mirror of https://github.com/ArduPilot/ardupilot
394 lines
21 KiB
C++
394 lines
21 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AC_POSCONTROL_H
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#define AC_POSCONTROL_H
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <AC_PID.h> // PID library
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#include <AC_PI_2D.h> // PID library (2-axis)
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#include <AC_P.h> // P library
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#include <AP_InertialNav.h> // Inertial Navigation library
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#include <AC_AttitudeControl.h> // Attitude control library
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#include <AP_Motors.h> // motors library
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#include <AP_Vehicle.h> // common vehicle parameters
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// position controller default definitions
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#define POSCONTROL_THROTTLE_HOVER 500.0f // default throttle required to maintain hover
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#define POSCONTROL_ACCELERATION_MIN 50.0f // minimum horizontal acceleration in cm/s/s - used for sanity checking acceleration in leash length calculation
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#define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers
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#define POSCONTROL_ACCEL_XY_MAX 980.0f // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller
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#define POSCONTROL_STOPPING_DIST_Z_MAX 200.0f // max stopping distance vertically
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// should be 1.5 times larger than POSCONTROL_ACCELERATION.
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// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
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#define POSCONTROL_TAKEOFF_JUMP_CM 0.0f // during take-off altitude target is set to current altitude + this value
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#define POSCONTROL_SPEED 500.0f // default horizontal speed in cm/s
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#define POSCONTROL_SPEED_DOWN -150.0f // default descent rate in cm/s
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#define POSCONTROL_SPEED_UP 250.0f // default climb rate in cm/s
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#define POSCONTROL_VEL_XY_MAX_FROM_POS_ERR 200.0f // max speed output from pos_to_vel controller when feed forward is used
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#define POSCONTROL_ACCEL_Z 250.0f // default vertical acceleration in cm/s/s.
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#define POSCONTROL_LEASH_LENGTH_MIN 100.0f // minimum leash lengths in cm
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#define POSCONTROL_DT_10HZ 0.10f // time difference in seconds for 10hz update rate
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#define POSCONTROL_DT_50HZ 0.02f // time difference in seconds for 50hz update rate
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#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 0.2 seconds
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#define POSCONTROL_VEL_ERROR_CUTOFF_FREQ 4.0f // low-pass filter on velocity error (unit: hz)
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#define POSCONTROL_THROTTLE_CUTOFF_FREQ 2.0f // low-pass filter on accel error (unit: hz)
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#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // jerk limit on horizontal acceleration (unit: m/s/s/s)
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#define POSCONTROL_ACCEL_FILTER_HZ 2.0f // low-pass filter on acceleration (unit: hz)
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#define POSCONTROL_JERK_RATIO 1.0f // Defines the time it takes to reach the requested acceleration
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class AC_PosControl
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{
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public:
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/// Constructor
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AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
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const AP_Motors& motors, AC_AttitudeControl& attitude_control,
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AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z,
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AC_P& p_pos_xy, AC_PI_2D& pi_vel_xy);
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// xy_mode - specifies behavior of xy position controller
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enum xy_mode {
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XY_MODE_POS_ONLY = 0, // position correction only (i.e. no velocity feed-forward)
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XY_MODE_POS_LIMITED_AND_VEL_FF, // for loiter - rate-limiting the position correction, velocity feed-forward
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XY_MODE_POS_AND_VEL_FF // for velocity controller - unlimied position correction, velocity feed-forward
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};
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///
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/// initialisation functions
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///
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/// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
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/// updates z axis accel controller's D term filter
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void set_dt(float delta_sec);
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float get_dt() const { return _dt; }
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/// set_dt_xy - sets time delta in seconds for horizontal controller (i.e. 50hz = 0.02)
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void set_dt_xy(float dt_xy);
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float get_dt_xy() const { return _dt_xy; }
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///
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/// z position controller
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///
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/// set_alt_max - sets maximum altitude above home in cm
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/// only enforced when set_alt_target_from_climb_rate is used
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/// set to zero to disable limit
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void set_alt_max(float alt) { _alt_max = alt; }
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/// set_speed_z - sets maximum climb and descent rates
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/// speed_down can be positive or negative but will always be interpreted as a descent speed
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/// leash length will be recalculated the next time update_z_controller() is called
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void set_speed_z(float speed_down, float speed_up);
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/// get_speed_up - accessor for current up speed in cm/s
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float get_speed_up() const { return _speed_up_cms; }
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/// get_speed_down - accessors for current down speed in cm/s. Will be a negative number
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float get_speed_down() const { return _speed_down_cms; }
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/// get_vel_target_z - returns current vertical speed in cm/s
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float get_vel_target_z() const { return _vel_target.z; }
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/// set_accel_z - set vertical acceleration in cm/s/s
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/// leash length will be recalculated the next time update_z_controller() is called
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void set_accel_z(float accel_cmss);
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/// get_accel_z - returns current vertical acceleration in cm/s/s
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float get_accel_z() const { return _accel_z_cms; }
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/// calc_leash_length - calculates the vertical leash lengths from maximum speed, acceleration
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/// called by pos_to_rate_z if z-axis speed or accelerations are changed
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void calc_leash_length_z();
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/// set_throttle_hover - update estimated throttle required to maintain hover
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void set_throttle_hover(float throttle) { _throttle_hover = throttle; }
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/// set_alt_target - set altitude target in cm above home
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void set_alt_target(float alt_cm) { _pos_target.z = alt_cm; }
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/// set_alt_target_with_slew - adjusts target towards a final altitude target
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/// should be called continuously (with dt set to be the expected time between calls)
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/// actual position target will be moved no faster than the speed_down and speed_up
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/// target will also be stopped if the motors hit their limits or leash length is exceeded
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void set_alt_target_with_slew(float alt_cm, float dt);
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/// set_alt_target_from_climb_rate - adjusts target up or down using a climb rate in cm/s
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/// should be called continuously (with dt set to be the expected time between calls)
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/// actual position target will be moved no faster than the speed_down and speed_up
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/// target will also be stopped if the motors hit their limits or leash length is exceeded
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/// set force_descend to true during landing to allow target to move low enough to slow the motors
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void set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend);
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/// add_takeoff_climb_rate - adjusts alt target up or down using a climb rate in cm/s
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/// should be called continuously (with dt set to be the expected time between calls)
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/// almost no checks are performed on the input
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void add_takeoff_climb_rate(float climb_rate_cms, float dt);
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/// set_alt_target_to_current_alt - set altitude target to current altitude
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void set_alt_target_to_current_alt() { _pos_target.z = _inav.get_altitude(); }
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/// relax_alt_hold_controllers - set all desired and targets to measured
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void relax_alt_hold_controllers(float throttle_setting);
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/// get_alt_target, get_desired_alt - get desired altitude (in cm above home) from loiter or wp controller which should be fed into throttle controller
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/// To-Do: remove one of the two functions below
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float get_alt_target() const { return _pos_target.z; }
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/// get_alt_error - returns altitude error in cm
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float get_alt_error() const;
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/// set_target_to_stopping_point_z - sets altitude target to reasonable stopping altitude in cm above home
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void set_target_to_stopping_point_z();
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/// get_stopping_point_z - calculates stopping point based on current position, velocity, vehicle acceleration
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void get_stopping_point_z(Vector3f& stopping_point) const;
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/// init_takeoff - initialises target altitude if we are taking off
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void init_takeoff();
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// is_active - returns true if the z-axis position controller has been run very recently
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bool is_active_z() const;
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/// update_z_controller - fly to altitude in cm above home
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void update_z_controller();
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// get_leash_down_z, get_leash_up_z - returns vertical leash lengths in cm
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float get_leash_down_z() const { return _leash_down_z; }
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float get_leash_up_z() const { return _leash_up_z; }
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///
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/// xy position controller
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///
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/// init_xy_controller - initialise the xy controller
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/// sets target roll angle, pitch angle and I terms based on vehicle current lean angles
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/// should be called once whenever significant changes to the position target are made
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/// this does not update the xy target
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void init_xy_controller(bool reset_I = true);
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/// set_accel_xy - set horizontal acceleration in cm/s/s
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/// leash length will be recalculated the next time update_xy_controller() is called
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void set_accel_xy(float accel_cmss);
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float get_accel_xy() const { return _accel_cms; }
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/// set_speed_xy - set horizontal speed maximum in cm/s
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/// leash length will be recalculated the next time update_xy_controller() is called
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void set_speed_xy(float speed_cms);
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float get_speed_xy() const { return _speed_cms; }
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/// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration
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/// should be called whenever the speed, acceleration or position kP is modified
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void calc_leash_length_xy();
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/// get_pos_target - get target as position vector (from home in cm)
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const Vector3f& get_pos_target() const { return _pos_target; }
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/// set_pos_target in cm from home
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void set_pos_target(const Vector3f& position);
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/// set_xy_target in cm from home
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void set_xy_target(float x, float y);
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/// get_desired_velocity - returns xy desired velocity (i.e. feed forward) in cm/s in lat and lon direction
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const Vector3f& get_desired_velocity() { return _vel_desired; }
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/// set_desired_velocity_xy - sets desired velocity in cm/s in lat and lon directions
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/// when update_xy_controller is next called the position target is moved based on the desired velocity and
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/// the desired velocities are fed forward into the rate_to_accel step
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void set_desired_velocity_xy(float vel_lat_cms, float vel_lon_cms) {_vel_desired.x = vel_lat_cms; _vel_desired.y = vel_lon_cms; }
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/// set_desired_velocity - sets desired velocity in cm/s in all 3 axis
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/// when update_vel_controller_xyz is next called the position target is moved based on the desired velocity
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void set_desired_velocity(const Vector3f &des_vel) { _vel_desired = des_vel; freeze_ff_xy(); }
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/// freeze_ff_z - used to stop the feed forward being calculated during a known discontinuity
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void freeze_ff_z() { _flags.freeze_ff_z = true; }
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/// freeze_ff_xy - used to stop the feed forward being calculated during a known discontinuity
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void freeze_ff_xy() { _flags.freeze_ff_xy = true; }
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// is_active_xy - returns true if the xy position controller has been run very recently
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bool is_active_xy() const;
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/// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
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/// when use_desired_velocity is true the desired velocity (i.e. feed forward) is incorporated at the pos_to_rate step
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void update_xy_controller(xy_mode mode, float ekfNavVelGainScaler);
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/// set_target_to_stopping_point_xy - sets horizontal target to reasonable stopping position in cm from home
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void set_target_to_stopping_point_xy();
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/// get_stopping_point_xy - calculates stopping point based on current position, velocity, vehicle acceleration
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/// distance_max allows limiting distance to stopping point
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/// results placed in stopping_position vector
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/// set_accel_xy() should be called before this method to set vehicle acceleration
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/// set_leash_length() should have been called before this method
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void get_stopping_point_xy(Vector3f &stopping_point) const;
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/// get_distance_to_target - get horizontal distance to position target in cm (used for reporting)
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float get_distance_to_target() const;
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/// xyz velocity controller
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/// init_vel_controller_xyz - initialise the velocity controller - should be called once before the caller attempts to use the controller
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void init_vel_controller_xyz();
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/// set_vel_target - sets target velocity in cm/s in north, east and up directions
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void set_vel_target(const Vector3f& vel_target);
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/// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
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/// velocity targets should we set using set_desired_velocity_xyz() method
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/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
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/// throttle targets will be sent directly to the motors
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void update_vel_controller_xyz(float ekfNavVelGainScaler);
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/// get desired roll, pitch which should be fed into stabilize controllers
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float get_roll() const { return _roll_target; }
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float get_pitch() const { return _pitch_target; }
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// get_leash_xy - returns horizontal leash length in cm
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float get_leash_xy() const { return _leash; }
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/// get_pos_xy_kP - returns xy position controller's kP gain
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float get_pos_xy_kP() const { return _p_pos_xy.kP(); }
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/// accessors for reporting
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const Vector3f& get_vel_target() const { return _vel_target; }
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const Vector3f& get_accel_target() const { return _accel_target; }
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// lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
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void lean_angles_to_accel(float& accel_x_cmss, float& accel_y_cmss) const;
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// time_since_last_xy_update - returns time in seconds since the horizontal position controller was last run
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float time_since_last_xy_update() const;
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// general purpose flags
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struct poscontrol_flags {
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uint16_t recalc_leash_z : 1; // 1 if we should recalculate the z axis leash length
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uint16_t recalc_leash_xy : 1; // 1 if we should recalculate the xy axis leash length
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uint16_t reset_desired_vel_to_pos : 1; // 1 if we should reset the rate_to_accel_xy step
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uint16_t reset_rate_to_accel_xy : 1; // 1 if we should reset the rate_to_accel_xy step
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uint16_t reset_accel_to_lean_xy : 1; // 1 if we should reset the accel to lean angle step
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uint16_t reset_rate_to_accel_z : 1; // 1 if we should reset the rate_to_accel_z step
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uint16_t reset_accel_to_throttle : 1; // 1 if we should reset the accel_to_throttle step of the z-axis controller
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uint16_t freeze_ff_xy : 1; // 1 use to freeze feed forward during step updates
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uint16_t freeze_ff_z : 1; // 1 use to freeze feed forward during step updates
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} _flags;
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// limit flags structure
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struct poscontrol_limit_flags {
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uint8_t pos_up : 1; // 1 if we have hit the vertical position leash limit while going up
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uint8_t pos_down : 1; // 1 if we have hit the vertical position leash limit while going down
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uint8_t vel_up : 1; // 1 if we have hit the vertical velocity limit going up
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uint8_t vel_down : 1; // 1 if we have hit the vertical velocity limit going down
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uint8_t accel_xy : 1; // 1 if we have hit the horizontal accel limit
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} _limit;
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///
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/// z controller private methods
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///
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// pos_to_rate_z - position to rate controller for Z axis
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// target altitude should be placed into _pos_target.z using or set with one of these functions
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// set_alt_target
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// set_target_to_stopping_point_z
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// init_takeoff
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void pos_to_rate_z();
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// rate_to_accel_z - calculates desired accel required to achieve the velocity target
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void rate_to_accel_z();
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// accel_to_throttle - alt hold's acceleration controller
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void accel_to_throttle(float accel_target_z);
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///
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/// xy controller private methods
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///
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/// desired_vel_to_pos - move position target using desired velocities
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void desired_vel_to_pos(float nav_dt);
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/// pos_to_rate_xy - horizontal position error to velocity controller
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/// converts position (_pos_target) to target velocity (_vel_target)
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/// when use_desired_rate is set to true:
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/// desired velocity (_vel_desired) is combined into final target velocity and
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/// velocity due to position error is reduce to a maximum of 1m/s
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void pos_to_rate_xy(xy_mode mode, float dt, float ekfNavVelGainScaler);
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/// rate_to_accel_xy - horizontal desired rate to desired acceleration
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/// converts desired velocities in lat/lon directions to accelerations in lat/lon frame
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void rate_to_accel_xy(float dt, float ekfNavVelGainScaler);
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/// accel_to_lean_angles - horizontal desired acceleration to lean angles
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/// converts desired accelerations provided in lat/lon frame to roll/pitch angles
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void accel_to_lean_angles(float dt_xy, float ekfNavVelGainScaler);
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/// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain
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float calc_leash_length(float speed_cms, float accel_cms, float kP) const;
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// references to inertial nav and ahrs libraries
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const AP_AHRS& _ahrs;
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const AP_InertialNav& _inav;
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const AP_Motors& _motors;
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AC_AttitudeControl& _attitude_control;
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// references to pid controllers
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AC_P& _p_pos_z;
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AC_P& _p_vel_z;
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AC_PID& _pid_accel_z;
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AC_P& _p_pos_xy;
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AC_PI_2D& _pi_vel_xy;
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// parameters
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AP_Float _accel_xy_filt_hz; // XY acceleration filter cutoff frequency
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// internal variables
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float _dt; // time difference (in seconds) between calls from the main program
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float _dt_xy; // time difference (in seconds) between update_xy_controller and update_vel_controller_xyz calls
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uint32_t _last_update_xy_ms; // system time of last update_xy_controller call
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uint32_t _last_update_z_ms; // system time of last update_z_controller call
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float _throttle_hover; // estimated throttle required to maintain a level hover
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float _speed_down_cms; // max descent rate in cm/s
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float _speed_up_cms; // max climb rate in cm/s
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float _speed_cms; // max horizontal speed in cm/s
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float _accel_z_cms; // max vertical acceleration in cm/s/s
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float _accel_last_z_cms; // max vertical acceleration in cm/s/s
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float _accel_cms; // max horizontal acceleration in cm/s/s
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float _leash; // horizontal leash length in cm. target will never be further than this distance from the vehicle
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float _leash_down_z; // vertical leash down in cm. target will never be further than this distance below the vehicle
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float _leash_up_z; // vertical leash up in cm. target will never be further than this distance above the vehicle
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// output from controller
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float _roll_target; // desired roll angle in centi-degrees calculated by position controller
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float _pitch_target; // desired roll pitch in centi-degrees calculated by position controller
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// position controller internal variables
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Vector3f _pos_target; // target location in cm from home
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Vector3f _pos_error; // error between desired and actual position in cm
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Vector3f _vel_desired; // desired velocity in cm/s
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Vector3f _vel_target; // velocity target in cm/s calculated by pos_to_rate step
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Vector3f _vel_error; // error between desired and actual acceleration in cm/s
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Vector3f _vel_last; // previous iterations velocity in cm/s
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Vector3f _accel_target; // desired acceleration in cm/s/s // To-Do: are xy actually required?
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Vector3f _accel_error; // desired acceleration in cm/s/s // To-Do: are xy actually required?
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Vector3f _accel_feedforward; // feedforward acceleration in cm/s/s
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float _alt_max; // max altitude - should be updated from the main code with altitude limit from fence
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float _distance_to_target; // distance to position target - for reporting only
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LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error
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Vector2f _accel_target_jerk_limited; // acceleration target jerk limited to 100deg/s/s
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LowPassFilterVector2f _accel_target_filter; // acceleration target filter
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};
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#endif // AC_POSCONTROL_H
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