ardupilot/libraries/AC_AttitudeControl/AC_AttitudeControl.h

247 lines
12 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AC_AttitudeControl.h
/// @brief ArduCopter attitude control library
#ifndef AC_AttitudeControl_H
#define AC_AttitudeControl_H
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <AP_InertialSensor.h>
#include <AP_AHRS.h>
#include <AP_Motors.h>
#include <DataFlash.h>
#include <AC_PID.h>
#include <AC_P.h>
// To-Do: change the name or move to AP_Math?
#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
#define AC_ATTITUDE_CONTROL_RATE_RP_MAX_DEFAULT 18000 // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_RATE_Y_MAX_DEFAULT 9000 // maximum rotation rate on yaw axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 0 // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 0 // default maximum acceleration for yaw axis in centi-degrees/sec/sec
#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 5000.0f // body-frame rate controller maximum output (for roll-pitch axis)
#define AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX 4500.0f // body-frame rate controller maximum output (for yaw axis)
#define AC_ATTITUDE_ANGLE_YAW_CONTROLLER_OUT_MAX 4500.0f // earth-frame angle controller maximum output (for yaw axis)
#define AC_ATTITUDE_ANGLE_CONTROLLER_ANGLE_MAX 4500.0f // earth-frame angle controller maximum input angle (To-Do: replace with reference to aparm.angle_max)
#define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle
#define AC_ATTITUDE_100HZ_DT 0.0100f // delta time in seconds for 100hz update rate
#define AC_ATTITUDE_400HZ_DT 0.0025f // delta time in seconds for 400hz update rate
#define AC_ATTITUDE_RATE_RP_PID_DTERM_FILTER 20 // D-term filter rate cutoff frequency for Roll and Pitch rate controllers
#define AC_ATTITUDE_RATE_Y_PID_DTERM_FILTER 5 // D-term filter rate cutoff frequency for Yaw rate controller
#define AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT 0 // body-frame rate feedforward enabled by default
class AC_AttitudeControl {
public:
AC_AttitudeControl( AP_AHRS &ahrs,
const AP_Vehicle::MultiCopter &aparm,
AP_Motors& motors,
AC_P& pi_angle_roll, AC_P& pi_angle_pitch, AC_P& pi_angle_yaw,
AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw
) :
_ahrs(ahrs),
_aparm(aparm),
_motors(motors),
_p_angle_roll(pi_angle_roll),
_p_angle_pitch(pi_angle_pitch),
_p_angle_yaw(pi_angle_yaw),
_pid_rate_roll(pid_rate_roll),
_pid_rate_pitch(pid_rate_pitch),
_pid_rate_yaw(pid_rate_yaw),
_dt(AC_ATTITUDE_100HZ_DT),
_angle_boost(0),
_acro_angle_switch(0)
{
AP_Param::setup_object_defaults(this, var_info);
// initialise flags
_flags.limit_angle_to_rate_request = true;
}
// empty destructor to suppress compiler warning
virtual ~AC_AttitudeControl() {}
//
// initialisation functions
//
// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
void set_dt(float delta_sec);
// relax_bf_rate_controller - ensure body-frame rate controller has zero errors to relax rate controller output
void relax_bf_rate_controller();
// set_yaw_target_to_current_heading - sets yaw target to current heading
void set_yaw_target_to_current_heading() { _angle_ef_target.z = _ahrs.yaw_sensor; }
//
// methods to be called by upper controllers to request and implement a desired attitude
//
// angle_ef_roll_pitch_rate_ef_yaw_smooth - attempts to maintain a roll and pitch angle and yaw rate (all earth frame) while smoothing the attitude based on the feel parameter
// smoothing_gain : a number from 1 to 50 with 1 being sluggish and 50 being very crisp
void angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef, float smoothing_gain);
// angle_ef_roll_pitch_rate_ef_yaw - attempts to maintain a roll and pitch angle and yaw rate (all earth frame)
void angle_ef_roll_pitch_rate_ef_yaw(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef);
// angle_ef_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw angle (all earth frame)
// if yaw_slew is true then target yaw movement will be gradually moved to the new target based on the YAW_SLEW parameter
void angle_ef_roll_pitch_yaw(float roll_angle_ef, float pitch_angle_ef, float yaw_angle_ef, bool slew_yaw);
// rate_ef_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw rate (all earth frame)
void rate_ef_roll_pitch_yaw(float roll_rate_ef, float pitch_rate_ef, float yaw_rate_ef);
// rate_bf_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw rate (all body frame)
void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf);
//
// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
// should be called at 100hz or more
//
virtual void rate_controller_run();
//
// earth-frame <-> body-frame conversion functions
//
// frame_conversion_ef_to_bf - converts earth frame angles or rates to body frame
void frame_conversion_ef_to_bf(const Vector3f& ef_vector, Vector3f &bf_vector);
// frame_conversion_bf_to_ef - converts body frame angles or rates to earth frame
// returns false if conversion fails due to gimbal lock
bool frame_conversion_bf_to_ef(const Vector3f& bf_vector, Vector3f &ef_vector);
//
// public accessor functions
//
// limit_angle_to_rate_request
void limit_angle_to_rate_request(bool limit_request) { _flags.limit_angle_to_rate_request = limit_request; }
// angle_ef_targets - returns angle controller earth-frame targets (for reporting)
const Vector3f& angle_ef_targets() const { return _angle_ef_target; }
// rate_bf_targets - gets rate controller body-frame targets
void rate_bf_roll_target(float rate_cds) { _rate_bf_target.x = rate_cds; }
void rate_bf_pitch_target(float rate_cds) { _rate_bf_target.y = rate_cds; }
void rate_bf_yaw_target(float rate_cds) { _rate_bf_target.z = rate_cds; }
// enable_bf_feedforward - enable or disable body-frame feed forward
void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
// enable_bf_feedforward - enable or disable body-frame feed forward
void accel_limiting(bool enable_or_disable);
//
// throttle functions
//
// set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
// provide 0 to cut motors
void set_throttle_out(int16_t throttle_pwm, bool apply_angle_boost);
// angle_boost - accessor for angle boost so it can be logged
int16_t angle_boost() const { return _angle_boost; }
//
// helper functions
//
// lean_angle_max - maximum lean angle of the copter in centi-degrees
int16_t lean_angle_max() const { return _aparm.angle_max; }
// sqrt_controller - response based on the sqrt of the error instead of the more common linear response
static float sqrt_controller(float error, float p, float second_ord_lim);
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];
protected:
// attitude control flags
struct AttControlFlags {
uint8_t limit_angle_to_rate_request : 1; // 1 if the earth frame angle controller is limiting it's maximum rate request
} _flags;
// update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request
void update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
// update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request
void update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
// update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request
void update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
// integrate_bf_rate_error_to_angle_errors - calculates body frame angle errors
// body-frame feed forward rates (centi-degrees / second) taken from _angle_bf_error
// angle errors in centi-degrees placed in _angle_bf_error
void integrate_bf_rate_error_to_angle_errors();
// update_rate_bf_targets - converts body-frame angle error to body-frame rate targets for roll, pitch and yaw axis
// targets rates in centi-degrees taken from _angle_bf_error
// results in centi-degrees/sec put into _rate_bf_target
void update_rate_bf_targets();
//
// body-frame rate controller
//
// rate_bf_to_motor_roll - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in centi-degrees/sec) for roll, pitch and yaw
float rate_bf_to_motor_roll(float rate_target_cds);
float rate_bf_to_motor_pitch(float rate_target_cds);
virtual float rate_bf_to_motor_yaw(float rate_target_cds);
//
// throttle methods
//
// get_angle_boost - calculate total body frame throttle required to produce the given earth frame throttle
virtual int16_t get_angle_boost(int16_t throttle_pwm);
// references to external libraries
const AP_AHRS& _ahrs;
const AP_Vehicle::MultiCopter &_aparm;
AP_Motors& _motors;
AC_P& _p_angle_roll;
AC_P& _p_angle_pitch;
AC_P& _p_angle_yaw;
AC_PID& _pid_rate_roll;
AC_PID& _pid_rate_pitch;
AC_PID& _pid_rate_yaw;
// parameters
AP_Float _angle_rate_rp_max; // maximum rate request output from the earth-frame angle controller for roll and pitch axis
AP_Float _angle_rate_y_max; // maximum rate request output from the earth-frame angle controller for yaw axis
AP_Float _slew_yaw; // maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
AP_Float _accel_rp_max; // maximum rotation acceleration for earth-frame roll and pitch axis
AP_Float _accel_y_max; // maximum rotation acceleration for earth-frame yaw axis
AP_Int8 _rate_bf_ff_enabled; // Enable/Disable body frame rate feed forward
// internal variables
// To-Do: make rate targets a typedef instead of Vector3f?
float _dt; // time delta in seconds
Vector3f _angle_ef_target; // angle controller earth-frame targets
Vector3f _angle_bf_error; // angle controller body-frame error
Vector3f _rate_bf_target; // rate controller body-frame targets
Vector3f _rate_ef_desired; // earth-frame feed forward rates
Vector3f _rate_bf_desired; // body-frame feed forward rates
int16_t _angle_boost; // used only for logging
int16_t _acro_angle_switch; // used only for logging
};
#define AC_ATTITUDE_CONTROL_LOG_FORMAT(msg) { msg, sizeof(AC_AttitudeControl::log_Attitude), \
"ATT", "cccccCC", "RollIn,Roll,PitchIn,Pitch,YawIn,Yaw,NavYaw" }
#endif //AC_AttitudeControl_H