mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.8 KiB
C++
117 lines
3.8 KiB
C++
#include "AC_AttitudeControl.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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/*
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code to monitor and report on the rate controllers, allowing for
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notification of controller oscillation
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*/
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/*
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update a RMS estimate of controller state
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*/
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void AC_AttitudeControl::control_monitor_filter_pid(float value, float &rms)
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{
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const float filter_constant = 0.99f;
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// we don't do the sqrt() here as it is quite expensive. That is
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// done when reporting a result
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rms = filter_constant * rms + (1.0f - filter_constant) * sq(value);
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}
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/*
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update state in _control_monitor
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*/
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void AC_AttitudeControl::control_monitor_update(void)
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{
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const AP_Logger::PID_Info &iroll = get_rate_roll_pid().get_pid_info();
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control_monitor_filter_pid(iroll.P + iroll.FF, _control_monitor.rms_roll_P);
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control_monitor_filter_pid(iroll.D, _control_monitor.rms_roll_D);
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const AP_Logger::PID_Info &ipitch = get_rate_pitch_pid().get_pid_info();
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control_monitor_filter_pid(ipitch.P + ipitch.FF, _control_monitor.rms_pitch_P);
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control_monitor_filter_pid(ipitch.D, _control_monitor.rms_pitch_D);
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const AP_Logger::PID_Info &iyaw = get_rate_yaw_pid().get_pid_info();
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control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw);
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}
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/*
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log a CRTL message
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*/
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void AC_AttitudeControl::control_monitor_log(void) const
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{
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// @LoggerMessage: CTRL
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// @Description: Attitude Control oscillation monitor diagnostics
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// @Field: TimeUS: Time since system startup
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// @Field: RMSRollP: LPF Root-Mean-Squared Roll Rate controller P gain
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// @Field: RMSRollD: LPF Root-Mean-Squared Roll rate controller D gain
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// @Field: RMSPitchP: LPF Root-Mean-Squared Pitch Rate controller P gain
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// @Field: RMSPitchD: LPF Root-Mean-Squared Pitch Rate controller D gain
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// @Field: RMSYaw: LPF Root-Mean-Squared Yaw Rate controller P+D gain
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AP::logger().WriteStreaming("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff",
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AP_HAL::micros64(),
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(double)safe_sqrt(_control_monitor.rms_roll_P),
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(double)safe_sqrt(_control_monitor.rms_roll_D),
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(double)safe_sqrt(_control_monitor.rms_pitch_P),
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(double)safe_sqrt(_control_monitor.rms_pitch_D),
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(double)safe_sqrt(_control_monitor.rms_yaw));
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}
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/*
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return current controller RMS filter value for roll
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*/
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float AC_AttitudeControl::control_monitor_rms_output_roll(void) const
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{
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return safe_sqrt(_control_monitor.rms_roll_P + _control_monitor.rms_roll_D);
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}
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/*
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return current controller RMS filter value for roll_P
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*/
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float AC_AttitudeControl::control_monitor_rms_output_roll_P(void) const
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{
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return safe_sqrt(_control_monitor.rms_roll_P);
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}
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/*
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return current controller RMS filter value for roll_D
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*/
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float AC_AttitudeControl::control_monitor_rms_output_roll_D(void) const
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{
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return safe_sqrt(_control_monitor.rms_roll_D);
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}
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/*
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return current controller RMS filter value for pitch
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*/
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float AC_AttitudeControl::control_monitor_rms_output_pitch(void) const
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{
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return safe_sqrt(_control_monitor.rms_pitch_P + _control_monitor.rms_pitch_D);
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}
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/*
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return current controller RMS filter value for pitch_P
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*/
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float AC_AttitudeControl::control_monitor_rms_output_pitch_P(void) const
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{
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return safe_sqrt(_control_monitor.rms_pitch_P);
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}
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/*
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return current controller RMS filter value for pitch_D
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*/
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float AC_AttitudeControl::control_monitor_rms_output_pitch_D(void) const
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{
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return safe_sqrt(_control_monitor.rms_pitch_D);
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}
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/*
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return current controller RMS filter value for yaw
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*/
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float AC_AttitudeControl::control_monitor_rms_output_yaw(void) const
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{
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return safe_sqrt(_control_monitor.rms_yaw);
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}
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