mirror of https://github.com/ArduPilot/ardupilot
160 lines
9.0 KiB
C
160 lines
9.0 KiB
C
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
#include "vector2.h"
|
|
#include "vector3.h"
|
|
|
|
#ifndef HAL_WITH_POSTYPE_DOUBLE
|
|
#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
|
|
#endif
|
|
|
|
#if HAL_WITH_POSTYPE_DOUBLE
|
|
typedef double postype_t;
|
|
typedef Vector2d Vector2p;
|
|
typedef Vector3d Vector3p;
|
|
#define topostype todouble
|
|
#else
|
|
typedef float postype_t;
|
|
typedef Vector2f Vector2p;
|
|
typedef Vector3f Vector3p;
|
|
#define topostype tofloat
|
|
#endif
|
|
|
|
/*
|
|
common controller helper functions
|
|
*/
|
|
|
|
// update_vel_accel - single axis projection of velocity, vel, forwards in time based on a time step of dt and acceleration of accel.
|
|
// the velocity is not moved in the direction of limit if limit is not set to zero.
|
|
// limit - specifies if the system is unable to continue to accelerate.
|
|
// vel_error - specifies the direction of the velocity error used in limit handling.
|
|
void update_vel_accel(float& vel, float accel, float dt, float limit, float vel_error);
|
|
|
|
// update_pos_vel_accel - single axis projection of position and velocity forward in time based on a time step of dt and acceleration of accel.
|
|
// the position and velocity is not moved in the direction of limit if limit is not set to zero.
|
|
// limit - specifies if the system is unable to continue to accelerate.
|
|
// pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
|
|
void update_pos_vel_accel(postype_t& pos, float& vel, float accel, float dt, float limit, float pos_error, float vel_error);
|
|
|
|
// update_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel.
|
|
// the velocity is not moved in the direction of limit if limit is not set to zero.
|
|
// limit - specifies if the system is unable to continue to accelerate.
|
|
// pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
|
|
void update_vel_accel_xy(Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& vel_error);
|
|
|
|
// update_pos_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel.
|
|
// the position and velocity is not moved in the direction of limit if limit is not set to zero.
|
|
// limit - specifies if the system is unable to continue to accelerate.
|
|
// pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
|
|
void update_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& pos_error, const Vector2f& vel_error);
|
|
|
|
/* shape_accel calculates a jerk limited path from the current acceleration to an input acceleration.
|
|
The function takes the current acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
|
|
The kinematic path is constrained by :
|
|
acceleration limits - accel_min, accel_max,
|
|
time constant - tc.
|
|
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.
|
|
The time constant must be positive.
|
|
The function alters the variable accel to follow a jerk limited kinematic path to accel_input.
|
|
*/
|
|
void shape_accel(float accel_input, float& accel,
|
|
float jerk_max, float dt);
|
|
|
|
// 2D version
|
|
void shape_accel_xy(const Vector2f& accel_input, Vector2f& accel,
|
|
float jerk_max, float dt);
|
|
|
|
void shape_accel_xy(const Vector3f& accel_input, Vector3f& accel,
|
|
float jerk_max, float dt);
|
|
|
|
/* shape_vel_accel and shape_vel_xy calculate a jerk limited path from the current position, velocity and acceleration to an input velocity.
|
|
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 :
|
|
maximum velocity - vel_max,
|
|
maximum acceleration - accel_max,
|
|
time constant - tc.
|
|
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.
|
|
The time constant must be positive.
|
|
The function alters the variable accel to follow a jerk limited kinematic path to vel_input and accel_input.
|
|
The accel_max limit can be removed by setting it to zero.
|
|
*/
|
|
void shape_vel_accel(float vel_input, float accel_input,
|
|
float vel, float& accel,
|
|
float accel_min, float accel_max,
|
|
float jerk_max, float dt, bool limit_total_accel);
|
|
|
|
// 2D version
|
|
void shape_vel_accel_xy(const Vector2f& vel_input1, const Vector2f& accel_input,
|
|
const Vector2f& vel, Vector2f& accel,
|
|
float accel_max, float jerk_max, float dt, bool limit_total_accel);
|
|
|
|
/* shape_pos_vel_accel calculate a jerk limited path from the current position, velocity and acceleration to an input position and velocity.
|
|
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 :
|
|
maximum velocity - vel_max,
|
|
maximum acceleration - accel_max,
|
|
time constant - tc.
|
|
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.
|
|
The time constant must be positive.
|
|
The function alters the variable accel to follow a jerk limited kinematic path to pos_input, vel_input and accel_input.
|
|
The vel_max, vel_correction_max, and accel_max limits can be removed by setting the desired limit to zero.
|
|
*/
|
|
void shape_pos_vel_accel(const postype_t pos_input, float vel_input, float accel_input,
|
|
const postype_t pos, float vel, float& accel,
|
|
float vel_min, float vel_max,
|
|
float accel_min, float accel_max,
|
|
float jerk_max, float dt, bool limit_total_accel);
|
|
|
|
// 2D version
|
|
void shape_pos_vel_accel_xy(const Vector2p& pos_input, const Vector2f& vel_input, const Vector2f& accel_input,
|
|
const Vector2p& pos, const Vector2f& vel, Vector2f& accel,
|
|
float vel_max, float accel_max,
|
|
float jerk_max, float dt, bool limit_total_accel);
|
|
|
|
/* limit_accel_xy limits the acceleration to prioritise acceleration perpendicular to the provided velocity vector.
|
|
Input parameters are:
|
|
vel is the velocity vector used to define the direction acceleration limit is biased in.
|
|
accel is the acceleration vector to be limited.
|
|
accel_max is the maximum length of the acceleration vector after being limited.
|
|
Returns true when accel vector has been limited.
|
|
*/
|
|
bool limit_accel_xy(const Vector2f& vel, Vector2f& accel, float accel_max);
|
|
|
|
// sqrt_controller calculates the correction based on a proportional controller with piecewise sqrt sections to constrain second derivative.
|
|
float sqrt_controller(float error, float p, float second_ord_lim, float dt);
|
|
|
|
// sqrt_controller calculates the correction based on a proportional controller with piecewise sqrt sections to constrain second derivative.
|
|
Vector2f sqrt_controller(const Vector2f& error, float p, float second_ord_lim, float dt);
|
|
|
|
// inv_sqrt_controller calculates the inverse of the sqrt controller.
|
|
// This function calculates the input (aka error) to the sqrt_controller required to achieve a given output.
|
|
float inv_sqrt_controller(float output, float p, float D_max);
|
|
|
|
// stopping_distance calculates the stopping distance for the square root controller based deceleration path.
|
|
float stopping_distance(float velocity, float p, float accel_max);
|
|
|
|
// kinematic_limit calculates the maximum acceleration or velocity in a given direction.
|
|
// based on horizontal and vertical limits.
|
|
float kinematic_limit(Vector3f direction, float max_xy, float max_z_pos, float max_z_neg);
|
|
|
|
// input_expo calculates the expo function on the normalised input.
|
|
// The input must be in the range of -1 to 1.
|
|
// The expo should be less than 1.0 but limited to be less than 0.95.
|
|
float input_expo(float input, float expo);
|
|
|
|
// angle_to_accel converts a maximum lean angle in degrees to an accel limit in m/s/s
|
|
float angle_to_accel(float angle_deg);
|
|
|
|
// accel_to_angle converts a maximum accel in m/s/s to a lean angle in degrees
|
|
float accel_to_angle(float accel);
|
|
|
|
// rc_input_to_roll_pitch - transform pilot's normalised roll or pitch stick input into a roll and pitch euler angle command
|
|
// roll_in_unit and pitch_in_unit - are normalised roll and pitch stick inputs
|
|
// angle_max_deg - maximum lean angle from the z axis
|
|
// angle_limit_deg - provides the ability to reduce the maximum output lean angle to less than angle_max_deg
|
|
// returns roll and pitch euler angles in degrees
|
|
void rc_input_to_roll_pitch(float roll_in_unit, float pitch_in_unit, float angle_max_deg, float angle_limit_deg, float &roll_out_deg, float &pitch_out_deg);
|