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AC_AttitudeControl: naming changes in response to Leonard's review

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This commit is contained in:
Jonathan Challinger 2015-12-05 00:28:48 -08:00 committed by Randy Mackay
parent a48f201a04
commit 162d2a9112
3 changed files with 43 additions and 43 deletions
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78
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -82,8 +82,8 @@ void AC_AttitudeControl::relax_bf_rate_controller()
_pid_rate_yaw.reset_I();
// Write euler derivatives derived from vehicle angular velocity to
// _att_target_euler_deriv_rads. This resets the state of the input shapers.
ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_deriv_rads);
// _att_target_euler_rate_rads. This resets the state of the input shapers.
ang_vel_to_euler_rate(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_rate_rads);
}
void AC_AttitudeControl::shift_ef_yaw_target(float yaw_shift_cd)
@ -114,16 +114,16 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_smooth(floa
// Acceleration is limited directly to smooth the beginning of the curve.
float rate_change_limit_rads = get_accel_roll_max_radss() * _dt;
_att_target_euler_deriv_rads.x = constrain_float(euler_rate_desired_rads, _att_target_euler_deriv_rads.x-rate_change_limit_rads, _att_target_euler_deriv_rads.x+rate_change_limit_rads);
_att_target_euler_rate_rads.x = constrain_float(euler_rate_desired_rads, _att_target_euler_rate_rads.x-rate_change_limit_rads, _att_target_euler_rate_rads.x+rate_change_limit_rads);
// The output rate is used to update the attitude target euler angles and is fed forward into the rate controller.
update_att_target_and_error_roll(_att_target_euler_deriv_rads.x, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_roll(_att_target_euler_rate_rads.x, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
} else {
// When acceleration limiting and feedforward are not enabled, the target roll euler angle is simply set to the
// input value and the feedforward rate is zeroed.
_att_target_euler_rad.x = euler_roll_angle_rad;
att_error_euler_rad.x = wrap_PI(_att_target_euler_rad.x - _ahrs.roll);
_att_target_euler_deriv_rads.x = 0;
_att_target_euler_rate_rads.x = 0;
}
_att_target_euler_rad.x = constrain_float(_att_target_euler_rad.x, -get_tilt_limit_rad(), get_tilt_limit_rad());
@ -135,14 +135,14 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_smooth(floa
// Acceleration is limited directly to smooth the beginning of the curve.
float rate_change_limit_rads = get_accel_pitch_max_radss() * _dt;
_att_target_euler_deriv_rads.y = constrain_float(euler_rate_desired_rads, _att_target_euler_deriv_rads.y-rate_change_limit_rads, _att_target_euler_deriv_rads.y+rate_change_limit_rads);
_att_target_euler_rate_rads.y = constrain_float(euler_rate_desired_rads, _att_target_euler_rate_rads.y-rate_change_limit_rads, _att_target_euler_rate_rads.y+rate_change_limit_rads);
// The output rate is used to update the attitude target euler angles and is fed forward into the rate controller.
update_att_target_and_error_pitch(_att_target_euler_deriv_rads.y, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_pitch(_att_target_euler_rate_rads.y, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
} else {
_att_target_euler_rad.y = euler_pitch_angle_rad;
att_error_euler_rad.y = wrap_PI(_att_target_euler_rad.y - _ahrs.pitch);
_att_target_euler_deriv_rads.y = 0;
_att_target_euler_rate_rads.y = 0;
}
_att_target_euler_rad.y = constrain_float(_att_target_euler_rad.y, -get_tilt_limit_rad(), get_tilt_limit_rad());
@ -150,29 +150,29 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_smooth(floa
// When yaw acceleration limiting is enabled, the yaw input shaper constrains angular acceleration about the yaw axis, slewing
// the output rate towards the input rate.
float rate_change_limit_rads = get_accel_yaw_max_radss() * _dt;
_att_target_euler_deriv_rads.z += constrain_float(euler_yaw_rate_rads - _att_target_euler_deriv_rads.z, -rate_change_limit_rads, rate_change_limit_rads);
_att_target_euler_rate_rads.z += constrain_float(euler_yaw_rate_rads - _att_target_euler_rate_rads.z, -rate_change_limit_rads, rate_change_limit_rads);
// The output rate is used to update the attitude target euler angles and is fed forward into the rate controller.
update_att_target_and_error_yaw(_att_target_euler_deriv_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_yaw(_att_target_euler_rate_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
} else {
// When yaw acceleration limiting is disabled, the attitude target is simply rotated using the input rate and the input rate
// is fed forward into the rate controller.
_att_target_euler_deriv_rads.z = euler_yaw_rate_rads;
update_att_target_and_error_yaw(_att_target_euler_deriv_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
_att_target_euler_rate_rads.z = euler_yaw_rate_rads;
update_att_target_and_error_yaw(_att_target_euler_rate_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
}
// Convert 321-intrinsic euler angle errors to a body-frame rotation vector
// NOTE: This results in an approximation of the attitude error based on a linearization about the current attitude
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
// Compute the angular velocity target from the attitude error
update_ang_vel_target_from_att_error();
// Convert euler angle derivative of desired attitude into a body-frame angular velocity vector for feedforward
if (_rate_bf_ff_enabled) {
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_target_euler_deriv_rads, _att_target_ang_vel_rads);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_target_euler_rate_rads, _att_target_ang_vel_rads);
} else {
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), Vector3f(0,0,_att_target_euler_deriv_rads.z), _att_target_ang_vel_rads);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), Vector3f(0,0,_att_target_euler_rate_rads.z), _att_target_ang_vel_rads);
}
// NOTE: Rotation of _att_target_ang_vel_rads from desired body frame to estimated body frame is possibly omitted here
@ -201,34 +201,34 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler
att_error_euler_rad.y = wrap_PI(_att_target_euler_rad.y - _ahrs.pitch);
// Zero the roll and pitch feed-forward rate.
_att_target_euler_deriv_rads.x = 0;
_att_target_euler_deriv_rads.y = 0;
_att_target_euler_rate_rads.x = 0;
_att_target_euler_rate_rads.y = 0;
if (get_accel_yaw_max_radss() > 0.0f) {
// When yaw acceleration limiting is enabled, the yaw input shaper constrains angular acceleration about the yaw axis, slewing
// the output rate towards the input rate.
float rate_change_limit_rads = get_accel_yaw_max_radss() * _dt;
_att_target_euler_deriv_rads.z += constrain_float(euler_yaw_rate_rads - _att_target_euler_deriv_rads.z, -rate_change_limit_rads, rate_change_limit_rads);
_att_target_euler_rate_rads.z += constrain_float(euler_yaw_rate_rads - _att_target_euler_rate_rads.z, -rate_change_limit_rads, rate_change_limit_rads);
// The output rate is used to update the attitude target euler angles and is fed forward into the rate controller.
update_att_target_and_error_yaw(_att_target_euler_deriv_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_yaw(_att_target_euler_rate_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
} else {
// When yaw acceleration limiting is disabled, the attitude target is simply rotated using the input rate and the input rate
// is fed forward into the rate controller.
_att_target_euler_deriv_rads.z = euler_yaw_rate_rads;
update_att_target_and_error_yaw(_att_target_euler_deriv_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
_att_target_euler_rate_rads.z = euler_yaw_rate_rads;
update_att_target_and_error_yaw(_att_target_euler_rate_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
}
// Convert 321-intrinsic euler angle errors to a body-frame rotation vector
// NOTE: This results in an approximation of the attitude error based on a linearization about the current attitude
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
// Compute the angular velocity target from the attitude error
update_ang_vel_target_from_att_error();
// Convert euler angle derivatives of desired attitude into a body-frame angular velocity vector for feedforward
// NOTE: This should be done about the desired attitude instead of about the vehicle attitude
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_target_euler_deriv_rads, _att_target_ang_vel_rads);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_target_euler_rate_rads, _att_target_ang_vel_rads);
// NOTE: A rotation of _att_target_ang_vel_rads from desired body frame to estimated body frame is possibly omitted here
// Add the angular velocity feedforward
@ -265,13 +265,13 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle
// Convert 321-intrinsic euler angle errors to a body-frame rotation vector
// NOTE: This results in an approximation of the attitude error based on a linearization about the current attitude
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
// Compute the angular velocity target from the attitude error
update_ang_vel_target_from_att_error();
// Keep euler derivative updated
ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_deriv_rads);
ang_vel_to_euler_rate(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_rate_rads);
}
void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds)
@ -286,31 +286,31 @@ void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_c
// Compute acceleration-limited euler roll rate
if (get_accel_roll_max_radss() > 0.0f) {
float rate_change_limit_rads = get_accel_roll_max_radss() * _dt;
_att_target_euler_deriv_rads.x += constrain_float(euler_roll_rate_rads - _att_target_euler_deriv_rads.x, -rate_change_limit_rads, rate_change_limit_rads);
_att_target_euler_rate_rads.x += constrain_float(euler_roll_rate_rads - _att_target_euler_rate_rads.x, -rate_change_limit_rads, rate_change_limit_rads);
} else {
_att_target_euler_deriv_rads.x = euler_roll_rate_rads;
_att_target_euler_rate_rads.x = euler_roll_rate_rads;
}
// Compute acceleration-limited euler pitch rate
if (get_accel_pitch_max_radss() > 0.0f) {
float rate_change_limit_rads = get_accel_pitch_max_radss() * _dt;
_att_target_euler_deriv_rads.y += constrain_float(euler_pitch_rate_rads - _att_target_euler_deriv_rads.y, -rate_change_limit_rads, rate_change_limit_rads);
_att_target_euler_rate_rads.y += constrain_float(euler_pitch_rate_rads - _att_target_euler_rate_rads.y, -rate_change_limit_rads, rate_change_limit_rads);
} else {
_att_target_euler_deriv_rads.y = euler_pitch_rate_rads;
_att_target_euler_rate_rads.y = euler_pitch_rate_rads;
}
// Compute acceleration-limited euler yaw rate
if (get_accel_yaw_max_radss() > 0.0f) {
float rate_change_limit_rads = get_accel_yaw_max_radss() * _dt;
_att_target_euler_deriv_rads.z += constrain_float(euler_yaw_rate_rads - _att_target_euler_deriv_rads.z, -rate_change_limit_rads, rate_change_limit_rads);
_att_target_euler_rate_rads.z += constrain_float(euler_yaw_rate_rads - _att_target_euler_rate_rads.z, -rate_change_limit_rads, rate_change_limit_rads);
} else {
_att_target_euler_deriv_rads.z = euler_yaw_rate_rads;
_att_target_euler_rate_rads.z = euler_yaw_rate_rads;
}
// Update the attitude target from the computed euler rates
update_att_target_and_error_roll(_att_target_euler_deriv_rads.x, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_pitch(_att_target_euler_deriv_rads.y, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_yaw(_att_target_euler_deriv_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_roll(_att_target_euler_rate_rads.x, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_pitch(_att_target_euler_rate_rads.y, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX_RAD);
update_att_target_and_error_yaw(_att_target_euler_rate_rads.z, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX_RAD);
// Apply tilt limit
_att_target_euler_rad.x = constrain_float(_att_target_euler_rad.x, -get_tilt_limit_rad(), get_tilt_limit_rad());
@ -318,13 +318,13 @@ void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_c
// Convert 321-intrinsic euler angle errors to a body-frame rotation vector
// NOTE: This results in an approximation of the attitude error based on a linearization about the current attitude
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_error_euler_rad, _att_error_rot_vec_rad);
// Compute the angular velocity target from the attitude error
update_ang_vel_target_from_att_error();
// Convert euler angle derivatives of desired attitude into a body-frame angular velocity vector for feedforward
euler_derivative_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_target_euler_deriv_rads, _att_target_ang_vel_rads);
euler_rate_to_ang_vel(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_target_euler_rate_rads, _att_target_ang_vel_rads);
// NOTE: Rotation of _att_target_ang_vel_rads from desired body frame to estimated body frame is possibly omitted here
// Add the angular velocity feedforward
@ -379,7 +379,7 @@ void AC_AttitudeControl::input_att_quat_bf_ang_vel(const Quaternion& att_target_
// Update euler attitude target and angular velocity targets
att_target_quat.to_euler(_att_target_euler_rad.x,_att_target_euler_rad.y,_att_target_euler_rad.z);
_att_target_ang_vel_rads = att_target_ang_vel_rads;
ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_target_ang_vel_rads, _att_target_euler_deriv_rads);
ang_vel_to_euler_rate(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), att_target_ang_vel_rads, _att_target_euler_rate_rads);
// Retrieve quaternion vehicle attitude
// TODO add _ahrs.get_quaternion()
@ -405,7 +405,7 @@ void AC_AttitudeControl::rate_controller_run()
_motors.set_yaw(rate_bf_to_motor_yaw(_ang_vel_target_rads.z));
}
void AC_AttitudeControl::euler_derivative_to_ang_vel(const Vector3f& euler_rad, const Vector3f& euler_dot_rads, Vector3f& ang_vel_rads)
void AC_AttitudeControl::euler_rate_to_ang_vel(const Vector3f& euler_rad, const Vector3f& euler_dot_rads, Vector3f& ang_vel_rads)
{
float sin_theta = sinf(euler_rad.y);
float cos_theta = cosf(euler_rad.y);
@ -417,7 +417,7 @@ void AC_AttitudeControl::euler_derivative_to_ang_vel(const Vector3f& euler_rad,
ang_vel_rads.z = -sin_phi * euler_dot_rads.y + cos_theta * cos_phi * euler_dot_rads.z;
}
bool AC_AttitudeControl::ang_vel_to_euler_derivative(const Vector3f& euler_rad, const Vector3f& ang_vel_rads, Vector3f& euler_dot_rads)
bool AC_AttitudeControl::ang_vel_to_euler_rate(const Vector3f& euler_rad, const Vector3f& ang_vel_rads, Vector3f& euler_dot_rads)
{
float sin_theta = sinf(euler_rad.y);
float cos_theta = cosf(euler_rad.y);

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -135,11 +135,11 @@ public:
virtual void rate_controller_run();
// Convert a 321-intrinsic euler angle derivative to an angular velocity vector
void euler_derivative_to_ang_vel(const Vector3f& euler_rad, const Vector3f& euler_dot_rads, Vector3f& ang_vel_rads);
void euler_rate_to_ang_vel(const Vector3f& euler_rad, const Vector3f& euler_dot_rads, Vector3f& ang_vel_rads);
// Convert an angular velocity vector to a 321-intrinsic euler angle derivative
// Returns false if the vehicle is pitched 90 degrees up or down
bool ang_vel_to_euler_derivative(const Vector3f& euler_rad, const Vector3f& ang_vel_rads, Vector3f& euler_dot_rads);
bool ang_vel_to_euler_rate(const Vector3f& euler_rad, const Vector3f& ang_vel_rads, Vector3f& euler_dot_rads);
// Configures whether the attitude controller should limit the rate demand to constrain angular acceleration
void limit_angle_to_rate_request(bool limit_request) { _att_ctrl_use_accel_limit = limit_request; }
@ -294,7 +294,7 @@ protected:
// This represents the angular velocity of the reference (setpoint) attitude used in
// the attitude controller as 321-intrinsic euler angle derivatives, in radians per
// second. Formerly _rate_ef_desired.
Vector3f _att_target_euler_deriv_rads;
Vector3f _att_target_euler_rate_rads;
// This represents the angular velocity of the reference (setpoint) attitude used in
// the attitude controller as an angular velocity vector, in radians per second in

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -64,7 +64,7 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
// convert angle error rotation vector into 321-intrinsic euler angle difference
// NOTE: this results an an approximation linearized about the vehicle's attitude
if (ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_error_rot_vec_rad, att_error_euler_rad)) {
if (ang_vel_to_euler_rate(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _att_error_rot_vec_rad, att_error_euler_rad)) {
_att_target_euler_rad.x = wrap_PI(att_error_euler_rad.x + _ahrs.roll);
_att_target_euler_rad.y = wrap_PI(att_error_euler_rad.y + _ahrs.pitch);
_att_target_euler_rad.z = wrap_2PI(att_error_euler_rad.z + _ahrs.yaw);