mirror of https://github.com/ArduPilot/ardupilot
228 lines
8.5 KiB
C++
228 lines
8.5 KiB
C++
#include <AP_WheelEncoder/AP_WheelRateControl.h>
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
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// @Param: _ENABLE
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// @DisplayName: Wheel rate control enable/disable
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// @Description: Enable or disable wheel rate control
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO_FLAGS("_ENABLE", 1, AP_WheelRateControl, _enabled, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: _RATE_MAX
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// @DisplayName: Wheel max rotation rate
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// @Description: Wheel max rotation rate
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// @Units: rad/s
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// @Range: 0 200
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// @User: Standard
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AP_GROUPINFO("_RATE_MAX", 2, AP_WheelRateControl, _rate_max, AP_WHEEL_RATE_MAX_DEFAULT),
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// @Param: _RATE_FF
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// @DisplayName: Wheel rate control feed forward gain
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// @Description: Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
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// @Range: 0.100 2.000
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// @User: Standard
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// @Param: _RATE_P
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// @DisplayName: Wheel rate control P gain
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// @Description: Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
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// @Range: 0.100 2.000
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// @User: Standard
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// @Param: _RATE_I
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// @DisplayName: Wheel rate control I gain
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// @Description: Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual
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// @Range: 0.000 2.000
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// @User: Standard
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// @Param: _RATE_IMAX
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// @DisplayName: Wheel rate control I gain maximum
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// @Description: Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate
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// @Range: 0.000 1.000
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// @User: Standard
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// @Param: _RATE_D
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// @DisplayName: Wheel rate control D gain
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// @Description: Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
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// @Range: 0.000 0.400
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// @User: Standard
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// @Param: _RATE_FILT
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// @DisplayName: Wheel rate control filter frequency
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// @Description: Wheel rate control input filter. Lower values reduce noise but add delay.
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// @Range: 1.000 100.000
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_FLTT
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// @DisplayName: Wheel rate control target frequency in Hz
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// @Description: Wheel rate control target frequency in Hz
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// @Range: 1 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_FLTE
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// @DisplayName: Wheel rate control error frequency in Hz
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// @Description: Wheel rate control error frequency in Hz
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// @Range: 1 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_FLTD
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// @DisplayName: Wheel rate control derivative frequency in Hz
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// @Description: Wheel rate control derivative frequency in Hz
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// @Range: 1 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_SMAX
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// @DisplayName: Wheel rate slew rate limit
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
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// @Range: 0 200
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// @Increment: 0.5
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// @User: Advanced
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AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
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// @Param: 2_RATE_FF
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// @DisplayName: Wheel rate control feed forward gain
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// @Description: Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
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// @Range: 0.100 2.000
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// @User: Standard
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// @Param: 2_RATE_P
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// @DisplayName: Wheel rate control P gain
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// @Description: Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
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// @Range: 0.100 2.000
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// @User: Standard
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// @Param: 2_RATE_I
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// @DisplayName: Wheel rate control I gain
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// @Description: Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual
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// @Range: 0.000 2.000
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// @User: Standard
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// @Param: 2_RATE_IMAX
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// @DisplayName: Wheel rate control I gain maximum
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// @Description: Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate
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// @Range: 0.000 1.000
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// @User: Standard
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// @Param: 2_RATE_D
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// @DisplayName: Wheel rate control D gain
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// @Description: Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
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// @Range: 0.000 0.400
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// @User: Standard
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// @Param: 2_RATE_FILT
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// @DisplayName: Wheel rate control filter frequency
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// @Description: Wheel rate control input filter. Lower values reduce noise but add delay.
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// @Range: 1.000 100.000
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// @Units: Hz
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// @User: Standard
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// @Param: 2_RATE_FLTT
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// @DisplayName: Wheel rate control target frequency in Hz
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// @Description: Wheel rate control target frequency in Hz
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// @Range: 1 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: 2_RATE_FLTE
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// @DisplayName: Wheel rate control error frequency in Hz
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// @Description: Wheel rate control error frequency in Hz
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// @Range: 1 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: 2_RATE_FLTD
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// @DisplayName: Wheel rate control derivative frequency in Hz
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// @Description: Wheel rate control derivative frequency in Hz
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// @Range: 1 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: 2_RATE_SMAX
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// @DisplayName: Wheel rate slew rate limit
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
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// @Range: 0 200
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// @Increment: 0.5
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// @User: Advanced
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AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID),
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AP_GROUPEND
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};
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AP_WheelRateControl::AP_WheelRateControl(const AP_WheelEncoder &wheel_encoder_ref) :
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_wheel_encoder(wheel_encoder_ref)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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// returns true if a wheel encoder and rate control PID are available for this instance
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bool AP_WheelRateControl::enabled(uint8_t instance)
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{
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// sanity check instance
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if ((instance > 1) || (_enabled == 0)) {
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return false;
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}
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// wheel encoder enabled
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return _wheel_encoder.enabled(instance);
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}
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// get throttle output in the range -100 to +100 given a desired rate expressed as a percentage of the rate_max (-100 to +100)
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// instance can be 0 or 1
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float AP_WheelRateControl::get_rate_controlled_throttle(uint8_t instance, float desired_rate_pct, float dt)
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{
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if (!enabled(instance)) {
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return 0;
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}
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// determine which PID instance to use
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AC_PID& rate_pid = (instance == 0) ? _rate_pid0 : _rate_pid1;
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// check for timeout
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uint32_t now = AP_HAL::millis();
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if (now - _last_update_ms > AP_WHEEL_RATE_CONTROL_TIMEOUT_MS) {
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rate_pid.reset_filter();
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rate_pid.reset_I();
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_limit[instance].lower = false;
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_limit[instance].upper = false;
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}
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_last_update_ms = now;
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// convert desired rate as a percentage to radians/sec
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float desired_rate = desired_rate_pct * 0.01f * get_rate_max_rads();
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// get actual rate from wheel encoder
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float actual_rate = _wheel_encoder.get_rate(instance);
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// constrain and set limit flags
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float output = rate_pid.update_all(desired_rate, actual_rate, dt, (_limit[instance].lower || _limit[instance].upper));
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output += rate_pid.get_ff();
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// set limits for next iteration
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_limit[instance].upper = output >= 100.0f;
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_limit[instance].lower = output <= -100.0f;
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return output;
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}
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// get pid objects for reporting
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AC_PID& AP_WheelRateControl::get_pid(uint8_t instance)
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{
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if (instance == 0) {
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return _rate_pid0;
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} else {
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return _rate_pid1;
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}
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}
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