - returns true if the z position controller has been run in the previous 5 loop times bool is_active_z() const; /// update_z_controller - runs the vertical position controller correcting position, velocity and acceleration errors. /// Position and velocity errors are converted to velocity and acceleration targets using PID objects /// Desired velocity and accelerations are added to these corrections as they are calculated /// Kinematically consistent target position and desired velocity and accelerations should be provided before calling this function void update_z_controller(); /// /// Accessors /// /// set commanded position (cm), velocity (cm/s) and acceleration (cm/s/s) inputs when the path is created externally. void set_pos_vel_accel(const Vector3p& pos, const Vector3f& vel, const Vector3f& accel); void set_pos_vel_accel_xy(const Vector2p& pos, const Vector2f& vel, const Vector2f& accel); /// Position /// set_pos_target_xy_cm - sets the position target, frame NEU in cm relative to the EKF origin void set_pos_target_xy_cm(float pos_x, float pos_y) { _pos_target.x = pos_x; _pos_target.y = pos_y; } /// get_pos_target_cm - returns the position target, frame NEU in cm relative to the EKF origin const Vector3p& get_pos_target_cm() const { return _pos_target; } /// set_pos_target_z_cm - set altitude target in cm above the EKF origin void set_pos_target_z_cm(float pos_target) { _pos_target.z = pos_target; } /// get_pos_target_z_cm - get target altitude (in cm above the EKF origin) float get_pos_target_z_cm() const { return _pos_target.z; } /// get_stopping_point_xy_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration void get_stopping_point_xy_cm(Vector2p &stopping_point) const; /// get_stopping_point_z_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration void get_stopping_point_z_cm(postype_t &stopping_point) const; /// get_pos_error_cm - get position error vector between the current and target position const Vector3f get_pos_error_cm() const { return (_pos_target - _inav.get_position_neu_cm().topostype()).tofloat(); } /// get_pos_error_xy_cm - get the length of the position error vector in the xy plane float get_pos_error_xy_cm() const { return get_horizontal_distance_cm(_inav.get_position_xy_cm().topostype(), _pos_target.xy()); } /// get_pos_error_z_cm - returns altitude error in cm float get_pos_error_z_cm() const { return (_pos_target.z - _inav.get_position_z_up_cm()); } /// Velocity /// set_vel_desired_cms - sets desired velocity in NEU cm/s void set_vel_desired_cms(const Vector3f &des_vel) { _vel_desired = des_vel; } /// set_vel_desired_xy_cms - sets horizontal desired velocity in NEU cm/s void set_vel_desired_xy_cms(const Vector2f &vel) {_vel_desired.xy() = vel; } /// get_vel_desired_cms - returns desired velocity (i.e. feed forward) in cm/s in NEU const Vector3f& get_vel_desired_cms() { return _vel_desired; } // get_vel_target_cms - returns the target velocity in NEU cm/s const Vector3f& get_vel_target_cms() const { return _vel_target; } /// set_vel_desired_z_cms - sets desired velocity in cm/s in z axis void set_vel_desired_z_cms(float vel_z_cms) {_vel_desired.z = vel_z_cms;} /// get_vel_target_z_cms - returns current vertical speed in cm/s float get_vel_target_z_cms() const { return _vel_target.z; } /// Acceleration // set_accel_desired_xy_cmss set desired acceleration in cm/s in xy axis void set_accel_desired_xy_cmss(const Vector2f &accel_cms) { _accel_desired.xy() = accel_cms; } // get_accel_target_cmss - returns the target acceleration in NEU cm/s/s const Vector3f& get_accel_target_cmss() const { return _accel_target; } /// Offset /// set_pos_offset_target_z_cm - set altitude offset target in cm above the EKF origin void set_pos_offset_target_z_cm(float pos_offset_target_z) { _pos_offset_target_z = pos_offset_target_z; } /// set_pos_offset_z_cm - set altitude offset in cm above the EKF origin void set_pos_offset_z_cm(float pos_offset_z) { _pos_offset_z = pos_offset_z; } /// get_pos_offset_z_cm - returns altitude offset in cm above the EKF origin float get_pos_offset_z_cm() const { return _pos_offset_z; } /// get_vel_offset_z_cm - returns current vertical offset speed in cm/s float get_vel_offset_z_cms() const { return _vel_offset_z; } /// get_accel_offset_z_cm - returns current vertical offset acceleration in cm/s/s float get_accel_offset_z_cmss() const { return _accel_offset_z; } /// Outputs /// get desired roll and pitch to be passed to the attitude controller float get_roll_cd() const { return _roll_target; } float get_pitch_cd() const { return _pitch_target; } /// get desired yaw to be passed to the attitude controller float get_yaw_cd() const { return _yaw_target; } /// get desired yaw rate to be passed to the attitude controller float get_yaw_rate_cds() const { return _yaw_rate_target; } /// get desired roll and pitch to be passed to the attitude controller Vector3f get_thrust_vector() const; /// get_bearing_to_target_cd - get bearing to target position in centi-degrees int32_t get_bearing_to_target_cd() const; /// get_lean_angle_max_cd - returns the maximum lean angle the autopilot may request float get_lean_angle_max_cd() const; /* set_lean_angle_max_cd - set the maximum lean angle. A value of zero means to use the ANGLE_MAX parameter. This is reset to zero on init_xy_controller() */ void set_lean_angle_max_cd(float angle_max_cd) { _angle_max_override_cd = angle_max_cd; } /// Other /// get pid controllers AC_P_2D& get_pos_xy_p() { return _p_pos_xy; } AC_P_1D& get_pos_z_p() { return _p_pos_z; } AC_PID_2D& get_vel_xy_pid() { return _pid_vel_xy; } AC_PID_Basic& get_vel_z_pid() { return _pid_vel_z; } AC_PID& get_accel_z_pid() { return _pid_accel_z; } /// set_limit_accel_xy - mark that accel has been limited /// this prevents integrator buildup void set_externally_limited_xy() { _limit_vector.x = _accel_target.x; _limit_vector.y = _accel_target.y; } // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s Vector3f lean_angles_to_accel(const Vector3f& att_target_euler) const; // write PSC and/or PSCZ logs void write_log(); // provide feedback on whether arming would be a good idea right now: bool pre_arm_checks(const char *param_prefix, char *failure_msg, const uint8_t failure_msg_len); // enable or disable high vibration compensation void set_vibe_comp(bool on_off) { _vibe_comp_enabled = on_off; } /// get_vel_z_error_ratio - returns the proportion of error relative to the maximum request float get_vel_z_control_ratio() const { return constrain_float(_vel_z_control_ratio, 0.0f, 1.0f); } /// crosstrack_error - returns horizontal error to the closest point to the current track float crosstrack_error() const; /// standby_xyz_reset - resets I terms and removes position error /// This function will let Loiter and Alt Hold continue to operate /// in the event that the flight controller is in control of the /// aircraft when in standby. void standby_xyz_reset(); // get earth-frame Z-axis acceleration with gravity removed in cm/s/s with +ve being up float get_z_accel_cmss() const { return -(_ahrs.get_accel_ef().z + GRAVITY_MSS) * 100.0f; } static const struct AP_Param::GroupInfo var_info[]; protected: // get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain) float get_throttle_with_vibration_override(); // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s void accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const; // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s void lean_angles_to_accel_xy(float& accel_x_cmss, float& accel_y_cmss) const; // calculate_yaw_and_rate_yaw - calculate the vehicle yaw and rate of yaw. bool calculate_yaw_and_rate_yaw(); // calculate_overspeed_gain - calculated increased maximum acceleration and jerk if over speed condition is detected float calculate_overspeed_gain(); /// initialise and check for ekf position resets void init_ekf_xy_reset(); void handle_ekf_xy_reset(); void init_ekf_z_reset(); void handle_ekf_z_reset(); // references to inertial nav and ahrs libraries AP_AHRS_View& _ahrs; const AP_InertialNav& _inav; const class AP_Motors& _motors; AC_AttitudeControl& _attitude_control; // parameters AP_Float _lean_angle_max; // Maximum autopilot commanded angle (in degrees). Set to zero for Angle Max AP_Float _shaping_jerk_xy; // Jerk limit of the xy kinematic path generation in m/s^3 used to determine how quickly the aircraft varies the acceleration target AP_Float _shaping_jerk_z; // Jerk limit of the z kinematic path generation in m/s^3 used to determine how quickly the aircraft varies the acceleration target AC_P_2D _p_pos_xy; // XY axis position controller to convert distance error to desired velocity AC_P_1D _p_pos_z; // Z axis position controller to convert altitude error to desired climb rate AC_PID_2D _pid_vel_xy; // XY axis velocity controller to convert velocity error to desired acceleration AC_PID_Basic _pid_vel_z; // Z axis velocity controller to convert climb rate error to desired acceleration AC_PID _pid_accel_z; // Z axis acceleration controller to convert desired acceleration to throttle output // internal variables float _dt; // time difference (in seconds) since the last loop time uint64_t _last_update_xy_us; // system time (in microseconds) since last update_xy_controller call uint64_t _last_update_z_us; // system time (in microseconds) since last update_z_controller call float _vel_max_xy_cms; // max horizontal speed in cm/s used for kinematic shaping float _vel_max_up_cms; // max climb rate in cm/s used for kinematic shaping float _vel_max_down_cms; // max descent rate in cm/s used for kinematic shaping float _accel_max_xy_cmss; // max horizontal acceleration in cm/s/s used for kinematic shaping float _accel_max_z_cmss; // max vertical acceleration in cm/s/s used for kinematic shaping float _jerk_max_xy_cmsss; // Jerk limit of the xy kinematic path generation in cm/s^3 used to determine how quickly the aircraft varies the acceleration target float _jerk_max_z_cmsss; // Jerk limit of the z kinematic path generation in cm/s^3 used to determine how quickly the aircraft varies the acceleration target float _vel_z_control_ratio = 2.0f; // confidence that we have control in the vertical axis // output from controller float _roll_target; // desired roll angle in centi-degrees calculated by position controller float _pitch_target; // desired roll pitch in centi-degrees calculated by position controller float _yaw_target; // desired yaw in centi-degrees calculated by position controller float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller // position controller internal variables Vector3p _pos_target; // target location, frame NEU in cm relative to the EKF origin Vector3f _vel_desired; // desired velocity in NEU cm/s Vector3f _vel_target; // velocity target in NEU cm/s calculated by pos_to_rate step Vector3f _accel_desired; // desired acceleration in NEU cm/s/s (feed forward) Vector3f _accel_target; // acceleration target in NEU cm/s/s Vector3f _limit_vector; // the direction that the position controller is limited, zero when not limited float _pos_offset_target_z; // vertical position offset target, frame NEU in cm relative to the EKF origin float _pos_offset_z; // vertical position offset, frame NEU in cm relative to the EKF origin float _vel_offset_z; // vertical velocity offset in NEU cm/s calculated by pos_to_rate step float _accel_offset_z; // vertical acceleration offset in NEU cm/s/s // ekf reset handling uint32_t _ekf_xy_reset_ms; // system time of last recorded ekf xy position reset uint32_t _ekf_z_reset_ms; // system time of last recorded ekf altitude reset // high vibration handling bool _vibe_comp_enabled; // true when high vibration compensation is on // angle max override, if zero then use ANGLE_MAX parameter float _angle_max_override_cd; // return true if on a real vehicle or SITL with lock-step scheduling bool has_good_timing(void) const; };