mirror of
https://github.com/ArduPilot/ardupilot
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52 lines
3.0 KiB
C
52 lines
3.0 KiB
C
#pragma once
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/*
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common controller helper functions
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*/
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// update_pos_vel_accel projects the position and velocity, pos and vel, forward in time based on a time step of dt and acceleration of accel.
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// update_pos_vel_accel - single axis projection.
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void update_pos_vel_accel(float& pos, float& vel, float accel, float dt);
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/* shape_vel calculates a jerk limited path from the current position, velocity and acceleration to an input velocity.
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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 :
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maximum velocity - vel_max,
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maximum acceleration - accel_max,
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time constant - tc.
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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 time constant must be positive.
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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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*/
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void shape_vel(float& vel_input, float vel, float& accel, float accel_max, float tc, float dt);
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/* shape_pos_vel calculate a jerk limited path from the current position, velocity and acceleration to an input position and velocity.
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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 :
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maximum velocity - vel_max,
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maximum acceleration - accel_max,
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time constant - tc.
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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 time constant must be positive.
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The function alters the input position to be the closest position that the system could reach zero acceleration in the minimum time.
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*/
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void shape_pos_vel(float& pos_input, float vel_input, float pos, float vel, float& accel, float vel_max, float vel_correction_max, float accel_max, float tc, float dt);
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// proportional controller with piecewise sqrt sections to constrain second derivative
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float sqrt_controller(float error, float p, float second_ord_lim, float dt);
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// proportional controller with piecewise sqrt sections to constrain second derivative
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Vector2f sqrt_controller(const Vector2f& error, float p, float second_ord_lim, float dt);
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// inverse of the sqrt controller. calculates the input (aka error) to the sqrt_controller required to achieve a given output
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float inv_sqrt_controller(float output, float p, float D_max);
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// calculate the stopping distance for the square root controller based deceleration path
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float stopping_distance(float velocity, float p, float accel_max);
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// calculate the maximum acceleration or velocity in a given direction
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// based on horizontal and vertical limits.
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float kinematic_limit(Vector3f direction, float max_xy, float max_z_pos, float max_z_neg);
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