mirror of https://github.com/ArduPilot/ardupilot
423 lines
18 KiB
C++
423 lines
18 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: 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", 0, AC_AttitudeControl_Heli, _piro_comp_enabled, 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: Centi-Degrees
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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_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_FILT
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// @DisplayName: Roll axis rate conroller input frequency in Hz
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// @Description: Roll axis rate conroller input frequency in Hz
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// @Units: Hz
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// @Range: 1 20
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// @Increment: 1
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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_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_FILT
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// @DisplayName: Pitch axis rate conroller input frequency in Hz
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// @Description: Pitch axis rate conroller input frequency in Hz
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// @Units: Hz
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// @Range: 1 20
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// @Increment: 1
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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_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_FILT
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// @DisplayName: Yaw axis rate conroller input frequency in Hz
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// @Description: Yaw axis rate conroller input frequency in Hz
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// @Units: Hz
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// @Range: 1 20
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// @Increment: 1
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AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
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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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// 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(_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(_rate_target_ang_vel.z));
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}
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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 = acos(constrain_float(_throttle_in/AC_ATTITUDE_CONTROL_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(float rate_roll_target_rads, float rate_pitch_target_rads)
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{
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float roll_pd, roll_i, roll_ff; // used to capture pid values
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float pitch_pd, pitch_i, pitch_ff; // used to capture pid values
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float rate_roll_error_rads, rate_pitch_error_rads; // simply target_rate - current_rate
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float roll_out, pitch_out;
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const Vector3f& gyro = _ahrs.get_gyro(); // get current rates
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// calculate error
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rate_roll_error_rads = rate_roll_target_rads - gyro.x;
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rate_pitch_error_rads = rate_pitch_target_rads - gyro.y;
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// pass error to PID controller
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_pid_rate_roll.set_input_filter_all(rate_roll_error_rads);
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_pid_rate_roll.set_desired_rate(rate_roll_target_rads);
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_pid_rate_pitch.set_input_filter_all(rate_pitch_error_rads);
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_pid_rate_pitch.set_desired_rate(rate_pitch_target_rads);
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// call p and d controllers
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roll_pd = _pid_rate_roll.get_p() + _pid_rate_roll.get_d();
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pitch_pd = _pid_rate_pitch.get_p() + _pid_rate_pitch.get_d();
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// get roll i term
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roll_i = _pid_rate_roll.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_roll || ((roll_i>0&&rate_roll_error_rads<0)||(roll_i<0&&rate_roll_error_rads>0))){
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if (_flags_heli.leaky_i){
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roll_i = _pid_rate_roll.get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
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}else{
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roll_i = _pid_rate_roll.get_i();
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}
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}
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// get pitch i term
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pitch_i = _pid_rate_pitch.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_pitch || ((pitch_i>0&&rate_pitch_error_rads<0)||(pitch_i<0&&rate_pitch_error_rads>0))){
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if (_flags_heli.leaky_i) {
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pitch_i = _pid_rate_pitch.get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
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}else{
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pitch_i = _pid_rate_pitch.get_i();
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}
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}
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// For legacy reasons, we convert to centi-degrees before inputting to the feedforward
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roll_ff = roll_feedforward_filter.apply(_pid_rate_roll.get_vff(rate_roll_target_rads), _dt);
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pitch_ff = pitch_feedforward_filter.apply(_pid_rate_pitch.get_vff(rate_pitch_target_rads), _dt);
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// add feed forward and final output
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roll_out = roll_pd + roll_i + roll_ff;
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pitch_out = pitch_pd + pitch_i + 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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// 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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// 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.
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if (_piro_comp_enabled){
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int32_t piro_roll_i, piro_pitch_i; // used to hold I-terms while doing piro comp
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piro_roll_i = roll_i;
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piro_pitch_i = pitch_i;
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Vector2f yawratevector;
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yawratevector.x = cosf(-_ahrs.get_gyro().z * _dt);
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yawratevector.y = sinf(-_ahrs.get_gyro().z * _dt);
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yawratevector.normalize();
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roll_i = piro_roll_i * yawratevector.x - piro_pitch_i * yawratevector.y;
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pitch_i = piro_pitch_i * yawratevector.x + piro_roll_i * yawratevector.y;
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_pid_rate_pitch.set_integrator(pitch_i);
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_pid_rate_roll.set_integrator(roll_i);
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}
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}
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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
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float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_target_rads)
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{
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float pd,i,vff; // used to capture pid values for logging
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float current_rate_rads; // this iteration's rate
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float rate_error_rads; // simply target_rate - current_rate
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float yaw_out;
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// get current rate
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// To-Do: make getting gyro rates more efficient?
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current_rate_rads = _ahrs.get_gyro().z;
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// calculate error and call pid controller
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rate_error_rads = rate_target_rads - current_rate_rads;
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// pass error to PID controller
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_pid_rate_yaw.set_input_filter_all(rate_error_rads);
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_pid_rate_yaw.set_desired_rate(rate_target_rads);
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// get p and d
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pd = _pid_rate_yaw.get_p() + _pid_rate_yaw.get_d();
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// get i term
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i = _pid_rate_yaw.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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|
if (!_flags_heli.limit_yaw || ((i>0&&rate_error_rads<0)||(i<0&&rate_error_rads>0))) {
|
|
if (((AP_MotorsHeli&)_motors).rotor_runup_complete()) {
|
|
i = _pid_rate_yaw.get_i();
|
|
} else {
|
|
i = ((AC_HELI_PID&)_pid_rate_yaw).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE); // If motor is not running use leaky I-term to avoid excessive build-up
|
|
}
|
|
}
|
|
|
|
// For legacy reasons, we convert to centi-degrees before inputting to the feedforward
|
|
vff = yaw_velocity_feedforward_filter.apply(_pid_rate_yaw.get_vff(rate_target_rads), _dt);
|
|
|
|
// add feed forward
|
|
yaw_out = pd + i + 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;
|
|
}
|