mirror of https://github.com/ArduPilot/ardupilot
1345 lines
60 KiB
C++
1345 lines
60 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AC_PosControl.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_Logger/AP_Logger.h>
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extern const AP_HAL::HAL& hal;
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#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
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// default gains for Plane
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# define POSCONTROL_POS_Z_P 1.0f // vertical position controller P gain default
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# define POSCONTROL_VEL_Z_P 5.0f // vertical velocity controller P gain default
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# define POSCONTROL_VEL_Z_IMAX 1000.0f // vertical velocity controller IMAX gain default
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# define POSCONTROL_VEL_Z_FILT_HZ 5.0f // vertical velocity controller input filter
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# define POSCONTROL_VEL_Z_FILT_D_HZ 5.0f // vertical velocity controller input filter for D
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# define POSCONTROL_ACC_Z_P 0.3f // vertical acceleration controller P gain default
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# define POSCONTROL_ACC_Z_I 1.0f // vertical acceleration controller I gain default
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# define POSCONTROL_ACC_Z_D 0.0f // vertical acceleration controller D gain default
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# define POSCONTROL_ACC_Z_IMAX 800 // vertical acceleration controller IMAX gain default
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# define POSCONTROL_ACC_Z_FILT_HZ 10.0f // vertical acceleration controller input filter default
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# define POSCONTROL_ACC_Z_DT 0.02f // vertical acceleration controller dt default
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# define POSCONTROL_POS_XY_P 1.0f // horizontal position controller P gain default
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# define POSCONTROL_VEL_XY_P 1.4f // horizontal velocity controller P gain default
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# define POSCONTROL_VEL_XY_I 0.7f // horizontal velocity controller I gain default
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# define POSCONTROL_VEL_XY_D 0.35f // horizontal velocity controller D gain default
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# define POSCONTROL_VEL_XY_IMAX 1000.0f // horizontal velocity controller IMAX gain default
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# define POSCONTROL_VEL_XY_FILT_HZ 5.0f // horizontal velocity controller input filter
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# define POSCONTROL_VEL_XY_FILT_D_HZ 5.0f // horizontal velocity controller input filter for D
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#elif APM_BUILD_TYPE(APM_BUILD_ArduSub)
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// default gains for Sub
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# define POSCONTROL_POS_Z_P 3.0f // vertical position controller P gain default
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# define POSCONTROL_VEL_Z_P 8.0f // vertical velocity controller P gain default
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# define POSCONTROL_VEL_Z_IMAX 1000.0f // vertical velocity controller IMAX gain default
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# define POSCONTROL_VEL_Z_FILT_HZ 5.0f // vertical velocity controller input filter
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# define POSCONTROL_VEL_Z_FILT_D_HZ 5.0f // vertical velocity controller input filter for D
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# define POSCONTROL_ACC_Z_P 0.5f // vertical acceleration controller P gain default
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# define POSCONTROL_ACC_Z_I 0.1f // vertical acceleration controller I gain default
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# define POSCONTROL_ACC_Z_D 0.0f // vertical acceleration controller D gain default
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# define POSCONTROL_ACC_Z_IMAX 100 // vertical acceleration controller IMAX gain default
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# define POSCONTROL_ACC_Z_FILT_HZ 20.0f // vertical acceleration controller input filter default
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# define POSCONTROL_ACC_Z_DT 0.0025f // vertical acceleration controller dt default
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# define POSCONTROL_POS_XY_P 1.0f // horizontal position controller P gain default
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# define POSCONTROL_VEL_XY_P 1.0f // horizontal velocity controller P gain default
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# define POSCONTROL_VEL_XY_I 0.5f // horizontal velocity controller I gain default
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# define POSCONTROL_VEL_XY_D 0.0f // horizontal velocity controller D gain default
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# define POSCONTROL_VEL_XY_IMAX 1000.0f // horizontal velocity controller IMAX gain default
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# define POSCONTROL_VEL_XY_FILT_HZ 5.0f // horizontal velocity controller input filter
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# define POSCONTROL_VEL_XY_FILT_D_HZ 5.0f // horizontal velocity controller input filter for D
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#else
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// default gains for Copter / TradHeli
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# define POSCONTROL_POS_Z_P 1.0f // vertical position controller P gain default
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# define POSCONTROL_VEL_Z_P 5.0f // vertical velocity controller P gain default
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# define POSCONTROL_VEL_Z_IMAX 1000.0f // vertical velocity controller IMAX gain default
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# define POSCONTROL_VEL_Z_FILT_HZ 5.0f // vertical velocity controller input filter
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# define POSCONTROL_VEL_Z_FILT_D_HZ 5.0f // vertical velocity controller input filter for D
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# define POSCONTROL_ACC_Z_P 0.5f // vertical acceleration controller P gain default
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# define POSCONTROL_ACC_Z_I 1.0f // vertical acceleration controller I gain default
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# define POSCONTROL_ACC_Z_D 0.0f // vertical acceleration controller D gain default
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# define POSCONTROL_ACC_Z_IMAX 800 // vertical acceleration controller IMAX gain default
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# define POSCONTROL_ACC_Z_FILT_HZ 20.0f // vertical acceleration controller input filter default
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# define POSCONTROL_ACC_Z_DT 0.0025f // vertical acceleration controller dt default
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# define POSCONTROL_POS_XY_P 1.0f // horizontal position controller P gain default
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# define POSCONTROL_VEL_XY_P 2.0f // horizontal velocity controller P gain default
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# define POSCONTROL_VEL_XY_I 1.0f // horizontal velocity controller I gain default
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# define POSCONTROL_VEL_XY_D 0.5f // horizontal velocity controller D gain default
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# define POSCONTROL_VEL_XY_IMAX 1000.0f // horizontal velocity controller IMAX gain default
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# define POSCONTROL_VEL_XY_FILT_HZ 5.0f // horizontal velocity controller input filter
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# define POSCONTROL_VEL_XY_FILT_D_HZ 5.0f // horizontal velocity controller input filter for D
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#endif
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// vibration compensation gains
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#define POSCONTROL_VIBE_COMP_P_GAIN 0.250f
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#define POSCONTROL_VIBE_COMP_I_GAIN 0.125f
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const AP_Param::GroupInfo AC_PosControl::var_info[] = {
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// 0 was used for HOVER
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// @Param: _ACC_XY_FILT
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// @DisplayName: XY Acceleration filter cutoff frequency
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// @Description: Lower values will slow the response of the navigation controller and reduce twitchiness
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// @Units: Hz
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// @Range: 0.5 5
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// @Increment: 0.1
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// @User: Advanced
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// @Param: _POSZ_P
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// @DisplayName: Position (vertical) controller P gain
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// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
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// @Range: 1.000 3.000
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// @User: Standard
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AP_SUBGROUPINFO(_p_pos_z, "_POSZ_", 2, AC_PosControl, AC_P_1D),
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// @Param: _VELZ_P
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// @DisplayName: Velocity (vertical) controller P gain
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// @Description: Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
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// @Range: 1.000 8.000
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// @User: Standard
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// @Param: _VELZ_I
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// @DisplayName: Velocity (vertical) controller I gain
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// @Description: Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration
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// @Range: 0.02 1.00
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _VELZ_IMAX
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// @DisplayName: Velocity (vertical) controller I gain maximum
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// @Description: Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output
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// @Range: 1.000 8.000
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// @User: Standard
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// @Param: _VELZ_D
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// @DisplayName: Velocity (vertical) controller D gain
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// @Description: Velocity (vertical) controller D gain. Corrects short-term changes in velocity
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// @Range: 0.00 1.00
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// @Increment: 0.001
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// @User: Advanced
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// @Param: _VELZ_FF
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// @DisplayName: Velocity (vertical) controller Feed Forward gain
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// @Description: Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target
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// @Range: 0 1
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _VELZ_FLTE
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// @DisplayName: Velocity (vertical) error filter
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// @Description: Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms
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// @Range: 0 100
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// @Units: Hz
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// @User: Advanced
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// @Param: _VELZ_FLTD
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// @DisplayName: Velocity (vertical) input filter for D term
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// @Description: Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms
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// @Range: 0 100
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// @Units: Hz
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// @User: Advanced
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AP_SUBGROUPINFO(_pid_vel_z, "_VELZ_", 3, AC_PosControl, AC_PID_Basic),
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// @Param: _ACCZ_P
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// @DisplayName: Acceleration (vertical) controller P gain
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// @Description: Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
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// @Range: 0.200 1.500
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// @Increment: 0.05
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// @User: Standard
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// @Param: _ACCZ_I
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// @DisplayName: Acceleration (vertical) controller I gain
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// @Description: Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
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// @Range: 0.000 3.000
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// @User: Standard
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// @Param: _ACCZ_IMAX
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// @DisplayName: Acceleration (vertical) controller I gain maximum
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// @Description: Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate
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// @Range: 0 1000
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// @Units: d%
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// @User: Standard
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// @Param: _ACCZ_D
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// @DisplayName: Acceleration (vertical) controller D gain
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// @Description: Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
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// @Range: 0.000 0.400
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// @User: Standard
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// @Param: _ACCZ_FF
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// @DisplayName: Acceleration (vertical) controller feed forward
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// @Description: Acceleration (vertical) controller feed forward
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// @Range: 0 0.5
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// @Increment: 0.001
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// @User: Standard
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// @Param: _ACCZ_FLTT
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// @DisplayName: Acceleration (vertical) controller target frequency in Hz
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// @Description: Acceleration (vertical) controller 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: _ACCZ_FLTE
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// @DisplayName: Acceleration (vertical) controller error frequency in Hz
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// @Description: Acceleration (vertical) controller error frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _ACCZ_FLTD
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// @DisplayName: Acceleration (vertical) controller derivative frequency in Hz
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// @Description: Acceleration (vertical) controller derivative frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _ACCZ_SMAX
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// @DisplayName: Accel (vertical) 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(_pid_accel_z, "_ACCZ_", 4, AC_PosControl, AC_PID),
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// @Param: _POSXY_P
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// @DisplayName: Position (horizontal) controller P gain
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// @Description: Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
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// @Range: 0.500 2.000
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// @User: Standard
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AP_SUBGROUPINFO(_p_pos_xy, "_POSXY_", 5, AC_PosControl, AC_P_2D),
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// @Param: _VELXY_P
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// @DisplayName: Velocity (horizontal) P gain
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// @Description: Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration
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// @Range: 0.1 6.0
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// @Increment: 0.1
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// @User: Advanced
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// @Param: _VELXY_I
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// @DisplayName: Velocity (horizontal) I gain
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// @Description: Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
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// @Range: 0.02 1.00
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// @Increment: 0.01
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// @User: Advanced
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// @Param: _VELXY_D
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// @DisplayName: Velocity (horizontal) D gain
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// @Description: Velocity (horizontal) D gain. Corrects short-term changes in velocity
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// @Range: 0.00 1.00
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// @Increment: 0.001
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// @User: Advanced
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// @Param: _VELXY_IMAX
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// @DisplayName: Velocity (horizontal) integrator maximum
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// @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: cm/s/s
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// @User: Advanced
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// @Param: _VELXY_FILT
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// @DisplayName: Velocity (horizontal) input filter
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// @Description: Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
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// @Range: 0 100
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// @Units: Hz
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// @User: Advanced
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// @Param: _VELXY_D_FILT
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// @DisplayName: Velocity (horizontal) input filter
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// @Description: Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term
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// @Range: 0 100
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// @Units: Hz
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// @User: Advanced
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// @Param: _VELXY_FF
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// @DisplayName: Velocity (horizontal) feed forward gain
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// @Description: Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration
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// @Range: 0 6
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// @Increment: 0.01
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// @User: Advanced
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AP_SUBGROUPINFO(_pid_vel_xy, "_VELXY_", 6, AC_PosControl, AC_PID_2D),
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// @Param: _ANGLE_MAX
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// @DisplayName: Position Control Angle Max
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// @Description: Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value
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// @Units: deg
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// @Range: 0 45
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("_ANGLE_MAX", 7, AC_PosControl, _lean_angle_max, 0.0f),
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// @Param: _TC_XY
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// @DisplayName: Time constant for the horizontal kinimatic input shaping
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// @Description: Time constant of the horizontal kinimatic path generation used to determine how quickly the aircraft varies the acceleration target
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// @Units: s
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// @Range: 0.25 2
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// @Increment: 0.01
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// @User: Advanced
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AP_GROUPINFO("_TC_XY", 8, AC_PosControl, _shaping_tc_xy_s, POSCONTROL_DEFAULT_SHAPER_TC),
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// @Param: _TC_Z
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// @DisplayName: Time constant for the vertical kinimatic input shaping
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// @Description: Time constant of the vertical kinimatic path generation used to determine how quickly the aircraft varies the acceleration target
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// @Units: s
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// @Range: 0.1 1
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// @Increment: 0.01
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// @User: Advanced
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AP_GROUPINFO("_TC_Z", 9, AC_PosControl, _shaping_tc_z_s, POSCONTROL_DEFAULT_SHAPER_TC),
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AP_GROUPEND
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};
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// Default constructor.
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// Note that the Vector/Matrix constructors already implicitly zero
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// their values.
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//
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AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
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const AP_Motors& motors, AC_AttitudeControl& attitude_control, float dt) :
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_ahrs(ahrs),
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_inav(inav),
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_motors(motors),
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_attitude_control(attitude_control),
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_p_pos_z(POSCONTROL_POS_Z_P, dt),
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_pid_vel_z(POSCONTROL_VEL_Z_P, 0.0f, 0.0f, 0.0f, POSCONTROL_VEL_Z_IMAX, POSCONTROL_VEL_Z_FILT_HZ, POSCONTROL_VEL_Z_FILT_D_HZ, dt),
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_pid_accel_z(POSCONTROL_ACC_Z_P, POSCONTROL_ACC_Z_I, POSCONTROL_ACC_Z_D, 0.0f, POSCONTROL_ACC_Z_IMAX, 0.0f, POSCONTROL_ACC_Z_FILT_HZ, 0.0f, dt),
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_p_pos_xy(POSCONTROL_POS_XY_P, dt),
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_pid_vel_xy(POSCONTROL_VEL_XY_P, POSCONTROL_VEL_XY_I, POSCONTROL_VEL_XY_D, 0.0f, POSCONTROL_VEL_XY_IMAX, POSCONTROL_VEL_XY_FILT_HZ, POSCONTROL_VEL_XY_FILT_D_HZ, dt),
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_dt(dt),
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_vel_max_down_cms(POSCONTROL_SPEED_DOWN),
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_vel_max_up_cms(POSCONTROL_SPEED_UP),
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_vel_max_xy_cms(POSCONTROL_SPEED),
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_accel_max_z_cmss(POSCONTROL_ACCEL_Z),
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_accel_max_xy_cmss(POSCONTROL_ACCEL_XY),
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_tc_xy_s(POSCONTROL_DEFAULT_SHAPER_TC),
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_tc_z_s(POSCONTROL_DEFAULT_SHAPER_TC)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// initialise flags
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_limit.pos_xy = true;
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_limit.pos_up = true;
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_limit.pos_down = true;
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}
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///
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/// 3D position shaper
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///
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/// input_pos_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position.
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/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
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/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
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/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
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/// The time constant also defines the time taken to achieve the maximum acceleration.
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/// The function alters the input velocity to be the velocity that the system could reach zero acceleration in the minimum time.
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void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_offset_z, float pos_offset_z_buffer)
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{
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// Terrain following velocity scalar must be calculated before we remove the position offset
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const float offset_z_scaler = pos_offset_z_scaler(pos_offset_z, pos_offset_z_buffer);
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// remove terrain offsets for flat earth assumption
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_pos_target.z -= _pos_offset_z;
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_vel_desired.z -= _vel_offset_z;
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_accel_desired.z -= _accel_offset_z;
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// calculated increased maximum acceleration if over speed
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float accel_z_cmss = _accel_max_z_cmss;
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if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) {
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accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
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}
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if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
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accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
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}
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update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
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// adjust desired altitude if motors have not hit their limits
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update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
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// calculate the horizontal and vertical velocity limits to travel directly to the destination defined by pos
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float vel_max_xy_cms = 0.0f;
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float vel_max_z_cms = 0.0f;
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Vector3f dest_vector = (pos - _pos_target).tofloat();
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if (is_positive(dest_vector.length_squared()) ) {
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dest_vector.normalize();
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float dest_vector_xy_length = dest_vector.xy().length();
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float vel_max_cms = kinematic_limit(dest_vector, _vel_max_xy_cms, _vel_max_up_cms, _vel_max_down_cms);
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vel_max_xy_cms = vel_max_cms * dest_vector_xy_length;
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vel_max_z_cms = fabsf(vel_max_cms * dest_vector.z);
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}
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// reduce speed if we are reaching the edge of our vertical buffer
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vel_max_xy_cms *= offset_z_scaler;
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Vector2f vel;
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Vector2f accel;
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shape_pos_vel_accel_xy(pos.xy(), vel, accel, _pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(),
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vel_max_xy_cms, _vel_max_xy_cms, _accel_max_xy_cmss, _tc_xy_s, _dt);
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float posz = pos.z;
|
|
shape_pos_vel_accel(posz, 0, 0,
|
|
_pos_target.z, _vel_desired.z, _accel_desired.z,
|
|
vel_max_z_cms, _vel_max_down_cms, _vel_max_up_cms,
|
|
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss,
|
|
_tc_z_s, _dt);
|
|
|
|
// update the vertical position, velocity and acceleration offsets
|
|
update_pos_offset_z(pos_offset_z);
|
|
|
|
// add terrain offsets
|
|
_pos_target.z += _pos_offset_z;
|
|
_vel_desired.z += _vel_offset_z;
|
|
_accel_desired.z += _accel_offset_z;
|
|
}
|
|
|
|
|
|
/// 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 AC_PosControl::pos_offset_z_scaler(float pos_offset_z, float pos_offset_z_buffer) const
|
|
{
|
|
if (is_zero(pos_offset_z_buffer)) {
|
|
return 1.0;
|
|
}
|
|
const Vector3f curr_pos = _inav.get_position();
|
|
float pos_offset_error_z = curr_pos.z - (_pos_target.z - _pos_offset_z + pos_offset_z);
|
|
return constrain_float((1.0 - (fabsf(pos_offset_error_z) - 0.5 * pos_offset_z_buffer) / (0.5 * pos_offset_z_buffer)), 0.01, 1.0);
|
|
}
|
|
|
|
///
|
|
/// 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 kinimatic shaping.
|
|
/// This can be done at any time as changes in these parameters are handled smoothly
|
|
/// by the kinimatic shaping.
|
|
void AC_PosControl::set_max_speed_accel_xy(float speed_cms, float accel_cmss)
|
|
{
|
|
// return immediately if no change
|
|
if ((is_equal(_vel_max_xy_cms, speed_cms) && is_equal(_accel_max_xy_cmss, accel_cmss))) {
|
|
return;
|
|
}
|
|
_vel_max_xy_cms = speed_cms;
|
|
_accel_max_xy_cmss = accel_cmss;
|
|
|
|
// ensure the horizontal time constant is not less than the vehicle is capable of
|
|
const float lean_angle = _accel_max_xy_cmss / (GRAVITY_MSS * 100.0 * M_PI / 18000.0);
|
|
const float angle_accel = MIN(_attitude_control.get_accel_pitch_max(), _attitude_control.get_accel_roll_max());
|
|
if (is_positive(angle_accel)) {
|
|
_tc_xy_s = MAX(_shaping_tc_xy_s, 2.0 * sqrtf(lean_angle / angle_accel));
|
|
} else {
|
|
_tc_xy_s = _shaping_tc_xy_s;
|
|
}
|
|
}
|
|
|
|
/// 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 AC_PosControl::set_correction_speed_accel_xy(float speed_cms, float accel_cmss)
|
|
{
|
|
_p_pos_xy.set_limits(speed_cms, accel_cmss, 0.0f);
|
|
}
|
|
|
|
/// 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.
|
|
void AC_PosControl::init_xy_controller()
|
|
{
|
|
init_xy();
|
|
|
|
// set resultant acceleration to current attitude target
|
|
Vector3f accel_target;
|
|
lean_angles_to_accel_xy(accel_target.x, accel_target.y);
|
|
_pid_vel_xy.set_integrator(accel_target - _accel_desired);
|
|
}
|
|
|
|
/// 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 kinimatic 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 AC_PosControl::init_xy_controller_stopping_point()
|
|
{
|
|
init_xy();
|
|
|
|
_vel_desired.xy().zero();
|
|
get_stopping_point_xy_cm(_pos_target.xy());
|
|
_accel_desired.xy().zero();
|
|
|
|
_pid_vel_xy.set_integrator(_accel_target);
|
|
}
|
|
|
|
// 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 AC_PosControl::relax_velocity_controller_xy()
|
|
{
|
|
init_xy();
|
|
|
|
// decay resultant acceleration and therefore current attitude target to zero
|
|
float decay = 1.0 - _dt / (_dt + POSCONTROL_RELAX_TC);
|
|
|
|
_accel_target.x *= decay;
|
|
_accel_target.y *= decay;
|
|
_pid_vel_xy.set_integrator(_accel_target - _accel_desired);
|
|
}
|
|
|
|
/// init_xy - initialise the position controller to the current position, velocity and acceleration.
|
|
/// This function is private and contains all the shared xy axis initialisation functions
|
|
void AC_PosControl::init_xy()
|
|
{
|
|
// set roll, pitch lean angle targets to current attitude
|
|
const Vector3f &att_target_euler_cd = _attitude_control.get_att_target_euler_cd();
|
|
_roll_target = att_target_euler_cd.x;
|
|
_pitch_target = att_target_euler_cd.y;
|
|
_yaw_target = att_target_euler_cd.z; // todo: this should be thrust vector heading, not yaw.
|
|
_yaw_rate_target = 0.0f;
|
|
|
|
const Vector3f curr_pos = _inav.get_position();
|
|
_pos_target.x = curr_pos.x;
|
|
_pos_target.y = curr_pos.y;
|
|
|
|
const Vector3f &curr_vel = _inav.get_velocity();
|
|
_vel_desired.x = curr_vel.x;
|
|
_vel_desired.y = curr_vel.y;
|
|
_vel_target.x = curr_vel.x;
|
|
_vel_target.y = curr_vel.y;
|
|
|
|
|
|
const Vector3f &curr_accel = _ahrs.get_accel_ef_blended() * 100.0f;
|
|
_accel_desired.x = curr_accel.x;
|
|
_accel_desired.y = curr_accel.y;
|
|
|
|
lean_angles_to_accel_xy(_accel_target.x, _accel_target.y);
|
|
|
|
// initialise I terms from lean angles
|
|
_pid_vel_xy.reset_filter();
|
|
_pid_vel_xy.set_integrator(_accel_target - _accel_desired);
|
|
|
|
// initialise ekf xy reset handler
|
|
init_ekf_xy_reset();
|
|
|
|
// initialise z_controller time out
|
|
_last_update_xy_us = AP_HAL::micros64();
|
|
}
|
|
|
|
/// 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 time constant set using the function set_max_speed_accel_xy and time constant.
|
|
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
|
|
/// The time constant also defines the time taken to achieve the maximum acceleration.
|
|
void AC_PosControl::input_accel_xy(const Vector3f& accel)
|
|
{
|
|
// check for ekf xy position reset
|
|
handle_ekf_xy_reset();
|
|
|
|
update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
|
|
shape_accel_xy(accel, _accel_desired, _accel_max_xy_cmss, _tc_xy_s, _dt);
|
|
}
|
|
|
|
/// input_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
|
|
/// The vel is projected forwards in time based on a time step of dt and acceleration accel.
|
|
/// 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 time constant set using the function set_max_speed_accel_xy and time constant.
|
|
void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel)
|
|
{
|
|
update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
|
|
|
|
shape_vel_accel_xy(vel, accel, _vel_desired.xy(), _accel_desired.xy(),
|
|
_vel_max_xy_cms, _accel_max_xy_cmss, _tc_xy_s, _dt);
|
|
|
|
update_vel_accel_xy(vel, accel, _dt, Vector2f());
|
|
}
|
|
|
|
/// 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 pos and vel are projected forwards in time based on a time step of dt and acceleration accel.
|
|
/// 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
|
|
void AC_PosControl::input_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel)
|
|
{
|
|
update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
|
|
|
|
shape_pos_vel_accel_xy(pos, vel, accel, _pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(),
|
|
_vel_max_xy_cms, _vel_max_xy_cms, _accel_max_xy_cmss, _tc_xy_s, _dt);
|
|
|
|
update_pos_vel_accel_xy(pos, vel, accel, _dt, Vector2f());
|
|
}
|
|
|
|
/// stop_pos_xy_stabilisation - sets the target to the current position to remove any position corrections from the system
|
|
void AC_PosControl::stop_pos_xy_stabilisation()
|
|
{
|
|
const Vector3f& curr_pos = _inav.get_position();
|
|
_pos_target.x = curr_pos.x;
|
|
_pos_target.y = curr_pos.y;
|
|
}
|
|
|
|
/// 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 AC_PosControl::stop_vel_xy_stabilisation()
|
|
{
|
|
const Vector3f curr_pos = _inav.get_position();
|
|
_pos_target.x = curr_pos.x;
|
|
_pos_target.y = curr_pos.y;
|
|
|
|
const Vector3f &curr_vel = _inav.get_velocity();
|
|
_vel_desired.x = curr_vel.x;
|
|
_vel_desired.y = curr_vel.y;
|
|
_vel_target.x = curr_vel.x;
|
|
_vel_target.y = curr_vel.y;
|
|
|
|
// initialise I terms from lean angles
|
|
_pid_vel_xy.reset_filter();
|
|
_pid_vel_xy.reset_I();
|
|
}
|
|
|
|
// is_active_xy - returns true if the xy position controller has been run in the previous 5 loop times
|
|
bool AC_PosControl::is_active_xy() const
|
|
{
|
|
return ((AP_HAL::micros64() - _last_update_xy_us) <= _dt * 5000000.0);
|
|
}
|
|
|
|
/// 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 AC_PosControl::update_xy_controller()
|
|
{
|
|
// check for ekf xy position reset
|
|
handle_ekf_xy_reset();
|
|
|
|
// Check for position control time out
|
|
if ( !is_active_xy() ) {
|
|
init_xy_controller();
|
|
if (has_good_timing()) {
|
|
// call internal error because initialisation has not been done
|
|
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
|
}
|
|
}
|
|
_last_update_xy_us = AP_HAL::micros64();
|
|
|
|
float ekfGndSpdLimit, ekfNavVelGainScaler;
|
|
AP::ahrs_navekf().getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
// Position Controller
|
|
|
|
const Vector3f &curr_pos = _inav.get_position();
|
|
Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, curr_pos, _limit.pos_xy);
|
|
|
|
// add velocity feed-forward scaled to compensate for optical flow measurement induced EKF noise
|
|
vel_target *= ekfNavVelGainScaler;
|
|
_vel_target.x = vel_target.x;
|
|
_vel_target.y = vel_target.y;
|
|
_vel_target.x += _vel_desired.x;
|
|
_vel_target.y += _vel_desired.y;
|
|
|
|
// Velocity Controller
|
|
|
|
// check if vehicle velocity is being overridden
|
|
// todo: remove this and use input shaping
|
|
if (_flags.vehicle_horiz_vel_override) {
|
|
_flags.vehicle_horiz_vel_override = false;
|
|
} else {
|
|
_vehicle_horiz_vel.x = _inav.get_velocity().x;
|
|
_vehicle_horiz_vel.y = _inav.get_velocity().y;
|
|
}
|
|
Vector2f accel_target = _pid_vel_xy.update_all(Vector2f{_vel_target.x, _vel_target.y}, _vehicle_horiz_vel, Vector2f(_limit_vector.x, _limit_vector.y));
|
|
// acceleration to correct for velocity error and scale PID output to compensate for optical flow measurement induced EKF noise
|
|
accel_target *= ekfNavVelGainScaler;
|
|
|
|
// pass the correction acceleration to the target acceleration output
|
|
_accel_target.x = accel_target.x;
|
|
_accel_target.y = accel_target.y;
|
|
|
|
// Add feed forward into the target acceleration output
|
|
_accel_target.x += _accel_desired.x;
|
|
_accel_target.y += _accel_desired.y;
|
|
|
|
// Acceleration Controller
|
|
|
|
// limit acceleration using maximum lean angles
|
|
_limit_vector.x = 0.0f;
|
|
_limit_vector.y = 0.0f;
|
|
float angle_max = MIN(_attitude_control.get_althold_lean_angle_max(), get_lean_angle_max_cd());
|
|
float accel_max = GRAVITY_MSS * 100.0f * tanf(ToRad(angle_max * 0.01f));
|
|
if (_accel_target.limit_length_xy(accel_max)) {
|
|
_limit_vector.x = _accel_target.x;
|
|
_limit_vector.y = _accel_target.y;
|
|
}
|
|
|
|
// update angle targets that will be passed to stabilize controller
|
|
accel_to_lean_angles(_accel_target.x, _accel_target.y, _roll_target, _pitch_target);
|
|
calculate_yaw_and_rate_yaw();
|
|
}
|
|
|
|
|
|
///
|
|
/// 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 function only needs to be called if using the kinimatic shaping.
|
|
/// This can be done at any time as changes in these parameters are handled smoothly
|
|
/// by the kinimatic shaping.
|
|
void AC_PosControl::set_max_speed_accel_z(float speed_down, float speed_up, float accel_cmss)
|
|
{
|
|
// ensure speed_down is always negative
|
|
speed_down = -fabsf(speed_down);
|
|
|
|
// exit immediately if no change in speed up or down
|
|
if (is_equal(_vel_max_down_cms, speed_down) && is_equal(_vel_max_up_cms, speed_up) && is_equal(_accel_max_z_cmss, accel_cmss)) {
|
|
return;
|
|
}
|
|
|
|
// sanity check and update
|
|
if (is_negative(speed_down)) {
|
|
_vel_max_down_cms = speed_down;
|
|
}
|
|
if (is_positive(speed_up)) {
|
|
_vel_max_up_cms = speed_up;
|
|
}
|
|
if (is_positive(accel_cmss)) {
|
|
_accel_max_z_cmss = accel_cmss;
|
|
}
|
|
|
|
// ensure the vertical time constant is not less than the filters in the _pid_accel_z object
|
|
_tc_z_s = _shaping_tc_z_s;
|
|
if (is_positive(_pid_accel_z.filt_T_hz())) {
|
|
_tc_z_s = MAX(_tc_z_s, 2.0f/(M_2PI*_pid_accel_z.filt_T_hz()));
|
|
}
|
|
if (is_positive(_pid_accel_z.filt_E_hz())) {
|
|
_tc_z_s = MAX(_tc_z_s, 2.0f/(M_2PI*_pid_accel_z.filt_E_hz()));
|
|
}
|
|
}
|
|
|
|
/// 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 AC_PosControl::set_correction_speed_accel_z(float speed_down, float speed_up, float accel_cmss)
|
|
{
|
|
// define maximum position error and maximum first and second differential limits
|
|
_p_pos_z.set_limits(-fabsf(speed_down), _vel_max_up_cms, _accel_max_z_cmss, 0.0f);
|
|
}
|
|
|
|
/// 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.
|
|
void AC_PosControl::init_z_controller()
|
|
{
|
|
// Initialise the position controller to the current position, velocity and acceleration.
|
|
init_z();
|
|
|
|
// Set accel PID I term based on the current throttle
|
|
_pid_accel_z.set_integrator((_attitude_control.get_throttle_in() - _motors.get_throttle_hover()) * 1000.0f);
|
|
}
|
|
|
|
/// 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 does not allow any negative velocity or acceleration
|
|
void AC_PosControl::init_z_controller_no_descent()
|
|
{
|
|
// Initialise the position controller to the current throttle, position, velocity and acceleration.
|
|
init_z_controller();
|
|
|
|
// remove all descent if present
|
|
_vel_desired.z = MAX(0.0f, _vel_desired.z);
|
|
_vel_target.z = MAX(0.0f, _vel_target.z);
|
|
_accel_desired.z = MAX(GRAVITY_MSS * 100.0f, _accel_desired.z);
|
|
_accel_target.z = MAX(GRAVITY_MSS * 100.0f, _accel_target.z);
|
|
}
|
|
|
|
/// 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 kinimatic 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 AC_PosControl::init_z_controller_stopping_point()
|
|
{
|
|
// Initialise the position controller to the current throttle, position, velocity and acceleration.
|
|
init_z_controller();
|
|
|
|
get_stopping_point_z_cm(_pos_target.z);
|
|
_vel_target.z = 0.0f;
|
|
|
|
// Set accel PID I term based on the current throttle
|
|
_pid_accel_z.set_integrator((_attitude_control.get_throttle_in() - _motors.get_throttle_hover()) * 1000.0f);
|
|
}
|
|
|
|
// 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 AC_PosControl::relax_z_controller(float throttle_setting)
|
|
{
|
|
// Initialise the position controller to the current position, velocity and acceleration.
|
|
init_z();
|
|
|
|
// Set accel PID I term based on the requested throttle
|
|
float throttle = _attitude_control.get_throttle_in();
|
|
throttle_setting = throttle + (throttle_setting - throttle) * (_dt / (_dt + POSCONTROL_RELAX_TC));
|
|
_pid_accel_z.set_integrator((throttle_setting - _motors.get_throttle_hover()) * 1000.0f);
|
|
}
|
|
|
|
/// init_z - initialise the position controller to the current position, velocity and acceleration.
|
|
/// This function is private and contains all the shared z axis initialisation functions
|
|
void AC_PosControl::init_z()
|
|
{
|
|
const Vector3f curr_pos = _inav.get_position();
|
|
_pos_target.z = curr_pos.z;
|
|
|
|
const Vector3f &curr_vel = _inav.get_velocity();
|
|
_vel_desired.z = curr_vel.z;
|
|
_vel_target.z = curr_vel.z;
|
|
|
|
const Vector3f &curr_accel = _ahrs.get_accel_ef_blended();
|
|
|
|
// Reset I term of velocity PID
|
|
_pid_vel_z.reset_filter();
|
|
_pid_vel_z.set_integrator(0.0f);
|
|
|
|
_accel_desired.z = -(curr_accel.z + GRAVITY_MSS) * 100.0f;
|
|
_accel_target.z = -(curr_accel.z + GRAVITY_MSS) * 100.0f;
|
|
_pid_accel_z.reset_filter();
|
|
|
|
// initialise vertical offsets
|
|
_pos_offset_z = 0.0;
|
|
_vel_offset_z = 0.0;
|
|
_accel_offset_z = 0.0;
|
|
|
|
// initialise ekf z reset handler
|
|
init_ekf_z_reset();
|
|
|
|
// initialise z_controller time out
|
|
_last_update_z_us = AP_HAL::micros64();
|
|
}
|
|
|
|
/// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
|
|
/// The vel is projected forwards in time based on a time step of dt and acceleration accel.
|
|
/// 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 vel to be the kinematic path based on accel
|
|
void AC_PosControl::input_accel_z(const float accel)
|
|
{
|
|
// calculated increased maximum acceleration if over speed
|
|
float accel_z_cmss = _accel_max_z_cmss;
|
|
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) {
|
|
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
|
|
}
|
|
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
|
|
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
|
|
}
|
|
|
|
// adjust desired alt if motors have not hit their limits
|
|
update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
|
|
|
|
shape_accel(accel, _accel_desired.z,
|
|
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss,
|
|
_tc_z_s, _dt);
|
|
}
|
|
|
|
/// 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 time constant set using the function set_max_speed_accel_z and time constant.
|
|
void AC_PosControl::input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit)
|
|
{
|
|
if (ignore_descent_limit) {
|
|
// turn off limits in the negative z direction
|
|
_limit_vector.z = MAX(_limit_vector.z, 0.0f);
|
|
}
|
|
|
|
// calculated increased maximum acceleration if over speed
|
|
float accel_z_cmss = _accel_max_z_cmss;
|
|
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) {
|
|
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
|
|
}
|
|
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
|
|
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
|
|
}
|
|
|
|
// adjust desired alt if motors have not hit their limits
|
|
update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
|
|
|
|
shape_vel_accel(vel, accel,
|
|
_vel_desired.z, _accel_desired.z,
|
|
_vel_max_down_cms, _vel_max_up_cms,
|
|
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss,
|
|
_tc_z_s, _dt);
|
|
|
|
update_vel_accel(vel, accel, _dt, 0);
|
|
}
|
|
|
|
/// 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 kinimatic path.
|
|
/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing.
|
|
void AC_PosControl::set_pos_target_z_from_climb_rate_cm(const float vel, bool ignore_descent_limit)
|
|
{
|
|
float vel2 = vel;
|
|
input_vel_accel_z(vel2, 0, 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 pos and vel are projected forwards in time based on a time step of dt and acceleration accel.
|
|
/// 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
|
|
void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, const float accel)
|
|
{
|
|
// calculated increased maximum acceleration if over speed
|
|
float accel_z_cmss = _accel_max_z_cmss;
|
|
if (_vel_desired.z < _vel_max_down_cms && !is_zero(_vel_max_down_cms)) {
|
|
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_down_cms;
|
|
}
|
|
if (_vel_desired.z > _vel_max_up_cms && !is_zero(_vel_max_up_cms)) {
|
|
accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
|
|
}
|
|
|
|
// adjust desired altitude if motors have not hit their limits
|
|
update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
|
|
|
|
shape_pos_vel_accel(pos, vel, accel,
|
|
_pos_target.z, _vel_desired.z, _accel_desired.z,
|
|
0.0f, _vel_max_down_cms, _vel_max_up_cms,
|
|
-constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss,
|
|
_tc_z_s, _dt);
|
|
|
|
postype_t posp = pos;
|
|
update_pos_vel_accel(posp, vel, accel, _dt, 0);
|
|
pos = posp;
|
|
}
|
|
|
|
/// set_alt_target_with_slew - adjusts target up or down using a commanded altitude in cm
|
|
/// using the default position control kinimatic path.
|
|
void AC_PosControl::set_alt_target_with_slew(const float& pos)
|
|
{
|
|
float posf = pos;
|
|
float zero = 0;
|
|
input_pos_vel_accel_z(posf, zero, 0);
|
|
}
|
|
|
|
/// update_pos_offset_z - updates the vertical offsets used by terrain following
|
|
void AC_PosControl::update_pos_offset_z(float pos_offset_z)
|
|
{
|
|
|
|
postype_t p_offset_z = _pos_offset_z;
|
|
update_pos_vel_accel(p_offset_z, _vel_offset_z, _accel_offset_z, _dt, MIN(_limit_vector.z, 0.0f));
|
|
_pos_offset_z = p_offset_z;
|
|
|
|
// input shape the terrain offset
|
|
shape_pos_vel_accel(pos_offset_z, 0.0f, 0.0f,
|
|
_pos_offset_z, _vel_offset_z, _accel_offset_z,
|
|
0.0f, get_max_speed_down_cms(), get_max_speed_up_cms(),
|
|
-get_max_accel_z_cmss(), get_max_accel_z_cmss(), _tc_z_s, _dt);
|
|
}
|
|
|
|
// is_active_z - returns true if the z position controller has been run in the previous 5 loop times
|
|
bool AC_PosControl::is_active_z() const
|
|
{
|
|
return ((AP_HAL::micros64() - _last_update_z_us) <= _dt * 5000000.0);
|
|
}
|
|
|
|
/// 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 AC_PosControl::update_z_controller()
|
|
{
|
|
// check for ekf z-axis position reset
|
|
handle_ekf_z_reset();
|
|
|
|
// Check for z_controller time out
|
|
if (!is_active_z()) {
|
|
init_z_controller();
|
|
if (has_good_timing()) {
|
|
// call internal error because initialisation has not been done
|
|
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
|
}
|
|
}
|
|
_last_update_z_us = AP_HAL::micros64();
|
|
|
|
const float curr_alt = _inav.get_position().z;
|
|
// calculate the target velocity correction
|
|
float pos_target_zf = _pos_target.z;
|
|
|
|
_vel_target.z = _p_pos_z.update_all(pos_target_zf, curr_alt, _limit.pos_down, _limit.pos_up);
|
|
|
|
_pos_target.z = pos_target_zf;
|
|
|
|
// add feed forward component
|
|
_vel_target.z += _vel_desired.z;
|
|
|
|
// Velocity Controller
|
|
|
|
const Vector3f& curr_vel = _inav.get_velocity();
|
|
_accel_target.z = _pid_vel_z.update_all(_vel_target.z, curr_vel.z, _motors.limit.throttle_lower, _motors.limit.throttle_upper);
|
|
|
|
// add feed forward component
|
|
_accel_target.z += _accel_desired.z;
|
|
|
|
// Acceleration Controller
|
|
|
|
// Calculate vertical acceleration
|
|
const float z_accel_meas = get_z_accel_cmss();
|
|
|
|
// ensure imax is always large enough to overpower hover throttle
|
|
if (_motors.get_throttle_hover() * 1000.0f > _pid_accel_z.imax()) {
|
|
_pid_accel_z.imax(_motors.get_throttle_hover() * 1000.0f);
|
|
}
|
|
float thr_out;
|
|
if (_vibe_comp_enabled) {
|
|
thr_out = get_throttle_with_vibration_override();
|
|
} else {
|
|
thr_out = _pid_accel_z.update_all(_accel_target.z, z_accel_meas, (_motors.limit.throttle_lower || _motors.limit.throttle_upper)) * 0.001f;
|
|
thr_out += _pid_accel_z.get_ff() * 0.001f;
|
|
}
|
|
thr_out += _motors.get_throttle_hover();
|
|
|
|
// Actuator commands
|
|
|
|
// send throttle to attitude controller with angle boost
|
|
_attitude_control.set_throttle_out(thr_out, true, POSCONTROL_THROTTLE_CUTOFF_FREQ_HZ);
|
|
|
|
// Check for vertical controller health
|
|
|
|
// _speed_down_cms is checked to be non-zero when set
|
|
float error_ratio = _pid_vel_z.get_error() / _vel_max_down_cms;
|
|
_vel_z_control_ratio += _dt * 0.1f * (0.5 - error_ratio);
|
|
_vel_z_control_ratio = constrain_float(_vel_z_control_ratio, 0.0f, 2.0f);
|
|
|
|
// set vertical component of the limit vector
|
|
if (_motors.limit.throttle_upper) {
|
|
_limit_vector.z = 1.0f;
|
|
} else if (_motors.limit.throttle_lower) {
|
|
_limit_vector.z = -1.0f;
|
|
} else {
|
|
_limit_vector.z = 0.0f;
|
|
}
|
|
}
|
|
|
|
|
|
///
|
|
/// Accessors
|
|
///
|
|
|
|
/// get_stopping_point_z_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration
|
|
void AC_PosControl::get_stopping_point_z_cm(postype_t &stopping_point) const
|
|
{
|
|
const float curr_pos_z = _inav.get_position().z;
|
|
float curr_vel_z = _inav.get_velocity().z;
|
|
|
|
// if position controller is active remove the desired velocity component
|
|
if (is_active_z()) {
|
|
curr_vel_z -= _vel_desired.z;
|
|
}
|
|
|
|
// avoid divide by zero by using current position if kP is very low or acceleration is zero
|
|
if (!is_positive(_p_pos_z.kP()) || !is_positive(_accel_max_z_cmss)) {
|
|
stopping_point = curr_pos_z;
|
|
return;
|
|
}
|
|
|
|
stopping_point = curr_pos_z + constrain_float(stopping_distance(curr_vel_z, _p_pos_z.kP(), _accel_max_z_cmss), - POSCONTROL_STOPPING_DIST_DOWN_MAX, POSCONTROL_STOPPING_DIST_UP_MAX);
|
|
}
|
|
|
|
/// get_lean_angle_max_cd - returns the maximum lean angle the autopilot may request
|
|
float AC_PosControl::get_lean_angle_max_cd() const
|
|
{
|
|
if (is_zero(_lean_angle_max)) {
|
|
return _attitude_control.lean_angle_max();
|
|
}
|
|
return _lean_angle_max * 100.0f;
|
|
}
|
|
|
|
/// set position, velocity and acceleration targets
|
|
void AC_PosControl::set_pos_vel_accel(const Vector3p& pos, const Vector3f& vel, const Vector3f& accel)
|
|
{
|
|
_pos_target = pos;
|
|
_vel_desired = vel;
|
|
_accel_desired = accel;
|
|
}
|
|
|
|
/// set position, velocity and acceleration targets
|
|
void AC_PosControl::set_pos_vel_accel_xy(const Vector2p& pos, const Vector2f& vel, const Vector2f& accel)
|
|
{
|
|
_pos_target.x = pos.x;
|
|
_pos_target.y = pos.y;
|
|
_vel_desired.x = vel.x;
|
|
_vel_desired.y = vel.y;
|
|
_accel_desired.x = accel.x;
|
|
_accel_desired.y = accel.y;
|
|
}
|
|
|
|
// get_lean_angles_to_accel - convert roll, pitch lean target angles to lat/lon frame accelerations in cm/s/s
|
|
Vector3f AC_PosControl::lean_angles_to_accel(const Vector3f& att_target_euler) const
|
|
{
|
|
// rotate our roll, pitch angles into lat/lon frame
|
|
const float sin_roll = sinf(att_target_euler.x);
|
|
const float cos_roll = cosf(att_target_euler.x);
|
|
const float sin_pitch = sinf(att_target_euler.y);
|
|
const float cos_pitch = cosf(att_target_euler.y);
|
|
const float sin_yaw = sinf(att_target_euler.z);
|
|
const float cos_yaw = cosf(att_target_euler.z);
|
|
|
|
return Vector3f{
|
|
(GRAVITY_MSS * 100) * (-cos_yaw * sin_pitch * cos_roll - sin_yaw * sin_roll) / MAX(cos_roll * cos_pitch, 0.1f),
|
|
(GRAVITY_MSS * 100) * (-sin_yaw * sin_pitch * cos_roll + cos_yaw * sin_roll) / MAX(cos_roll * cos_pitch, 0.1f),
|
|
(GRAVITY_MSS * 100)
|
|
};
|
|
}
|
|
|
|
// returns the NED target acceleration vector for attitude control
|
|
Vector3f AC_PosControl::get_thrust_vector() const
|
|
{
|
|
Vector3f accel_target = get_accel_target_cmss();
|
|
accel_target.z = -GRAVITY_MSS * 100.0f;
|
|
return accel_target;
|
|
}
|
|
|
|
/// get_stopping_point_xy_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration
|
|
/// function does not change the z axis
|
|
void AC_PosControl::get_stopping_point_xy_cm(Vector2p &stopping_point) const
|
|
{
|
|
const Vector3f curr_pos = _inav.get_position();
|
|
stopping_point = curr_pos.xy().topostype();
|
|
float kP = _p_pos_xy.kP();
|
|
|
|
Vector3f curr_vel = _inav.get_velocity();
|
|
|
|
// if position controller is active remove the desired velocity component
|
|
if (is_active_xy()) {
|
|
curr_vel.x -= _vel_desired.x;
|
|
curr_vel.y -= _vel_desired.y;
|
|
}
|
|
|
|
// calculate current velocity
|
|
float vel_total = norm(curr_vel.x, curr_vel.y);
|
|
|
|
if (!is_positive(vel_total)) {
|
|
return;
|
|
}
|
|
|
|
const float stopping_dist = stopping_distance(constrain_float(vel_total, 0.0, _vel_max_xy_cms), kP, _accel_max_xy_cmss);
|
|
if (!is_positive(stopping_dist)) {
|
|
return;
|
|
}
|
|
|
|
// convert the stopping distance into a stopping point using velocity vector
|
|
const float t = stopping_dist / vel_total;
|
|
stopping_point.x += t * curr_vel.x;
|
|
stopping_point.y += t * curr_vel.y;
|
|
}
|
|
|
|
/// get_bearing_to_target_cd - get bearing to target position in centi-degrees
|
|
int32_t AC_PosControl::get_bearing_to_target_cd() const
|
|
{
|
|
return get_bearing_cd(_inav.get_position(), _pos_target.tofloat());
|
|
}
|
|
|
|
|
|
///
|
|
/// System methods
|
|
///
|
|
|
|
// get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain)
|
|
float AC_PosControl::get_throttle_with_vibration_override()
|
|
{
|
|
const float thr_per_accelz_cmss = _motors.get_throttle_hover() / (GRAVITY_MSS * 100.0f);
|
|
// during vibration compensation use feed forward with manually calculated gain
|
|
// ToDo: clear pid_info P, I and D terms for logging
|
|
if (!(_motors.limit.throttle_lower || _motors.limit.throttle_upper) || ((is_positive(_pid_accel_z.get_i()) && is_negative(_pid_vel_z.get_error())) || (is_negative(_pid_accel_z.get_i()) && is_positive(_pid_vel_z.get_error())))) {
|
|
_pid_accel_z.set_integrator(_pid_accel_z.get_i() + _dt * thr_per_accelz_cmss * 1000.0f * _pid_vel_z.get_error() * _pid_vel_z.kP() * POSCONTROL_VIBE_COMP_I_GAIN);
|
|
}
|
|
return POSCONTROL_VIBE_COMP_P_GAIN * thr_per_accelz_cmss * _accel_target.z + _pid_accel_z.get_i() * 0.001f;
|
|
}
|
|
|
|
/// 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 AC_PosControl::standby_xyz_reset()
|
|
{
|
|
// Set _pid_accel_z integrator to zero.
|
|
_pid_accel_z.set_integrator(0.0f);
|
|
|
|
// Set the target position to the current pos.
|
|
_pos_target = _inav.get_position().topostype();
|
|
|
|
// Set _pid_vel_xy integrator and derivative to zero.
|
|
_pid_vel_xy.reset_filter();
|
|
|
|
// initialise ekf xy reset handler
|
|
init_ekf_xy_reset();
|
|
}
|
|
|
|
// write PSC and/or PSCZ logs
|
|
void AC_PosControl::write_log()
|
|
{
|
|
if (is_active_xy()) {
|
|
float accel_x, accel_y;
|
|
lean_angles_to_accel_xy(accel_x, accel_y);
|
|
AP::logger().Write_PSC(get_pos_target_cm().tofloat(), _inav.get_position(), get_vel_target_cms(), _inav.get_velocity(), get_accel_target_cmss(), accel_x, accel_y);
|
|
}
|
|
|
|
if (is_active_z()) {
|
|
AP::logger().Write_PSCZ(get_pos_target_cm().z, _inav.get_position().z,
|
|
get_vel_desired_cms().z, get_vel_target_cms().z, _inav.get_velocity().z,
|
|
_accel_desired.z, get_accel_target_cmss().z, get_z_accel_cmss(), _attitude_control.get_throttle_in());
|
|
}
|
|
}
|
|
|
|
/// crosstrack_error - returns horizontal error to the closest point to the current track
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float AC_PosControl::crosstrack_error() const
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{
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const Vector3f& curr_pos = _inav.get_position();
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const Vector2f pos_error = curr_pos.xy() - (_pos_target.xy()).tofloat();
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if (is_zero(_vel_desired.xy().length_squared())) {
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// crosstrack is the horizontal distance to target when stationary
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return pos_error.length();
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} else {
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// crosstrack is the horizontal distance to the closest point to the current track
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const Vector2f vel_unit = _vel_desired.xy().normalized();
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const float dot_error = pos_error * vel_unit;
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// todo: remove MAX of zero when safe_sqrt fixed
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return safe_sqrt(MAX(pos_error.length_squared() - sq(dot_error), 0.0));
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}
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}
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///
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/// private methods
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///
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// get_lean_angles_to_accel - convert roll, pitch lean angles to NE frame accelerations in cm/s/s
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void AC_PosControl::accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const
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{
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// rotate accelerations into body forward-right frame
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const float accel_forward = accel_x_cmss * _ahrs.cos_yaw() + accel_y_cmss * _ahrs.sin_yaw();
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const float accel_right = -accel_x_cmss * _ahrs.sin_yaw() + accel_y_cmss * _ahrs.cos_yaw();
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// update angle targets that will be passed to stabilize controller
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pitch_target = atanf(-accel_forward / (GRAVITY_MSS * 100.0f)) * (18000.0f / M_PI);
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float cos_pitch_target = cosf(pitch_target * M_PI / 18000.0f);
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roll_target = atanf(accel_right * cos_pitch_target / (GRAVITY_MSS * 100.0f)) * (18000.0f / M_PI);
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}
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// lean_angles_to_accel_xy - convert roll, pitch lean target angles to NE frame accelerations in cm/s/s
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// todo: this should be based on thrust vector attitude control
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void AC_PosControl::lean_angles_to_accel_xy(float& accel_x_cmss, float& accel_y_cmss) const
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{
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// rotate our roll, pitch angles into lat/lon frame
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Vector3f att_target_euler = _attitude_control.get_att_target_euler_rad();
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att_target_euler.z = _ahrs.yaw;
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Vector3f accel_cmss = lean_angles_to_accel(att_target_euler);
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accel_x_cmss = accel_cmss.x;
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accel_y_cmss = accel_cmss.y;
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}
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// calculate_yaw_and_rate_yaw - update the calculated the vehicle yaw and rate of yaw.
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bool AC_PosControl::calculate_yaw_and_rate_yaw()
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|
{
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|
// Calculate the turn rate
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|
float turn_rate = 0.0f;
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const Vector2f vel_desired_xy(_vel_desired.x, _vel_desired.y);
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const Vector2f accel_desired_xy(_accel_desired.x, _accel_desired.y);
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const float vel_desired_xy_len = vel_desired_xy.length();
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if (is_positive(vel_desired_xy_len)) {
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const float accel_forward = (accel_desired_xy.x * vel_desired_xy.x + accel_desired_xy.y * vel_desired_xy.y)/vel_desired_xy_len;
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const Vector2f accel_turn = accel_desired_xy - vel_desired_xy * accel_forward / vel_desired_xy_len;
|
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const float accel_turn_xy_len = accel_turn.length();
|
|
turn_rate = accel_turn_xy_len / vel_desired_xy_len;
|
|
if ((accel_turn.y * vel_desired_xy.x - accel_turn.x * vel_desired_xy.y) < 0.0) {
|
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turn_rate = -turn_rate;
|
|
}
|
|
}
|
|
|
|
// update the target yaw if velocity is greater than 5% _vel_max_xy_cms
|
|
if (vel_desired_xy_len > _vel_max_xy_cms * 0.05f) {
|
|
_yaw_target = degrees(vel_desired_xy.angle()) * 100.0f;
|
|
_yaw_rate_target = turn_rate*degrees(100.0f);
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
/// initialise ekf xy position reset check
|
|
void AC_PosControl::init_ekf_xy_reset()
|
|
{
|
|
Vector2f pos_shift;
|
|
_ekf_xy_reset_ms = _ahrs.getLastPosNorthEastReset(pos_shift);
|
|
}
|
|
|
|
/// handle_ekf_xy_reset - check for ekf position reset and adjust loiter or brake target position
|
|
void AC_PosControl::handle_ekf_xy_reset()
|
|
{
|
|
// check for position shift
|
|
Vector2f pos_shift;
|
|
uint32_t reset_ms = _ahrs.getLastPosNorthEastReset(pos_shift);
|
|
if (reset_ms != _ekf_xy_reset_ms) {
|
|
|
|
const Vector3f& curr_pos = _inav.get_position();
|
|
_pos_target.x = curr_pos.x + _p_pos_xy.get_error().x;
|
|
_pos_target.y = curr_pos.y + _p_pos_xy.get_error().y;
|
|
|
|
const Vector3f& curr_vel = _inav.get_velocity();
|
|
_vel_target.x = curr_vel.x + _pid_vel_xy.get_error().x;
|
|
_vel_target.y = curr_vel.y + _pid_vel_xy.get_error().y;
|
|
|
|
_ekf_xy_reset_ms = reset_ms;
|
|
}
|
|
}
|
|
|
|
/// initialise ekf z axis reset check
|
|
void AC_PosControl::init_ekf_z_reset()
|
|
{
|
|
float alt_shift;
|
|
_ekf_z_reset_ms = _ahrs.getLastPosDownReset(alt_shift);
|
|
}
|
|
|
|
/// handle_ekf_z_reset - check for ekf position reset and adjust loiter or brake target position
|
|
void AC_PosControl::handle_ekf_z_reset()
|
|
{
|
|
// check for position shift
|
|
float alt_shift;
|
|
uint32_t reset_ms = _ahrs.getLastPosDownReset(alt_shift);
|
|
if (reset_ms != 0 && reset_ms != _ekf_z_reset_ms) {
|
|
|
|
const Vector3f& curr_pos = _inav.get_position();
|
|
_pos_target.z = curr_pos.z + _p_pos_z.get_error();
|
|
|
|
const Vector3f& curr_vel = _inav.get_velocity();
|
|
_vel_target.z = curr_vel.z + _pid_vel_z.get_error();
|
|
|
|
_ekf_z_reset_ms = reset_ms;
|
|
}
|
|
}
|
|
|
|
bool AC_PosControl::pre_arm_checks(const char *param_prefix,
|
|
char *failure_msg,
|
|
const uint8_t failure_msg_len)
|
|
{
|
|
if (!is_positive(get_pos_xy_p().kP())) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "%s_POSXY_P must be > 0", param_prefix);
|
|
return false;
|
|
}
|
|
if (!is_positive(get_pos_z_p().kP())) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "%s_POSZ_P must be > 0", param_prefix);
|
|
return false;
|
|
}
|
|
if (!is_positive(get_vel_z_pid().kP())) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "%s_VELZ_P must be > 0", param_prefix);
|
|
return false;
|
|
}
|
|
if (!is_positive(get_accel_z_pid().kP())) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "%s_ACCZ_P must be > 0", param_prefix);
|
|
return false;
|
|
}
|
|
if (!is_positive(get_accel_z_pid().kI())) {
|
|
hal.util->snprintf(failure_msg, failure_msg_len, "%s_ACCZ_I must be > 0", param_prefix);
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
// return true if on a real vehicle or SITL with lock-step scheduling
|
|
bool AC_PosControl::has_good_timing(void) const
|
|
{
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
auto *sitl = AP::sitl();
|
|
if (sitl) {
|
|
return sitl->state.is_lock_step_scheduled;
|
|
}
|
|
#endif
|
|
// real boards are assumed to have good timing
|
|
return true;
|
|
}
|