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ArduCopter: pass linear altitude error to throttle rate controllers.

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Previously the requested rate used the square root of the altitude error.

Scale pilot's desired vertical rate and acceleration based on ACCELERATION_MAX_Z and VELOCITY_MAX_Z #defines
This commit is contained in:
rmackay9 2012-11-25 18:07:33 +09:00
parent d7f76ebd87
commit bdb47c449a
2 changed files with 12 additions and 19 deletions
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25
ArduCopter/Attitude.pde
View File

@ -855,10 +855,10 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
// check throttle is above, below or in the deadband // check throttle is above, below or in the deadband
if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) { if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
// below the deadband // below the deadband
desired_rate = (int32_t)THROTTLE_IN_MIDDLE * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND); desired_rate = (int32_t)VELOCITY_MAX_Z * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
}else if (throttle_control > THROTTLE_IN_DEADBAND_TOP) { }else if (throttle_control > THROTTLE_IN_DEADBAND_TOP) {
// above the deadband // above the deadband
desired_rate = (int32_t)THROTTLE_IN_MIDDLE * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND); desired_rate = (int32_t)VELOCITY_MAX_Z * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
}else{ }else{
// must be in the deadband // must be in the deadband
desired_rate = 0; desired_rate = 0;
@ -888,10 +888,10 @@ static int16_t get_pilot_desired_acceleration(int16_t throttle_control)
// check throttle is above, below or in the deadband // check throttle is above, below or in the deadband
if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) { if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
// below the deadband // below the deadband
desired_accel = (int32_t)THROTTLE_IN_MIDDLE * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND); desired_accel = (int32_t)ACCELERATION_MAX_Z * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
}else if(throttle_control > THROTTLE_IN_DEADBAND_TOP) { }else if(throttle_control > THROTTLE_IN_DEADBAND_TOP) {
// above the deadband // above the deadband
desired_accel = (int32_t)THROTTLE_IN_MIDDLE * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND); desired_accel = (int32_t)ACCELERATION_MAX_Z * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
}else{ }else{
// must be in the deadband // must be in the deadband
desired_accel = 0; desired_accel = 0;
@ -999,14 +999,9 @@ get_throttle_rate_stabilized(int16_t target_rate)
altitude_error = constrain(alt_desired - current_loc.alt, -alt_error_max, alt_error_max); altitude_error = constrain(alt_desired - current_loc.alt, -alt_error_max, alt_error_max);
alt_desired = current_loc.alt + altitude_error; alt_desired = current_loc.alt + altitude_error;
if(altitude_error > 0){ desired_rate = g.pi_alt_hold.get_p(altitude_error);
desired_rate = g.pi_alt_hold.get_p(10*sqrt(altitude_error));
}else if(altitude_error < 0){
desired_rate = g.pi_alt_hold.get_p(-10*sqrt(abs(altitude_error)));
}else{
desired_rate = g.pi_alt_hold.get_p(0);
}
desired_rate = constrain(desired_rate, -200, 200) + target_rate; desired_rate = constrain(desired_rate, -200, 200) + target_rate;
desired_rate = constrain(desired_rate, -VELOCITY_MAX_Z, VELOCITY_MAX_Z); // TO-DO: replace constrains with ALTHOLD_MIN_CLIMB_RATE and ALTHOLD_MAX_CLIMB_RATE?
// call rate based throttle controller which will update accel based throttle controller targets // call rate based throttle controller which will update accel based throttle controller targets
get_throttle_rate(desired_rate); get_throttle_rate(desired_rate);
@ -1022,13 +1017,7 @@ get_throttle_althold(int32_t target_alt, int16_t max_climb_rate)
int16_t desired_rate; int16_t desired_rate;
altitude_error = target_alt - current_loc.alt; altitude_error = target_alt - current_loc.alt;
if(altitude_error > 0){ desired_rate = g.pi_alt_hold.get_p(altitude_error);
desired_rate = g.pi_alt_hold.get_p(10*sqrt(altitude_error));
}else if(altitude_error < 0){
desired_rate = g.pi_alt_hold.get_p(-10*sqrt(abs(altitude_error)));
}else{
desired_rate = g.pi_alt_hold.get_p(0);
}
desired_rate = constrain(desired_rate, ALTHOLD_MIN_CLIMB_RATE, max_climb_rate); desired_rate = constrain(desired_rate, ALTHOLD_MIN_CLIMB_RATE, max_climb_rate);
// call rate based throttle controller which will update accel based throttle controller targets // call rate based throttle controller which will update accel based throttle controller targets

6
ArduCopter/config.h
View File

@ -895,12 +895,16 @@
// minimum and maximum climb rates while in alt hold mode // minimum and maximum climb rates while in alt hold mode
#ifndef ALTHOLD_MAX_CLIMB_RATE #ifndef ALTHOLD_MAX_CLIMB_RATE
# define ALTHOLD_MAX_CLIMB_RATE 500 # define ALTHOLD_MAX_CLIMB_RATE 250
#endif #endif
#ifndef ALTHOLD_MIN_CLIMB_RATE #ifndef ALTHOLD_MIN_CLIMB_RATE
# define ALTHOLD_MIN_CLIMB_RATE -ALTHOLD_MAX_CLIMB_RATE # define ALTHOLD_MIN_CLIMB_RATE -ALTHOLD_MAX_CLIMB_RATE
#endif #endif
// max allowed acceleration
#define VELOCITY_MAX_Z 250 // maximum vertical velocity in cm/s
#define ACCELERATION_MAX_Z 750 // maximum veritcal acceleration in cm/s/s
// Throttle Accel control // Throttle Accel control
#ifndef THROTTLE_ACCEL_P #ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.5 # define THROTTLE_ACCEL_P 0.5