ardupilot/libraries/AC_AttitudeControl/ControlMonitor.cpp

117 lines
3.8 KiB
C++

#include "AC_AttitudeControl.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
/*
code to monitor and report on the rate controllers, allowing for
notification of controller oscillation
*/
/*
update a RMS estimate of controller state
*/
void AC_AttitudeControl::control_monitor_filter_pid(float value, float &rms)
{
const float filter_constant = 0.99f;
// we don't do the sqrt() here as it is quite expensive. That is
// done when reporting a result
rms = filter_constant * rms + (1.0f - filter_constant) * sq(value);
}
/*
update state in _control_monitor
*/
void AC_AttitudeControl::control_monitor_update(void)
{
const AP_Logger::PID_Info &iroll = get_rate_roll_pid().get_pid_info();
control_monitor_filter_pid(iroll.P + iroll.FF, _control_monitor.rms_roll_P);
control_monitor_filter_pid(iroll.D, _control_monitor.rms_roll_D);
const AP_Logger::PID_Info &ipitch = get_rate_pitch_pid().get_pid_info();
control_monitor_filter_pid(ipitch.P + iroll.FF, _control_monitor.rms_pitch_P);
control_monitor_filter_pid(ipitch.D, _control_monitor.rms_pitch_D);
const AP_Logger::PID_Info &iyaw = get_rate_yaw_pid().get_pid_info();
control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw);
}
/*
log a CRTL message
*/
void AC_AttitudeControl::control_monitor_log(void)
{
// @LoggerMessage: CTRL
// @Description: Attitude Control oscillation monitor diagnostics
// @Field: TimeUS: Time since system startup
// @Field: RMSRollP: LPF Root-Mean-Squared Roll Rate controller P gain
// @Field: RMSRollD: LPF Root-Mean-Squared Roll rate controller D gain
// @Field: RMSPitchP: LPF Root-Mean-Squared Pitch Rate controller P gain
// @Field: RMSPitchD: LPF Root-Mean-Squared Pitch Rate controller D gain
// @Field: RMSYaw: LPF Root-Mean-Squared Yaw Rate controller P+D gain
AP::logger().Write("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff",
AP_HAL::micros64(),
(double)safe_sqrt(_control_monitor.rms_roll_P),
(double)safe_sqrt(_control_monitor.rms_roll_D),
(double)safe_sqrt(_control_monitor.rms_pitch_P),
(double)safe_sqrt(_control_monitor.rms_pitch_D),
(double)safe_sqrt(_control_monitor.rms_yaw));
}
/*
return current controller RMS filter value for roll
*/
float AC_AttitudeControl::control_monitor_rms_output_roll(void) const
{
return safe_sqrt(_control_monitor.rms_roll_P + _control_monitor.rms_roll_D);
}
/*
return current controller RMS filter value for roll_P
*/
float AC_AttitudeControl::control_monitor_rms_output_roll_P(void) const
{
return safe_sqrt(_control_monitor.rms_roll_P);
}
/*
return current controller RMS filter value for roll_D
*/
float AC_AttitudeControl::control_monitor_rms_output_roll_D(void) const
{
return safe_sqrt(_control_monitor.rms_roll_D);
}
/*
return current controller RMS filter value for pitch
*/
float AC_AttitudeControl::control_monitor_rms_output_pitch(void) const
{
return safe_sqrt(_control_monitor.rms_pitch_P + _control_monitor.rms_pitch_D);
}
/*
return current controller RMS filter value for pitch_P
*/
float AC_AttitudeControl::control_monitor_rms_output_pitch_P(void) const
{
return safe_sqrt(_control_monitor.rms_pitch_P);
}
/*
return current controller RMS filter value for pitch_D
*/
float AC_AttitudeControl::control_monitor_rms_output_pitch_D(void) const
{
return safe_sqrt(_control_monitor.rms_pitch_D);
}
/*
return current controller RMS filter value for yaw
*/
float AC_AttitudeControl::control_monitor_rms_output_yaw(void) const
{
return safe_sqrt(_control_monitor.rms_yaw);
}