mirror of https://github.com/ArduPilot/ardupilot
502 lines
21 KiB
C++
502 lines
21 KiB
C++
#include "AC_AttitudeControl_Heli.h"
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#include <AP_HAL/AP_HAL.h>
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// table of user settable parameters
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const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
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// parameters from parent vehicle
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AP_NESTEDGROUPINFO(AC_AttitudeControl, 0),
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// @Param: HOVR_ROL_TRM
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// @DisplayName: Hover Roll Trim
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// @Description: Trim the hover roll angle to counter tail rotor thrust in a hover
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// @Units: cdeg
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// @Range: 0 1000
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// @User: Advanced
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AP_GROUPINFO("HOVR_ROL_TRM", 1, AC_AttitudeControl_Heli, _hover_roll_trim, AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT),
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// @Param: RAT_RLL_P
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// @DisplayName: Roll axis rate controller P gain
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// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
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// @Range: 0.08 0.35
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// @Increment: 0.005
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// @User: Standard
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// @Param: RAT_RLL_I
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// @DisplayName: Roll axis rate controller I gain
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
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// @Range: 0.01 0.6
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_RLL_IMAX
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// @DisplayName: Roll axis rate controller I gain maximum
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 1
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_RLL_ILMI
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// @DisplayName: Roll axis rate controller I-term leak minimum
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// @Description: Point below which I-term will not leak down
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// @Range: 0 1
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// @User: Advanced
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// @Param: RAT_RLL_D
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// @DisplayName: Roll axis rate controller D gain
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
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// @Range: 0.001 0.03
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_RLL_VFF
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// @DisplayName: Roll axis rate controller feed forward
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// @Description: Roll axis rate 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: RAT_RLL_FLTT
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// @DisplayName: Roll axis rate controller target frequency in Hz
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// @Description: Roll axis rate controller target frequency in Hz
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// @Range: 5 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_RLL_FLTE
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// @DisplayName: Roll axis rate controller error frequency in Hz
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// @Description: Roll axis rate controller error frequency in Hz
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// @Range: 5 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_RLL_FLTD
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// @DisplayName: Roll axis rate controller derivative frequency in Hz
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// @Description: Roll axis rate controller derivative frequency in Hz
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// @Range: 0 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_RLL_SMAX
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// @DisplayName: Roll 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_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
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// @Param: RAT_PIT_P
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// @DisplayName: Pitch axis rate controller P gain
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// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
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// @Range: 0.08 0.35
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// @Increment: 0.005
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// @User: Standard
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// @Param: RAT_PIT_I
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// @DisplayName: Pitch axis rate controller I gain
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// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
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// @Range: 0.01 0.6
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_PIT_IMAX
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// @DisplayName: Pitch axis rate controller I gain maximum
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// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 1
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_PIT_ILMI
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// @DisplayName: Pitch axis rate controller I-term leak minimum
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// @Description: Point below which I-term will not leak down
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// @Range: 0 1
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// @User: Advanced
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// @Param: RAT_PIT_D
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// @DisplayName: Pitch axis rate controller D gain
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// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
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// @Range: 0.001 0.03
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_PIT_VFF
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// @DisplayName: Pitch axis rate controller feed forward
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// @Description: Pitch axis rate 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: RAT_PIT_FLTT
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// @DisplayName: Pitch axis rate controller target frequency in Hz
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// @Description: Pitch axis rate controller target frequency in Hz
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// @Range: 5 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_FLTE
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// @DisplayName: Pitch axis rate controller error frequency in Hz
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// @Description: Pitch axis rate controller error frequency in Hz
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// @Range: 5 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_FLTD
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// @DisplayName: Pitch axis rate controller derivative frequency in Hz
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// @Description: Pitch axis rate controller derivative frequency in Hz
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// @Range: 0 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_SMAX
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// @DisplayName: Pitch 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_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
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// @Param: RAT_YAW_P
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// @DisplayName: Yaw axis rate controller P gain
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// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
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// @Range: 0.180 0.60
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// @Increment: 0.005
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// @User: Standard
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// @Param: RAT_YAW_I
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// @DisplayName: Yaw axis rate controller I gain
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// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
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// @Range: 0.01 0.06
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_YAW_IMAX
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// @DisplayName: Yaw axis rate controller I gain maximum
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// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 1
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_YAW_ILMI
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// @DisplayName: Yaw axis rate controller I-term leak minimum
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// @Description: Point below which I-term will not leak down
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// @Range: 0 1
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// @User: Advanced
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// @Param: RAT_YAW_D
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// @DisplayName: Yaw axis rate controller D gain
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// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
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// @Range: 0.000 0.02
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_YAW_VFF
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// @DisplayName: Yaw axis rate controller feed forward
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// @Description: Yaw axis rate 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: RAT_YAW_FLTT
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// @DisplayName: Yaw axis rate controller target frequency in Hz
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// @Description: Yaw axis rate controller target frequency in Hz
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// @Range: 5 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_FLTE
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// @DisplayName: Yaw axis rate controller error frequency in Hz
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// @Description: Yaw axis rate controller error frequency in Hz
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// @Range: 5 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_FLTD
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// @DisplayName: Yaw axis rate controller derivative frequency in Hz
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// @Description: Yaw axis rate controller derivative frequency in Hz
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// @Range: 0 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_SMAX
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// @DisplayName: Yaw 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_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
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// @Param: PIRO_COMP
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// @DisplayName: Piro Comp Enable
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// @Description: Pirouette compensation enabled
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("PIRO_COMP", 5, AC_AttitudeControl_Heli, _piro_comp_enabled, 0),
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AP_GROUPEND
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};
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// passthrough_bf_roll_pitch_rate_yaw - passthrough the pilots roll and pitch inputs directly to swashplate for flybar acro mode
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void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds)
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{
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// convert from centidegrees on public interface to radians
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float yaw_rate_bf_rads = radians(yaw_rate_bf_cds * 0.01f);
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// store roll, pitch and passthroughs
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// NOTE: this abuses yaw_rate_bf_rads
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_passthrough_roll = roll_passthrough;
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_passthrough_pitch = pitch_passthrough;
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_passthrough_yaw = degrees(yaw_rate_bf_rads) * 100.0f;
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// set rate controller to use pass through
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_flags_heli.flybar_passthrough = true;
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// set bf rate targets to current body frame rates (i.e. relax and be ready for vehicle to switch out of acro)
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_attitude_target_ang_vel.x = _ahrs.get_gyro().x;
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_attitude_target_ang_vel.y = _ahrs.get_gyro().y;
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// accel limit desired yaw rate
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if (get_accel_yaw_max_radss() > 0.0f) {
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float rate_change_limit_rads = get_accel_yaw_max_radss() * _dt;
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float rate_change_rads = yaw_rate_bf_rads - _attitude_target_ang_vel.z;
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rate_change_rads = constrain_float(rate_change_rads, -rate_change_limit_rads, rate_change_limit_rads);
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_attitude_target_ang_vel.z += rate_change_rads;
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} else {
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_attitude_target_ang_vel.z = yaw_rate_bf_rads;
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}
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integrate_bf_rate_error_to_angle_errors();
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_att_error_rot_vec_rad.x = 0;
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_att_error_rot_vec_rad.y = 0;
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// update our earth-frame angle targets
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Vector3f att_error_euler_rad;
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// convert angle error rotation vector into 321-intrinsic euler angle difference
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// NOTE: this results an an approximation linearized about the vehicle's attitude
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if (ang_vel_to_euler_rate(Vector3f(_ahrs.roll, _ahrs.pitch, _ahrs.yaw), _att_error_rot_vec_rad, att_error_euler_rad)) {
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_attitude_target_euler_angle.x = wrap_PI(att_error_euler_rad.x + _ahrs.roll);
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_attitude_target_euler_angle.y = wrap_PI(att_error_euler_rad.y + _ahrs.pitch);
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_attitude_target_euler_angle.z = wrap_2PI(att_error_euler_rad.z + _ahrs.yaw);
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}
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// handle flipping over pitch axis
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if (_attitude_target_euler_angle.y > M_PI / 2.0f) {
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_attitude_target_euler_angle.x = wrap_PI(_attitude_target_euler_angle.x + M_PI);
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_attitude_target_euler_angle.y = wrap_PI(M_PI - _attitude_target_euler_angle.x);
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_attitude_target_euler_angle.z = wrap_2PI(_attitude_target_euler_angle.z + M_PI);
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}
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if (_attitude_target_euler_angle.y < -M_PI / 2.0f) {
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_attitude_target_euler_angle.x = wrap_PI(_attitude_target_euler_angle.x + M_PI);
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_attitude_target_euler_angle.y = wrap_PI(-M_PI - _attitude_target_euler_angle.x);
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_attitude_target_euler_angle.z = wrap_2PI(_attitude_target_euler_angle.z + M_PI);
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}
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// convert body-frame angle errors to body-frame rate targets
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_rate_target_ang_vel = update_ang_vel_target_from_att_error(_att_error_rot_vec_rad);
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// set body-frame roll/pitch rate target to current desired rates which are the vehicle's actual rates
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_rate_target_ang_vel.x = _attitude_target_ang_vel.x;
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_rate_target_ang_vel.y = _attitude_target_ang_vel.y;
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// add desired target to yaw
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_rate_target_ang_vel.z += _attitude_target_ang_vel.z;
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_thrust_error_angle = norm(_att_error_rot_vec_rad.x, _att_error_rot_vec_rad.y);
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}
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void AC_AttitudeControl_Heli::integrate_bf_rate_error_to_angle_errors()
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{
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// Integrate the angular velocity error into the attitude error
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_att_error_rot_vec_rad += (_attitude_target_ang_vel - _ahrs.get_gyro()) * _dt;
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// Constrain attitude error
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_att_error_rot_vec_rad.x = constrain_float(_att_error_rot_vec_rad.x, -AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD, AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD);
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_att_error_rot_vec_rad.y = constrain_float(_att_error_rot_vec_rad.y, -AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD, AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD);
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_att_error_rot_vec_rad.z = constrain_float(_att_error_rot_vec_rad.z, -AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD, AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD);
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}
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// subclass non-passthrough too, for external gyro, no flybar
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void AC_AttitudeControl_Heli::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
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{
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_passthrough_yaw = yaw_rate_bf_cds;
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AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(roll_rate_bf_cds, pitch_rate_bf_cds, yaw_rate_bf_cds);
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}
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//
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// rate controller (body-frame) methods
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//
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// rate_controller_run - run lowest level rate controller and send outputs to the motors
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// should be called at 100hz or more
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void AC_AttitudeControl_Heli::rate_controller_run()
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{
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_rate_target_ang_vel += _rate_sysid_ang_vel;
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Vector3f gyro_latest = _ahrs.get_gyro_latest();
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// call rate controllers and send output to motors object
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// if using a flybar passthrough roll and pitch directly to motors
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if (_flags_heli.flybar_passthrough) {
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_motors.set_roll(_passthrough_roll / 4500.0f);
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_motors.set_pitch(_passthrough_pitch / 4500.0f);
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} else {
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rate_bf_to_motor_roll_pitch(gyro_latest, _rate_target_ang_vel.x, _rate_target_ang_vel.y);
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}
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if (_flags_heli.tail_passthrough) {
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_motors.set_yaw(_passthrough_yaw / 4500.0f);
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} else {
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_motors.set_yaw(rate_target_to_motor_yaw(gyro_latest.z, _rate_target_ang_vel.z));
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}
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_rate_sysid_ang_vel.zero();
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_actuator_sysid.zero();
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}
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// Update Alt_Hold angle maximum
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void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
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{
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float althold_lean_angle_max = acosf(constrain_float(throttle_in / AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
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_althold_lean_angle_max = _althold_lean_angle_max + (_dt / (_dt + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max);
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}
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//
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// private methods
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//
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//
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// body-frame rate controller
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//
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// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target rate in radians/second
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void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(const Vector3f &rate_rads, float rate_roll_target_rads, float rate_pitch_target_rads)
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{
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if (_flags_heli.leaky_i) {
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_pid_rate_roll.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
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}
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float roll_pid = _pid_rate_roll.update_all(rate_roll_target_rads, rate_rads.x, _flags_heli.limit_roll) + _actuator_sysid.x;
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if (_flags_heli.leaky_i) {
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_pid_rate_pitch.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
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}
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float pitch_pid = _pid_rate_pitch.update_all(rate_pitch_target_rads, rate_rads.y, _flags_heli.limit_pitch) + _actuator_sysid.y;
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// use pid library to calculate ff
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float roll_ff = _pid_rate_roll.get_ff();
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float pitch_ff = _pid_rate_pitch.get_ff();
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// add feed forward and final output
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float roll_out = roll_pid + roll_ff;
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float pitch_out = pitch_pid + pitch_ff;
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// constrain output and update limit flags
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if (fabsf(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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roll_out = constrain_float(roll_out, -AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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_flags_heli.limit_roll = true;
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} else {
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_flags_heli.limit_roll = false;
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}
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if (fabsf(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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pitch_out = constrain_float(pitch_out, -AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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_flags_heli.limit_pitch = true;
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} else {
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_flags_heli.limit_pitch = false;
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}
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|
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// output to motors
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_motors.set_roll(roll_out);
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_motors.set_pitch(pitch_out);
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|
|
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// Piro-Comp, or Pirouette Compensation is a pre-compensation calculation, which basically rotates the Roll and Pitch Rate I-terms as the
|
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// helicopter rotates in yaw. Much of the built-up I-term is needed to tip the disk into the incoming wind. Fast yawing can create an instability
|
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// as the built-up I-term in one axis must be reduced, while the other increases. This helps solve that by rotating the I-terms before the error occurs.
|
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// It does assume that the rotor aerodynamics and mechanics are essentially symmetrical about the main shaft, which is a generally valid assumption.
|
|
if (_piro_comp_enabled) {
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|
|
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// used to hold current I-terms while doing piro comp:
|
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const float piro_roll_i = _pid_rate_roll.get_i();
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const float piro_pitch_i = _pid_rate_pitch.get_i();
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|
|
|
Vector2f yawratevector;
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yawratevector.x = cosf(-rate_rads.z * _dt);
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|
yawratevector.y = sinf(-rate_rads.z * _dt);
|
|
yawratevector.normalize();
|
|
|
|
_pid_rate_roll.set_integrator(piro_roll_i * yawratevector.x - piro_pitch_i * yawratevector.y);
|
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_pid_rate_pitch.set_integrator(piro_pitch_i * yawratevector.x + piro_roll_i * yawratevector.y);
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|
}
|
|
|
|
}
|
|
|
|
// rate_bf_to_motor_yaw - ask the rate controller to calculate the motor outputs to achieve the target rate in radians/second
|
|
float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_yaw_actual_rads, float rate_target_rads)
|
|
{
|
|
if (!((AP_MotorsHeli&)_motors).rotor_runup_complete()) {
|
|
_pid_rate_yaw.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
|
|
}
|
|
|
|
float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _flags_heli.limit_yaw) + _actuator_sysid.z;
|
|
|
|
// use pid library to calculate ff
|
|
float vff = _pid_rate_yaw.get_ff()*_feedforward_scalar;
|
|
|
|
// add feed forward
|
|
float yaw_out = pid + vff;
|
|
|
|
// constrain output and update limit flag
|
|
if (fabsf(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
|
|
yaw_out = constrain_float(yaw_out, -AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX);
|
|
_flags_heli.limit_yaw = true;
|
|
} else {
|
|
_flags_heli.limit_yaw = false;
|
|
}
|
|
|
|
// output to motors
|
|
return yaw_out;
|
|
}
|
|
|
|
//
|
|
// throttle functions
|
|
//
|
|
|
|
void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff)
|
|
{
|
|
_throttle_in = throttle_in;
|
|
update_althold_lean_angle_max(throttle_in);
|
|
_motors.set_throttle_filter_cutoff(filter_cutoff);
|
|
_motors.set_throttle(throttle_in);
|
|
// Clear angle_boost for logging purposes
|
|
_angle_boost = 0.0f;
|
|
}
|
|
|
|
// Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
|
|
void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds)
|
|
{
|
|
if (_inverted_flight) {
|
|
euler_roll_angle_cd = wrap_180_cd(euler_roll_angle_cd + 18000);
|
|
}
|
|
AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_rate_cds);
|
|
}
|
|
|
|
// Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
|
|
void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw)
|
|
{
|
|
if (_inverted_flight) {
|
|
euler_roll_angle_cd = wrap_180_cd(euler_roll_angle_cd + 18000);
|
|
}
|
|
AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_angle_cd, slew_yaw);
|
|
}
|