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AC_PosControl: replace APM_PI with AC_P

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This commit is contained in:
Randy Mackay 2014-02-14 16:05:29 +09:00 committed by Andrew Tridgell
parent fbf8106280
commit 94fb9c4274
2 changed files with 24 additions and 28 deletions
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37
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -22,17 +22,16 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] PROGMEM = {
// //
AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav, AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control, const AP_Motors& motors, AC_AttitudeControl& attitude_control,
APM_PI& pi_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel, AC_P& p_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel,
APM_PI& pi_pos_lat, APM_PI& pi_pos_lon, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon) : AC_P& p_pos_xy, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon) :
_ahrs(ahrs), _ahrs(ahrs),
_inav(inav), _inav(inav),
_motors(motors), _motors(motors),
_attitude_control(attitude_control), _attitude_control(attitude_control),
_pi_alt_pos(pi_alt_pos), _p_alt_pos(p_alt_pos),
_pid_alt_rate(pid_alt_rate), _pid_alt_rate(pid_alt_rate),
_pid_alt_accel(pid_alt_accel), _pid_alt_accel(pid_alt_accel),
_pi_pos_lat(pi_pos_lat), _p_pos_xy(p_pos_xy),
_pi_pos_lon(pi_pos_lon),
_pid_rate_lat(pid_rate_lat), _pid_rate_lat(pid_rate_lat),
_pid_rate_lon(pid_rate_lon), _pid_rate_lon(pid_rate_lon),
_dt(POSCONTROL_DT_10HZ), _dt(POSCONTROL_DT_10HZ),
@ -146,13 +145,13 @@ void AC_PosControl::get_stopping_point_z(Vector3f& stopping_point) const
float linear_velocity; // the velocity we swap between linear and sqrt float linear_velocity; // the velocity we swap between linear and sqrt
// calculate the velocity at which we switch from calculating the stopping point using a linear funcction to a sqrt function // calculate the velocity at which we switch from calculating the stopping point using a linear funcction to a sqrt function
linear_velocity = POSCONTROL_ALT_HOLD_ACCEL_MAX/_pi_alt_pos.kP(); linear_velocity = POSCONTROL_ALT_HOLD_ACCEL_MAX/_p_alt_pos.kP();
if (fabs(curr_vel_z) < linear_velocity) { if (fabs(curr_vel_z) < linear_velocity) {
// if our current velocity is below the cross-over point we use a linear function // if our current velocity is below the cross-over point we use a linear function
stopping_point.z = curr_pos_z + curr_vel_z/_pi_alt_pos.kP(); stopping_point.z = curr_pos_z + curr_vel_z/_p_alt_pos.kP();
} else { } else {
linear_distance = POSCONTROL_ALT_HOLD_ACCEL_MAX/(2.0f*_pi_alt_pos.kP()*_pi_alt_pos.kP()); linear_distance = POSCONTROL_ALT_HOLD_ACCEL_MAX/(2.0f*_p_alt_pos.kP()*_p_alt_pos.kP());
if (curr_vel_z > 0){ if (curr_vel_z > 0){
stopping_point.z = curr_pos_z + (linear_distance + curr_vel_z*curr_vel_z/(2.0f*POSCONTROL_ALT_HOLD_ACCEL_MAX)); stopping_point.z = curr_pos_z + (linear_distance + curr_vel_z*curr_vel_z/(2.0f*POSCONTROL_ALT_HOLD_ACCEL_MAX));
} else { } else {
@ -190,8 +189,8 @@ void AC_PosControl::update_z_controller()
void AC_PosControl::calc_leash_length_z() void AC_PosControl::calc_leash_length_z()
{ {
if (_flags.recalc_leash_z) { if (_flags.recalc_leash_z) {
_leash_up_z = calc_leash_length(_speed_up_cms, _accel_z_cms, _pi_alt_pos.kP()); _leash_up_z = calc_leash_length(_speed_up_cms, _accel_z_cms, _p_alt_pos.kP());
_leash_down_z = calc_leash_length(_speed_down_cms, _accel_z_cms, _pi_alt_pos.kP()); _leash_down_z = calc_leash_length(_speed_down_cms, _accel_z_cms, _p_alt_pos.kP());
_flags.recalc_leash_z = false; _flags.recalc_leash_z = false;
} }
} }
@ -228,14 +227,14 @@ void AC_PosControl::pos_to_rate_z()
} }
// check kP to avoid division by zero // check kP to avoid division by zero
if (_pi_alt_pos.kP() != 0) { if (_p_alt_pos.kP() != 0) {
linear_distance = POSCONTROL_ALT_HOLD_ACCEL_MAX/(2.0f*_pi_alt_pos.kP()*_pi_alt_pos.kP()); linear_distance = POSCONTROL_ALT_HOLD_ACCEL_MAX/(2.0f*_p_alt_pos.kP()*_p_alt_pos.kP());
if (_pos_error.z > 2*linear_distance ) { if (_pos_error.z > 2*linear_distance ) {
_vel_target.z = safe_sqrt(2.0f*POSCONTROL_ALT_HOLD_ACCEL_MAX*(_pos_error.z-linear_distance)); _vel_target.z = safe_sqrt(2.0f*POSCONTROL_ALT_HOLD_ACCEL_MAX*(_pos_error.z-linear_distance));
}else if (_pos_error.z < -2.0f*linear_distance) { }else if (_pos_error.z < -2.0f*linear_distance) {
_vel_target.z = -safe_sqrt(2.0f*POSCONTROL_ALT_HOLD_ACCEL_MAX*(-_pos_error.z-linear_distance)); _vel_target.z = -safe_sqrt(2.0f*POSCONTROL_ALT_HOLD_ACCEL_MAX*(-_pos_error.z-linear_distance));
}else{ }else{
_vel_target.z = _pi_alt_pos.get_p(_pos_error.z); _vel_target.z = _p_alt_pos.get_p(_pos_error.z);
} }
}else{ }else{
_vel_target.z = 0; _vel_target.z = 0;
@ -391,7 +390,7 @@ void AC_PosControl::get_stopping_point_xy(Vector3f &stopping_point) const
float linear_distance; // the distance at which we swap from a linear to sqrt response float linear_distance; // the distance at which we swap from a linear to sqrt response
float linear_velocity; // the velocity above which we swap from a linear to sqrt response float linear_velocity; // the velocity above which we swap from a linear to sqrt response
float stopping_dist; // the distance within the vehicle can stop float stopping_dist; // the distance within the vehicle can stop
float kP = _pi_pos_lat.kP(); float kP = _p_pos_xy.kP();
// calculate current velocity // calculate current velocity
float vel_total = safe_sqrt(curr_vel.x*curr_vel.x + curr_vel.y*curr_vel.y); float vel_total = safe_sqrt(curr_vel.x*curr_vel.x + curr_vel.y*curr_vel.y);
@ -485,7 +484,7 @@ void AC_PosControl::update_pos_controller(bool use_desired_velocity)
void AC_PosControl::calc_leash_length_xy() void AC_PosControl::calc_leash_length_xy()
{ {
if (_flags.recalc_leash_xy) { if (_flags.recalc_leash_xy) {
_leash = calc_leash_length(_speed_cms, _accel_cms, _pi_pos_lon.kP()); _leash = calc_leash_length(_speed_cms, _accel_cms, _p_pos_xy.kP());
_flags.recalc_leash_xy = false; _flags.recalc_leash_xy = false;
} }
} }
@ -522,7 +521,7 @@ void AC_PosControl::pos_to_rate_xy(bool use_desired_rate, float dt)
{ {
Vector3f curr_pos = _inav.get_position(); Vector3f curr_pos = _inav.get_position();
float linear_distance; // the distance we swap between linear and sqrt velocity response float linear_distance; // the distance we swap between linear and sqrt velocity response
float kP = _pi_pos_lat.kP(); float kP = _p_pos_xy.kP();
// avoid divide by zero // avoid divide by zero
if (kP <= 0.0f) { if (kP <= 0.0f) {
@ -554,8 +553,8 @@ void AC_PosControl::pos_to_rate_xy(bool use_desired_rate, float dt)
_vel_target.y = vel_sqrt * _pos_error.y/_distance_to_target; _vel_target.y = vel_sqrt * _pos_error.y/_distance_to_target;
}else{ }else{
// velocity response grows linearly with the distance // velocity response grows linearly with the distance
_vel_target.x = _pi_pos_lat.kP() * _pos_error.x; _vel_target.x = _p_pos_xy.kP() * _pos_error.x;
_vel_target.y = _pi_pos_lon.kP() * _pos_error.y; _vel_target.y = _p_pos_xy.kP() * _pos_error.y;
} }
// decide velocity limit due to position error // decide velocity limit due to position error
@ -647,8 +646,6 @@ void AC_PosControl::accel_to_lean_angles()
/// reset_I_xy - clears I terms from loiter PID controller /// reset_I_xy - clears I terms from loiter PID controller
void AC_PosControl::reset_I_xy() void AC_PosControl::reset_I_xy()
{ {
_pi_pos_lon.reset_I();
_pi_pos_lat.reset_I();
_pid_rate_lon.reset_I(); _pid_rate_lon.reset_I();
_pid_rate_lat.reset_I(); _pid_rate_lat.reset_I();

15
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -6,7 +6,7 @@
#include <AP_Param.h> #include <AP_Param.h>
#include <AP_Math.h> #include <AP_Math.h>
#include <AC_PID.h> // PID library #include <AC_PID.h> // PID library
#include <APM_PI.h> // PID library #include <AC_P.h> // P library
#include <AP_InertialNav.h> // Inertial Navigation library #include <AP_InertialNav.h> // Inertial Navigation library
#include <AC_AttitudeControl.h> // Attitude control library #include <AC_AttitudeControl.h> // Attitude control library
#include <AP_Motors.h> // motors library #include <AP_Motors.h> // motors library
@ -42,8 +42,8 @@ public:
/// Constructor /// Constructor
AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav, AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control, const AP_Motors& motors, AC_AttitudeControl& attitude_control,
APM_PI& pi_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel, AC_P& p_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel,
APM_PI& pi_pos_lat, APM_PI& pi_pos_lon, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon); AC_P& p_pos_xy, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon);
/// ///
/// initialisation functions /// initialisation functions
@ -124,7 +124,7 @@ public:
float get_leash_up_z() const { return _leash_up_z; } float get_leash_up_z() const { return _leash_up_z; }
/// althold_kP - returns altitude hold position control PID's kP gain /// althold_kP - returns altitude hold position control PID's kP gain
float althold_kP() const { return _pi_alt_pos.kP(); } float althold_kP() const { return _p_alt_pos.kP(); }
/// ///
/// xy position controller /// xy position controller
@ -183,7 +183,7 @@ public:
float get_leash_xy() { return _leash; } float get_leash_xy() { return _leash; }
/// get_pos_xy_kP - returns xy position controller's kP gain /// get_pos_xy_kP - returns xy position controller's kP gain
float get_pos_xy_kP() const { return _pi_pos_lat.kP(); } float get_pos_xy_kP() const { return _p_pos_xy.kP(); }
/// accessors for reporting /// accessors for reporting
const Vector3f get_vel_target() { return _vel_target; } const Vector3f get_vel_target() { return _vel_target; }
@ -262,11 +262,10 @@ private:
AC_AttitudeControl& _attitude_control; AC_AttitudeControl& _attitude_control;
// references to pid controllers and motors // references to pid controllers and motors
APM_PI& _pi_alt_pos; AC_P& _p_alt_pos;
AC_PID& _pid_alt_rate; AC_PID& _pid_alt_rate;
AC_PID& _pid_alt_accel; AC_PID& _pid_alt_accel;
APM_PI& _pi_pos_lat; AC_P& _p_pos_xy;
APM_PI& _pi_pos_lon;
AC_PID& _pid_rate_lat; AC_PID& _pid_rate_lat;
AC_PID& _pid_rate_lon; AC_PID& _pid_rate_lon;