From 313b546c4d2f098851dac2bdc88c2753b4377426 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 10 Mar 2014 23:37:26 +0100 Subject: [PATCH 01/29] fw pos ctrl: add wrapper function for tecs --- .../fw_pos_control_l1_main.cpp | 96 ++++++++++--------- 1 file changed, 53 insertions(+), 43 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7f13df7854..d6c706b3b7 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -356,6 +356,15 @@ private: * Reset landing state */ void reset_landing_state(); + + /* + * Call TECS + */ + void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, + float pitch_min_rad, float pitch_max_rad, + float throttle_min, float throttle_max, float throttle_cruise, + bool climbout_mode, float climbout_pitch_min_rad); + }; namespace l1_control @@ -819,11 +828,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) { @@ -833,11 +841,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { @@ -929,11 +936,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, flare_pitch_angle_rad, - 0.0f, throttle_max, throttle_land, - flare_pitch_angle_rad, math::radians(15.0f)); + tecs_update_pitch_throttle(flare_curve_alt, calculate_target_airspeed(airspeed_land), eas2tas, + flare_pitch_angle_rad, math::radians(15.0f), + 0.0f, throttle_max, throttle_land, + false, flare_pitch_angle_rad); if (!land_noreturn_vertical) { mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); @@ -962,11 +968,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi altitude_desired = math::max(_global_pos.alt, L_altitude); } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(altitude_desired, calculate_target_airspeed(airspeed_approach), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -1004,22 +1009,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (altitude_error > 15.0f) { /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), - _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f))); /* limit roll motion to ensure enough lift */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); } else { - - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } } else { @@ -1083,12 +1085,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, - _airspeed.indicated_airspeed_m_s, eas2tas, - false, _parameters.pitch_limit_min, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - _parameters.pitch_limit_min, _parameters.pitch_limit_max); + tecs_update_pitch_throttle(_global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } else if (0/* seatbelt mode enabled */) { @@ -1127,12 +1127,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _manual.roll; _att_sp.yaw_body = _manual.yaw; - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, - _airspeed.indicated_airspeed_m_s, eas2tas, - climb_out, _parameters.pitch_limit_min, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - _parameters.pitch_limit_min, _parameters.pitch_limit_max); + tecs_update_pitch_throttle(_global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + climb_out, math::radians(_parameters.pitch_limit_min)); } else { @@ -1328,6 +1326,18 @@ void FixedwingPositionControl::reset_landing_state() land_onslope = false; } +void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, + float pitch_min_rad, float pitch_max_rad, + float throttle_min, float throttle_max, float throttle_cruise, + bool climbout_mode, float climbout_pitch_min_rad) +{ + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, alt_sp, v_sp, + _airspeed.indicated_airspeed_m_s, eas2tas, + climbout_mode, climbout_pitch_min_rad, + throttle_min, throttle_max, throttle_cruise, + pitch_min_rad, pitch_max_rad); +} + int FixedwingPositionControl::start() { From 50d3fe2a1ace205f32ab9e236c3ddb1832d4f19c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 10 Mar 2014 23:37:26 +0100 Subject: [PATCH 02/29] fw pos ctrl: add wrapper function for tecs --- .../fw_pos_control_l1_main.cpp | 96 ++++++++++--------- 1 file changed, 53 insertions(+), 43 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 7f13df7854..d6c706b3b7 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -356,6 +356,15 @@ private: * Reset landing state */ void reset_landing_state(); + + /* + * Call TECS + */ + void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, + float pitch_min_rad, float pitch_max_rad, + float throttle_min, float throttle_max, float throttle_cruise, + bool climbout_mode, float climbout_pitch_min_rad); + }; namespace l1_control @@ -819,11 +828,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) { @@ -833,11 +841,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { @@ -929,11 +936,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, flare_pitch_angle_rad, - 0.0f, throttle_max, throttle_land, - flare_pitch_angle_rad, math::radians(15.0f)); + tecs_update_pitch_throttle(flare_curve_alt, calculate_target_airspeed(airspeed_land), eas2tas, + flare_pitch_angle_rad, math::radians(15.0f), + 0.0f, throttle_max, throttle_land, + false, flare_pitch_angle_rad); if (!land_noreturn_vertical) { mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); @@ -962,11 +968,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi altitude_desired = math::max(_global_pos.alt, L_altitude); } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(altitude_desired, calculate_target_airspeed(airspeed_approach), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -1004,22 +1009,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (altitude_error > 15.0f) { /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), - _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f))); /* limit roll motion to ensure enough lift */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); } else { - - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } } else { @@ -1083,12 +1085,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, - _airspeed.indicated_airspeed_m_s, eas2tas, - false, _parameters.pitch_limit_min, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - _parameters.pitch_limit_min, _parameters.pitch_limit_max); + tecs_update_pitch_throttle(_global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min)); } else if (0/* seatbelt mode enabled */) { @@ -1127,12 +1127,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); _att_sp.roll_body = _manual.roll; _att_sp.yaw_body = _manual.yaw; - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, - seatbelt_airspeed, - _airspeed.indicated_airspeed_m_s, eas2tas, - climb_out, _parameters.pitch_limit_min, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - _parameters.pitch_limit_min, _parameters.pitch_limit_max); + tecs_update_pitch_throttle(_global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + climb_out, math::radians(_parameters.pitch_limit_min)); } else { @@ -1328,6 +1326,18 @@ void FixedwingPositionControl::reset_landing_state() land_onslope = false; } +void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, + float pitch_min_rad, float pitch_max_rad, + float throttle_min, float throttle_max, float throttle_cruise, + bool climbout_mode, float climbout_pitch_min_rad) +{ + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, alt_sp, v_sp, + _airspeed.indicated_airspeed_m_s, eas2tas, + climbout_mode, climbout_pitch_min_rad, + throttle_min, throttle_max, throttle_cruise, + pitch_min_rad, pitch_max_rad); +} + int FixedwingPositionControl::start() { From 9c751fe9c5f604613a26b1d82e0735db44c9da3c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Mar 2014 00:05:57 +0100 Subject: [PATCH 03/29] mtecs --- .../fw_pos_control_l1_main.cpp | 101 +++++--- src/modules/fw_pos_control_l1/module.mk | 4 +- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 152 ++++++++++++ src/modules/fw_pos_control_l1/mtecs/mTecs.h | 113 +++++++++ .../fw_pos_control_l1/mtecs/mTecs_blocks.h | 198 +++++++++++++++ .../fw_pos_control_l1/mtecs/mTecs_params.c | 231 ++++++++++++++++++ 6 files changed, 766 insertions(+), 33 deletions(-) create mode 100644 src/modules/fw_pos_control_l1/mtecs/mTecs.cpp create mode 100644 src/modules/fw_pos_control_l1/mtecs/mTecs.h create mode 100644 src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h create mode 100644 src/modules/fw_pos_control_l1/mtecs/mTecs_params.c diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index d6c706b3b7..1e8447aed5 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -90,6 +90,7 @@ #include #include #include "landingslope.h" +#include "mtecs/mTecs.h" /** @@ -198,6 +199,8 @@ private: ECL_L1_Pos_Controller _l1_control; TECS _tecs; + fwPosctrl::mTecs _mTecs; + bool _was_pos_control_mode; struct { float l1_period; @@ -331,11 +334,11 @@ private: /** * Control position. */ - bool control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed, + bool control_position(const math::Vector<2> &global_pos, const math::Vector<3> &ground_speed, const struct position_setpoint_triplet_s &_pos_sp_triplet); float calculate_target_airspeed(float airspeed_demand); - void calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet); + void calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet); /** * Shim for calling task_main from task_create. @@ -363,7 +366,8 @@ private: void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, float throttle_cruise, - bool climbout_mode, float climbout_pitch_min_rad); + bool climbout_mode, float climbout_pitch_min_rad, + const math::Vector<3> &ground_speed); }; @@ -426,7 +430,9 @@ FixedwingPositionControl::FixedwingPositionControl() : _control_mode(), _global_pos(), _pos_sp_triplet(), - _sensor_combined() + _sensor_combined(), + _mTecs(), + _was_pos_control_mode(false) { _nav_capabilities.turn_distance = 0.0f; @@ -583,6 +589,9 @@ FixedwingPositionControl::parameters_update() /* Update Launch Detector Parameters */ launchDetector.updateParams(); + /* Update the mTecs */ + _mTecs.updateParams(); + return OK; } @@ -714,7 +723,7 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand) } void -FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) +FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet) { if (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { @@ -722,7 +731,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &c /* rotate ground speed vector with current attitude */ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0)); yaw_vector.normalize(); - float ground_speed_body = yaw_vector * ground_speed; + float ground_speed_body = yaw_vector * ground_speed_2d; /* The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available*/ float distance = 0.0f; @@ -764,12 +773,13 @@ void FixedwingPositionControl::navigation_capabilities_publish() } bool -FixedwingPositionControl::control_position(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, +FixedwingPositionControl::control_position(const math::Vector<2> ¤t_position, const math::Vector<3> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) { bool setpoint = true; - calculate_gndspeed_undershoot(current_position, ground_speed, pos_sp_triplet); + math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)}; + calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet); float eas2tas = 1.0f; // XXX calculate actual number based on current measurements @@ -792,6 +802,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // else integrators should be constantly reset. if (_control_mode.flag_control_position_enabled) { + if (!_was_pos_control_mode) { + /* reset integrators */ + if (_mTecs.getEnabled()) { + _mTecs.resetIntegrators(); + } + } + + _was_pos_control_mode = true; + /* get circle mode */ bool was_circle_mode = _l1_control.circle_mode(); @@ -824,27 +843,27 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (pos_sp_triplet.current.type == SETPOINT_TYPE_NORMAL) { /* waypoint is a plain navigation waypoint */ - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed); + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min)); + false, math::radians(_parameters.pitch_limit_min), ground_speed); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) { /* waypoint is a loiter waypoint */ _l1_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius, - pos_sp_triplet.current.loiter_direction, ground_speed); + pos_sp_triplet.current.loiter_direction, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min)); + false, math::radians(_parameters.pitch_limit_min), ground_speed); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { @@ -869,7 +888,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw)); - _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); + _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed_2d); /* limit roll motion to prevent wings from touching the ground first */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f)); @@ -879,7 +898,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else { /* normal navigation */ - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed); + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); } _att_sp.roll_body = _l1_control.nav_roll(); @@ -939,7 +958,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(flare_curve_alt, calculate_target_airspeed(airspeed_land), eas2tas, flare_pitch_angle_rad, math::radians(15.0f), 0.0f, throttle_max, throttle_land, - false, flare_pitch_angle_rad); + false, flare_pitch_angle_rad, ground_speed); if (!land_noreturn_vertical) { mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); @@ -971,7 +990,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(altitude_desired, calculate_target_airspeed(airspeed_approach), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min)); + false, math::radians(_parameters.pitch_limit_min), ground_speed); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -998,7 +1017,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed); + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); @@ -1012,7 +1031,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f))); + true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), ground_speed); /* limit roll motion to ensure enough lift */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); @@ -1021,7 +1040,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min)); + false, math::radians(_parameters.pitch_limit_min), ground_speed); } } else { @@ -1055,6 +1074,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else if (0/* easy mode enabled */) { + _was_pos_control_mode = false; + /** EASY FLIGHT **/ if (0/* switched from another mode to easy */) { @@ -1082,16 +1103,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); tecs_update_pitch_throttle(_global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min)); + false, math::radians(_parameters.pitch_limit_min), ground_speed); } else if (0/* seatbelt mode enabled */) { + _was_pos_control_mode = false; + /** SEATBELT FLIGHT **/ if (0/* switched from another mode to seatbelt */) { @@ -1124,16 +1147,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi climb_out = true; } - _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed_2d); _att_sp.roll_body = _manual.roll; _att_sp.yaw_body = _manual.yaw; tecs_update_pitch_throttle(_global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - climb_out, math::radians(_parameters.pitch_limit_min)); + climb_out, math::radians(_parameters.pitch_limit_min), ground_speed); } else { + _was_pos_control_mode = false; + /** MANUAL FLIGHT **/ /* no flight mode applies, do not publish an attitude setpoint */ @@ -1150,9 +1175,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.thrust = launchDetector.getThrottlePreTakeoff(); } else { - _att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max); + _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :_tecs.get_throttle_demand(), throttle_max); } - _att_sp.pitch_body = _tecs.get_pitch_demand(); + _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); if (_control_mode.flag_control_position_enabled) { last_manual = false; @@ -1264,7 +1289,7 @@ FixedwingPositionControl::task_main() vehicle_airspeed_poll(); // vehicle_baro_poll(); - math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e); + math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d); math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon); /* @@ -1329,13 +1354,25 @@ void FixedwingPositionControl::reset_landing_state() void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, float throttle_cruise, - bool climbout_mode, float climbout_pitch_min_rad) + bool climbout_mode, float climbout_pitch_min_rad, + const math::Vector<3> &ground_speed) { - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, alt_sp, v_sp, - _airspeed.indicated_airspeed_m_s, eas2tas, - climbout_mode, climbout_pitch_min_rad, - throttle_min, throttle_max, throttle_cruise, - pitch_min_rad, pitch_max_rad); + if (_mTecs.getEnabled()) { + + float flightPathAngle = 0.0f; + float ground_speed_length = ground_speed.length(); + if (ground_speed_length > FLT_EPSILON) { + flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); + } + _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp); + + } else { + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, alt_sp, v_sp, + _airspeed.indicated_airspeed_m_s, eas2tas, + climbout_mode, climbout_pitch_min_rad, + throttle_min, throttle_max, throttle_cruise, + pitch_min_rad, pitch_max_rad); + } } int diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index cf419ec7ea..5d752437fb 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -39,4 +39,6 @@ MODULE_COMMAND = fw_pos_control_l1 SRCS = fw_pos_control_l1_main.cpp \ fw_pos_control_l1_params.c \ - landingslope.cpp + landingslope.cpp \ + mtecs/mTecs.cpp\ + mtecs/mTecs_params.c diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp new file mode 100644 index 0000000000..ad108e7eec --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs.cpp + * + * @author Thomas Gubler + */ + +#include "mTecs.h" + +#include +#include + +namespace fwPosctrl { + +mTecs::mTecs() : + SuperBlock(NULL, "MT"), + /* Parameters */ + _mTecsEnabled(this, "ENABLED"), + /* control blocks */ + _controlTotalEnergy(this, "THR"), + _controlEnergyDistribution(this, "PIT", true), + _controlAltitude(this, "FPA", true), + _controlAirSpeed(this, "ACC"), + _airspeedDerivative(this, "AD"), + _throttleSp(0.0f), + _pitchSp(0.0f), + timestampLastIteration(hrt_absolute_time()), + _firstIterationAfterReset(true) +{ +} + +mTecs::~mTecs() +{ +} + +void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp) +{ + warnx("***"); + float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); + warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); + updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp); +} + +void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) { + + float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); + warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp); +} + +void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp) +{ + /* time measurement */ + float deltaTSeconds = 0.0f; + if (!_firstIterationAfterReset) { + hrt_abstime timestampNow = hrt_absolute_time(); + deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f; + timestampLastIteration = timestampNow; + } + setDt(deltaTSeconds); + + /* update parameters first */ + updateParams(); + + /* calculate values (energies) */ + float flightPathAngleError = flightPathAngleSp - flightPathAngle; + float airspeedDerivative = 0.0f; + if(_airspeedDerivative.getDt() > 0.0f) { + airspeedDerivative = _airspeedDerivative.update(airspeed); + } + float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G; + float airspeedSpDerivative = accelerationLongitudinalSp; + float airspeedSpDerivativeNorm = airspeedSpDerivative / CONSTANTS_ONE_G; + float airspeedSpDerivativeNormError = airspeedSpDerivativeNorm - airspeedDerivativeNorm; + + float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm; + float totalEnergyRateError = flightPathAngleError + airspeedSpDerivativeNormError; + float totalEnergyRateSp = flightPathAngleSp + airspeedSpDerivativeNorm; + float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate; + + float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm; + float energyDistributionRateError = flightPathAngleError - airspeedSpDerivativeNormError; + float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm; + float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; + + warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", + (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); + warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", + (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); + + /** update control blocks **/ + /* update total energy rate control block */ + _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError); + + /* update energy distribution rate control block */ + _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError); + + warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", + (double)_throttleSp, (double)_pitchSp, + (double)flightPathAngleSp, (double)flightPathAngle, + (double)accelerationLongitudinalSp, (double)airspeedDerivative); + + + /* clean up */ + _firstIterationAfterReset = false; + +} + +void mTecs::resetIntegrators() +{ + _controlTotalEnergy.getIntegral().setY(0.0f); + _controlEnergyDistribution.getIntegral().setY(0.0f); + timestampLastIteration = hrt_absolute_time(); + _firstIterationAfterReset = true; +} + +} /* namespace fwPosctrl */ + diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h new file mode 100644 index 0000000000..5877a8312b --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs.h + * + * @author Thomas Gubler + */ + + +#ifndef MTECS_H_ +#define MTECS_H_ + +#include "mTecs_blocks.h" + +#include +#include + +namespace fwPosctrl +{ + +/* Main class of the mTecs */ +class mTecs : public control::SuperBlock +{ +public: + mTecs(); + virtual ~mTecs(); + + /* + * Control in altitude setpoint and speed mode + */ + void updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp); + + /* + * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode + */ + void updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp); + + /* + * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) + */ + void updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp); + + /* + * Reset all integrators + */ + void resetIntegrators(); + + + /* Accessors */ + bool getEnabled() {return _mTecsEnabled.get() > 0;} + float getThrottleSetpoint() {return _throttleSp;} + float getPitchSetpoint() {return _pitchSp;} + +protected: + /* parameters */ + control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ + + /* control blocks */ + BlockFFPILimited _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ + BlockFFPILimited _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ + BlockPLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ + BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */ + + /* Other calculation Blocks */ + control::BlockDerivative _airspeedDerivative; + + /* Output setpoints */ + float _throttleSp; /**< Throttle Setpoint from 0 to 1 */ + float _pitchSp; /**< Pitch Setpoint from -pi to pi */ + + /* Time measurements */ + hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ + + bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + +}; + +} /* namespace fwPosctrl */ + +#endif /* MTECS_H_ */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h new file mode 100644 index 0000000000..7dd5c7c2e2 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -0,0 +1,198 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs_blocks.h + * + * Custom blocks for the mTecs + * + * @author Thomas Gubler + */ + +#pragma once + +#include +#include + +namespace fwPosctrl +{ + +using namespace control; + +/* Integrator without limit */ +class BlockIntegralNoLimit: public SuperBlock +{ +public: +// methods + BlockIntegralNoLimit(SuperBlock *parent, const char *name) : + SuperBlock(parent, name), + _y(0) {}; + virtual ~BlockIntegralNoLimit() {}; + float update(float input) { + setY(getY() + input * getDt()); + return getY(); + }; +// accessors + float getY() {return _y;} + void setY(float y) {_y = y;} +protected: +// attributes + float _y; /**< previous output */ +}; + +/* An block which can be used to limit the output */ +class BlockOutputLimiter: public SuperBlock +{ +public: +// methods + BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _isAngularLimit(isAngularLimit), + _min(this, "MIN"), + _max(this, "MAX") + {}; + virtual ~BlockOutputLimiter() {}; + bool limit(float& value, float& difference) { + float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); + float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", + name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); + if (value < minimum) { + difference = value - minimum; + value = minimum; + return true; + } else if (value > maximum) { + difference = value - maximum; + value = maximum; + return true; + } + return false; + } +//accessor: + bool isAngularLimit() {return _isAngularLimit ;} + float getMin() { return _min.get(); } + float getMax() { return _max.get(); } +protected: +//attributes + bool _isAngularLimit; + control::BlockParamFloat _min; + control::BlockParamFloat _max; +}; + +typedef + +/* A combination of feed forward, P and I gain using the output limiter*/ +class BlockFFPILimited: public SuperBlock +{ +public: +// methods + BlockFFPILimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _integral(this, "I"), + _kFF(this, "FF"), + _kP(this, "P"), + _kI(this, "I"), + _offset(this, "OFF"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockFFPILimited() {}; + float update(float inputValue, float inputError) { + float difference = 0.0f; + float integralYPrevious = _integral.getY(); + float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, + (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); + if(!getOutputLimiter().limit(output, difference) && + (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || + ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { + getIntegral().setY(integralYPrevious); + } + warnx("%s output limited %.2f", + name,(double)output); + return output; + } +// accessors + BlockIntegralNoLimit &getIntegral() { return _integral; } + float getKFF() { return _kFF.get(); } + float getKP() { return _kP.get(); } + float getKI() { return _kI.get(); } + float getOffset() { return _offset.get(); } + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; +private: + BlockIntegralNoLimit _integral; + BlockParamFloat _kFF; + BlockParamFloat _kP; + BlockParamFloat _kI; + BlockParamFloat _offset; + BlockOutputLimiter _outputLimiter; +}; + +/* A combination of P gain and output limiter */ +class BlockPLimited: public SuperBlock +{ +public: +// methods + BlockPLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _kP(this, "P"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockPLimited() {}; + float update(float input) { + float difference = 0.0f; + float output = getKP() * input; + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + warnx("%s output %.2f _kP.get() %.2f, input", + name,(double)output, (double)_kP.get(), (double)input); + getOutputLimiter().limit(output, difference); + warnx("%s output limited %.2f", + name,(double)output); + return output; + } +// accessors + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; + float getKP() { return _kP.get(); } +private: + control::BlockParamFloat _kP; + BlockOutputLimiter _outputLimiter; +}; + +} + diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c new file mode 100644 index 0000000000..76ed953033 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -0,0 +1,231 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs_params.c + * + * @author Thomas Gubler + */ + +#include +#include + +/* + * Controller parameters, accessible via MAVLink + */ + +/** + * mTECS enabled + * + * Set to 1 to enable mTECS + * + * @min 0 + * @max 1 + * @group mTECS + */ +PARAM_DEFINE_INT32(MT_ENABLED, 0); + +/** + * Total Energy Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); + +/** + * Total Energy Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); + +/** + * Total Energy Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f); + +/** + * Total Energy Rate Control OFF (Cruise throttle) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); + +/** + * Energy Distribution Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); + +/** + * Energy Distribution Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); + +/** + * Energy Distribution Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f); + + +/** + * Total Energy Distribution OFF (Cruise pitch sp) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f); + +/** + * Minimal Throttle Setpoint + * + * @min 0.0 + * @max 1.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f); + +/** + * Maximal Throttle Setpoint + * + * @min 0.0 + * @max 1.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_MAX, 1.0f); + +/** + * Minimal Pitch Setpoint in Degrees + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f); + +/** + * Maximal Pitch Setpoint in Degrees + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); + +/** + * P gain for the altitude control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); + +/** + * Minimal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f); + +/** + * Maximal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); + + +/** + * P gain for the airspeed control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); + +/** + * Minimal acceleration (air) + * + * @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MIN, 0.0f); + +/** + * Maximal acceleration (air) + * +* @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); + +/** + * Airspeed derivative lowpass + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); From b61e6f2706fed68257c909bdd8a84feda5121344 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 25 Mar 2014 21:23:48 +0100 Subject: [PATCH 04/29] mtecs: don't flow the stdout too much --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 35 ++++++++++++------- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 1 + 2 files changed, 24 insertions(+), 12 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index ad108e7eec..fa9a6d9475 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -59,7 +59,8 @@ mTecs::mTecs() : _throttleSp(0.0f), _pitchSp(0.0f), timestampLastIteration(hrt_absolute_time()), - _firstIterationAfterReset(true) + _firstIterationAfterReset(true), + _counter(0) { } @@ -69,16 +70,21 @@ mTecs::~mTecs() void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp) { - warnx("***"); + float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); - warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); + if (_counter % 10 == 0) { + warnx("***"); + warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); + } updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp); } void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) { float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); - warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + if (_counter % 10 == 0) { + warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + } updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp); } @@ -117,10 +123,12 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm; float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; - warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", - (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); - warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", - (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); + if (_counter % 10 == 0) { + warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", + (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); + warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", + (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); + } /** update control blocks **/ /* update total energy rate control block */ @@ -129,15 +137,18 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh /* update energy distribution rate control block */ _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError); - warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", - (double)_throttleSp, (double)_pitchSp, - (double)flightPathAngleSp, (double)flightPathAngle, - (double)accelerationLongitudinalSp, (double)airspeedDerivative); + if (_counter % 10 == 0) { + warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", + (double)_throttleSp, (double)_pitchSp, + (double)flightPathAngleSp, (double)flightPathAngle, + (double)accelerationLongitudinalSp, (double)airspeedDerivative); + } /* clean up */ _firstIterationAfterReset = false; + _counter++; } void mTecs::resetIntegrators() diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 5877a8312b..32d9879db6 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -106,6 +106,7 @@ protected: bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + int _counter; }; } /* namespace fwPosctrl */ From c81aefc756c6587e306986312370cf9d22a5f534 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 25 Mar 2014 21:24:20 +0100 Subject: [PATCH 05/29] mtecs: commented out warnx --- .../fw_pos_control_l1/mtecs/mTecs_blocks.h | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index 7dd5c7c2e2..aff01479d1 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -89,8 +89,8 @@ public: float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); char name[blockNameLengthMax]; getName(name, blockNameLengthMax); - warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", - name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); +// warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", +// name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); if (value < minimum) { difference = value - minimum; value = minimum; @@ -136,15 +136,15 @@ public: float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); char name[blockNameLengthMax]; getName(name, blockNameLengthMax); - warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, - (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); +// warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, +// (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); if(!getOutputLimiter().limit(output, difference) && (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { getIntegral().setY(integralYPrevious); } - warnx("%s output limited %.2f", - name,(double)output); +// warnx("%s output limited %.2f", +// name,(double)output); return output; } // accessors @@ -179,11 +179,11 @@ public: float output = getKP() * input; char name[blockNameLengthMax]; getName(name, blockNameLengthMax); - warnx("%s output %.2f _kP.get() %.2f, input", - name,(double)output, (double)_kP.get(), (double)input); +// warnx("%s output %.2f _kP.get() %.2f, input", +// name,(double)output, (double)_kP.get(), (double)input); getOutputLimiter().limit(output, difference); - warnx("%s output limited %.2f", - name,(double)output); +// warnx("%s output limited %.2f", +// name,(double)output); return output; } // accessors From f949395edf873b423cae3d62a95cd0800a2d344f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 25 Mar 2014 22:25:16 +0100 Subject: [PATCH 06/29] mtecs: correct a very wrong default param value --- src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 76ed953033..705b2cd595 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -213,7 +213,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); * @unit m/s^2 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_MIN, 0.0f); +PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f); /** * Maximal acceleration (air) From d8eeec6cdbff505ac7f50877cc552b33ccf8837c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 25 Mar 2014 23:03:06 +0100 Subject: [PATCH 07/29] mtecs: comment out debug code --- src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index aff01479d1..c15d90cdb3 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -87,8 +87,8 @@ public: bool limit(float& value, float& difference) { float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); +// char name[blockNameLengthMax]; +// getName(name, blockNameLengthMax); // warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", // name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); if (value < minimum) { @@ -134,8 +134,8 @@ public: float difference = 0.0f; float integralYPrevious = _integral.getY(); float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); +// char name[blockNameLengthMax]; +// getName(name, blockNameLengthMax); // warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, // (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); if(!getOutputLimiter().limit(output, difference) && @@ -177,8 +177,8 @@ public: float update(float input) { float difference = 0.0f; float output = getKP() * input; - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); +// char name[blockNameLengthMax]; +// getName(name, blockNameLengthMax); // warnx("%s output %.2f _kP.get() %.2f, input", // name,(double)output, (double)_kP.get(), (double)input); getOutputLimiter().limit(output, difference); From 4824484497cf0d85d08fe9c9727aa5edc4446e67 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 27 Mar 2014 19:03:57 +0100 Subject: [PATCH 08/29] mtecs: add FPA D gain --- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 2 +- .../fw_pos_control_l1/mtecs/mTecs_blocks.h | 48 ++++++++++++------- .../fw_pos_control_l1/mtecs/mTecs_params.c | 17 +++++++ 3 files changed, 50 insertions(+), 17 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 32d9879db6..502a8a8b0a 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -91,7 +91,7 @@ protected: /* control blocks */ BlockFFPILimited _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ BlockFFPILimited _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ - BlockPLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ + BlockPDLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */ /* Other calculation Blocks */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index c15d90cdb3..a357b24e28 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -87,10 +87,6 @@ public: bool limit(float& value, float& difference) { float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); -// char name[blockNameLengthMax]; -// getName(name, blockNameLengthMax); -// warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", -// name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); if (value < minimum) { difference = value - minimum; value = minimum; @@ -134,17 +130,11 @@ public: float difference = 0.0f; float integralYPrevious = _integral.getY(); float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); -// char name[blockNameLengthMax]; -// getName(name, blockNameLengthMax); -// warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, -// (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); if(!getOutputLimiter().limit(output, difference) && (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { getIntegral().setY(integralYPrevious); } -// warnx("%s output limited %.2f", -// name,(double)output); return output; } // accessors @@ -177,13 +167,7 @@ public: float update(float input) { float difference = 0.0f; float output = getKP() * input; -// char name[blockNameLengthMax]; -// getName(name, blockNameLengthMax); -// warnx("%s output %.2f _kP.get() %.2f, input", -// name,(double)output, (double)_kP.get(), (double)input); getOutputLimiter().limit(output, difference); -// warnx("%s output limited %.2f", -// name,(double)output); return output; } // accessors @@ -194,5 +178,37 @@ private: BlockOutputLimiter _outputLimiter; }; +/* A combination of P, D gains and output limiter */ +class BlockPDLimited: public SuperBlock +{ +public: +// methods + BlockPDLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _kP(this, "P"), + _kD(this, "D"), + _derivative(this, "D"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockPDLimited() {}; + float update(float input) { + float difference = 0.0f; + float output = getKP() * input + getKD() * getDerivative().update(input); + getOutputLimiter().limit(output, difference); + + return output; + } +// accessors + float getKP() { return _kP.get(); } + float getKD() { return _kD.get(); } + BlockDerivative &getDerivative() { return _derivative; } + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; +private: + control::BlockParamFloat _kP; + control::BlockParamFloat _kD; + BlockDerivative _derivative; + BlockOutputLimiter _outputLimiter; +}; + } diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 705b2cd595..f8db703041 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -177,6 +177,23 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); */ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); +/** + * D gain for the altitude control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f); + +/** + * Lowpass for FPA error derivative (see MT_FPA_D) + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); + + /** * Minimal flight path angle setpoint * From 0d526bddca9210bed75cfd26458a48ac87453c9e Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 27 Mar 2014 21:47:34 +0100 Subject: [PATCH 09/29] fw_pos_control: whitespace in module.mk --- src/modules/fw_pos_control_l1/module.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index 5d752437fb..c887223f4a 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -40,5 +40,5 @@ MODULE_COMMAND = fw_pos_control_l1 SRCS = fw_pos_control_l1_main.cpp \ fw_pos_control_l1_params.c \ landingslope.cpp \ - mtecs/mTecs.cpp\ + mtecs/mTecs.cpp \ mtecs/mTecs_params.c From d102afba8bdb526b85dce6dc47034ddd170d7240 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 27 Mar 2014 22:12:01 +0100 Subject: [PATCH 10/29] mtecs: make sure dt is calculated before any control calculations --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 31 ++++++++++++++----- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 8 ++++- 2 files changed, 31 insertions(+), 8 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index fa9a6d9475..3118ea5d12 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -60,6 +60,7 @@ mTecs::mTecs() : _pitchSp(0.0f), timestampLastIteration(hrt_absolute_time()), _firstIterationAfterReset(true), + dtCalculated(false), _counter(0) { } @@ -71,6 +72,9 @@ mTecs::~mTecs() void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp) { + /* time measurement */ + updateTimeMeasurement(); + float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); if (_counter % 10 == 0) { warnx("***"); @@ -81,6 +85,9 @@ void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alt void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) { + /* time measurement */ + updateTimeMeasurement(); + float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); if (_counter % 10 == 0) { warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); @@ -91,13 +98,7 @@ void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAn void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp) { /* time measurement */ - float deltaTSeconds = 0.0f; - if (!_firstIterationAfterReset) { - hrt_abstime timestampNow = hrt_absolute_time(); - deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f; - timestampLastIteration = timestampNow; - } - setDt(deltaTSeconds); + updateTimeMeasurement(); /* update parameters first */ updateParams(); @@ -147,6 +148,7 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh /* clean up */ _firstIterationAfterReset = false; + dtCalculated = false; _counter++; } @@ -159,5 +161,20 @@ void mTecs::resetIntegrators() _firstIterationAfterReset = true; } +void mTecs::updateTimeMeasurement() +{ + if (!dtCalculated) { + float deltaTSeconds = 0.0f; + if (!_firstIterationAfterReset) { + hrt_abstime timestampNow = hrt_absolute_time(); + deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f; + timestampLastIteration = timestampNow; + } + setDt(deltaTSeconds); + + dtCalculated = true; + } +} + } /* namespace fwPosctrl */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 502a8a8b0a..62c4d70140 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -104,9 +104,15 @@ protected: /* Time measurements */ hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ - bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + bool dtCalculated; /**< True if dt has been calculated in this iteration */ int _counter; + + /* + * Measure and update the time step dt if this was not already done in the current iteration + */ + void updateTimeMeasurement(); }; } /* namespace fwPosctrl */ From d3ca12f136c9a890f7289d69bd783840dc86cfba Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 27 Mar 2014 22:34:23 +0100 Subject: [PATCH 11/29] mtecs: BlockPDLimited: make sure dt > 0 --- src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index a357b24e28..6e90a82bae 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -193,7 +193,7 @@ public: virtual ~BlockPDLimited() {}; float update(float input) { float difference = 0.0f; - float output = getKP() * input + getKD() * getDerivative().update(input); + float output = getKP() * input + (getDerivative().getDt() > 0.0f ? getKD() * getDerivative().update(input) : 0.0f); getOutputLimiter().limit(output, difference); return output; From 3e9dfcb6f7bbda7653e6d8873b6273f2e9299d73 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 27 Mar 2014 22:57:29 +0100 Subject: [PATCH 12/29] mtecs: first rough version of takeoff mode --- .../fw_pos_control_l1_main.cpp | 11 ++++- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 25 +++++++--- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 19 ++++++-- .../fw_pos_control_l1/mtecs/mTecs_blocks.h | 48 +++++++++++++------ .../fw_pos_control_l1/mtecs/mTecs_params.c | 39 +++++++++++++++ 5 files changed, 113 insertions(+), 29 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 1e8447aed5..44afa43d80 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -361,7 +361,7 @@ private: void reset_landing_state(); /* - * Call TECS + * Call TECS : a wrapper function to call one of the TECS implementations (mTECS is called only if enabled via parameter) */ void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, float pitch_min_rad, float pitch_max_rad, @@ -1364,7 +1364,14 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ if (ground_speed_length > FLT_EPSILON) { flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); } - _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp); + + if (!climbout_mode) { + /* Normal operation */ + _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp, fwPosctrl::mTecs::TECS_MODE_NORMAL); + } else { + /* Climbout/Takeoff mode requested */ + _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp, fwPosctrl::mTecs::TECS_MODE_TAKEOFF); + } } else { _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, alt_sp, v_sp, diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 3118ea5d12..33bfd49622 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -58,6 +58,8 @@ mTecs::mTecs() : _airspeedDerivative(this, "AD"), _throttleSp(0.0f), _pitchSp(0.0f), + BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"), + BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true), timestampLastIteration(hrt_absolute_time()), _firstIterationAfterReset(true), dtCalculated(false), @@ -69,7 +71,7 @@ mTecs::~mTecs() { } -void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp) +void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) { /* time measurement */ @@ -80,10 +82,10 @@ void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alt warnx("***"); warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); } - updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp); + updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); } -void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) { +void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); @@ -92,10 +94,10 @@ void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAn if (_counter % 10 == 0) { warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); } - updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp); + updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); } -void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp) +void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); @@ -131,12 +133,21 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } + /* Set special ouput limiters if we are not in TECS_MODE_NORMAL */ + BlockOutputLimiter *outputLimiterThrottle = NULL; + BlockOutputLimiter *outputLimiterPitch = NULL; + if (mode == TECS_MODE_TAKEOFF) { + outputLimiterThrottle = &BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector + outputLimiterPitch = &BlockOutputLimiterTakeoffPitch; + } + /** update control blocks **/ /* update total energy rate control block */ - _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError); + _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle); /* update energy distribution rate control block */ - _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError); + _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError, outputLimiterPitch); + if (_counter % 10 == 0) { warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 62c4d70140..6c30a458a9 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -58,20 +58,25 @@ public: mTecs(); virtual ~mTecs(); + typedef enum { + TECS_MODE_NORMAL, + TECS_MODE_TAKEOFF + } tecs_mode; + /* * Control in altitude setpoint and speed mode */ - void updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp); + void updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode */ - void updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp); + void updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) */ - void updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp); + void updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode); /* * Reset all integrators @@ -89,8 +94,8 @@ protected: control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ /* control blocks */ - BlockFFPILimited _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ - BlockFFPILimited _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ + BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ + BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ BlockPDLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */ @@ -101,6 +106,10 @@ protected: float _throttleSp; /**< Throttle Setpoint from 0 to 1 */ float _pitchSp; /**< Pitch Setpoint from -pi to pi */ + /* Output Limits in special modes */ + BlockOutputLimiter BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + /* Time measurements */ hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index 6e90a82bae..f3dc9bcb28 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -111,32 +111,22 @@ protected: typedef -/* A combination of feed forward, P and I gain using the output limiter*/ +/* A combination of feed forward, P and I gain using the output limiter*/ class BlockFFPILimited: public SuperBlock { public: // methods BlockFFPILimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : SuperBlock(parent, name), + _outputLimiter(this, "", isAngularLimit), _integral(this, "I"), _kFF(this, "FF"), _kP(this, "P"), _kI(this, "I"), - _offset(this, "OFF"), - _outputLimiter(this, "", isAngularLimit) + _offset(this, "OFF") {}; virtual ~BlockFFPILimited() {}; - float update(float inputValue, float inputError) { - float difference = 0.0f; - float integralYPrevious = _integral.getY(); - float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); - if(!getOutputLimiter().limit(output, difference) && - (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || - ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { - getIntegral().setY(integralYPrevious); - } - return output; - } + float update(float inputValue, float inputError) { return calcLimitedOutput(inputValue, inputError, _outputLimiter); } // accessors BlockIntegralNoLimit &getIntegral() { return _integral; } float getKFF() { return _kFF.get(); } @@ -144,13 +134,41 @@ public: float getKI() { return _kI.get(); } float getOffset() { return _offset.get(); } BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; +protected: + BlockOutputLimiter _outputLimiter; + + float calcUnlimitedOutput(float inputValue, float inputError) {return getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError);} + float calcLimitedOutput(float inputValue, float inputError, BlockOutputLimiter &outputLimiter) { + float difference = 0.0f; + float integralYPrevious = _integral.getY(); + float output = calcUnlimitedOutput(inputValue, inputError); + if(!outputLimiter.limit(output, difference) && + (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || + ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { + getIntegral().setY(integralYPrevious); + } + return output; + } private: BlockIntegralNoLimit _integral; BlockParamFloat _kFF; BlockParamFloat _kP; BlockParamFloat _kI; BlockParamFloat _offset; - BlockOutputLimiter _outputLimiter; +}; + +/* A combination of feed forward, P and I gain using the output limiter with the option to provide a special output limiter (for example for takeoff)*/ +class BlockFFPILimitedCustom: public BlockFFPILimited +{ +public: +// methods + BlockFFPILimitedCustom(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + BlockFFPILimited(parent, name, isAngularLimit) + {}; + virtual ~BlockFFPILimitedCustom() {}; + float update(float inputValue, float inputError, BlockOutputLimiter *outputLimiter = NULL) { + return calcLimitedOutput(inputValue, inputError, outputLimiter == NULL ? _outputLimiter : *outputLimiter); + } }; /* A combination of P gain and output limiter */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index f8db703041..bbd957273a 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -246,3 +246,42 @@ PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); * @group mTECS */ PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); + + +/** + * Minimal throttle during takeoff + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f); + +/** + * Maximal throttle during takeoff + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_THR_MAX, 1.0f); + +/** + * Minimal pitch during takeoff + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_PIT_MIN, 0.0f); + +/** + * Maximal pitch during takeoff + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f); From 45cef9eed4a9f1c6761f41a187672cc4ba82cd39 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 6 Apr 2014 11:11:58 +0200 Subject: [PATCH 13/29] mtecs: better (but not final) default parameters for mtecs --- .../fw_pos_control_l1/mtecs/mTecs_params.c | 22 +++++++++---------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index f8db703041..194dfa1508 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -55,7 +55,7 @@ * @max 1 * @group mTECS */ -PARAM_DEFINE_INT32(MT_ENABLED, 0); +PARAM_DEFINE_INT32(MT_ENABLED, 1); /** * Total Energy Rate Control FF @@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 0); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); +PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); /** * Total Energy Rate Control P @@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); /** * Total Energy Rate Control I @@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f); +PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); /** * Total Energy Rate Control OFF (Cruise throttle) @@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); +PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); /** * Energy Distribution Rate Control P @@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f); /** * Energy Distribution Rate Control I @@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f); +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f); /** @@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); +PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); /** * P gain for the altitude control @@ -175,7 +175,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); /** * D gain for the altitude control @@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f); +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); /** * Maximal flight path angle setpoint @@ -222,7 +222,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); /** * Minimal acceleration (air) From 8fcdff15a480399541b9ecccf8dc8260d437ec7f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 6 Apr 2014 14:58:31 +0200 Subject: [PATCH 14/29] mtecs: add comment about setting the standard limits --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 33bfd49622..63e60995e8 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -134,8 +134,8 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh } /* Set special ouput limiters if we are not in TECS_MODE_NORMAL */ - BlockOutputLimiter *outputLimiterThrottle = NULL; - BlockOutputLimiter *outputLimiterPitch = NULL; + BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits + BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits if (mode == TECS_MODE_TAKEOFF) { outputLimiterThrottle = &BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector outputLimiterPitch = &BlockOutputLimiterTakeoffPitch; From 671c7a115a7c01ed89266a6631fb3929af84ffcf Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 21 Apr 2014 16:20:20 +0200 Subject: [PATCH 15/29] simple underspeed protection for mtecs --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 27 +++++++++---- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 10 +++-- .../fw_pos_control_l1/mtecs/mTecs_params.c | 40 ++++++++++++++++++- 3 files changed, 65 insertions(+), 12 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 63e60995e8..1fb3153e9e 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -50,6 +50,7 @@ mTecs::mTecs() : SuperBlock(NULL, "MT"), /* Parameters */ _mTecsEnabled(this, "ENABLED"), + _airspeedMin(this, "FW_AIRSPD_MIN", false), /* control blocks */ _controlTotalEnergy(this, "THR"), _controlEnergyDistribution(this, "PIT", true), @@ -58,11 +59,13 @@ mTecs::mTecs() : _airspeedDerivative(this, "AD"), _throttleSp(0.0f), _pitchSp(0.0f), - BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"), - BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true), + _BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"), + _BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true), + _BlockOutputLimiterUnderspeedThrottle(this, "USP_THR"), + _BlockOutputLimiterUnderspeedPitch(this, "USP_PIT", true), timestampLastIteration(hrt_absolute_time()), _firstIterationAfterReset(true), - dtCalculated(false), + _dtCalculated(false), _counter(0) { } @@ -133,12 +136,20 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } + /* Check airspeed: if below safe value switch to underspeed mode */ + if (airspeed < _airspeedMin.get()) { + mode = TECS_MODE_UNDERSPEED; + } + /* Set special ouput limiters if we are not in TECS_MODE_NORMAL */ BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits if (mode == TECS_MODE_TAKEOFF) { - outputLimiterThrottle = &BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector - outputLimiterPitch = &BlockOutputLimiterTakeoffPitch; + outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector + outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch; + } else if (mode == TECS_MODE_UNDERSPEED) { + outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle; + outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch; } /** update control blocks **/ @@ -159,7 +170,7 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh /* clean up */ _firstIterationAfterReset = false; - dtCalculated = false; + _dtCalculated = false; _counter++; } @@ -174,7 +185,7 @@ void mTecs::resetIntegrators() void mTecs::updateTimeMeasurement() { - if (!dtCalculated) { + if (!_dtCalculated) { float deltaTSeconds = 0.0f; if (!_firstIterationAfterReset) { hrt_abstime timestampNow = hrt_absolute_time(); @@ -183,7 +194,7 @@ void mTecs::updateTimeMeasurement() } setDt(deltaTSeconds); - dtCalculated = true; + _dtCalculated = true; } } diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 6c30a458a9..393dd294d4 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -60,6 +60,7 @@ public: typedef enum { TECS_MODE_NORMAL, + TECS_MODE_UNDERSPEED, TECS_MODE_TAKEOFF } tecs_mode; @@ -92,6 +93,7 @@ public: protected: /* parameters */ control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ + control::BlockParamFloat _airspeedMin; /**< minimal airspeed */ /* control blocks */ BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ @@ -107,14 +109,16 @@ protected: float _pitchSp; /**< Pitch Setpoint from -pi to pi */ /* Output Limits in special modes */ - BlockOutputLimiter BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ - BlockOutputLimiter BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit during takeoff */ /* Time measurements */ hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ - bool dtCalculated; /**< True if dt has been calculated in this iteration */ + bool _dtCalculated; /**< True if dt has been calculated in this iteration */ int _counter; diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 85a4f3d488..fd501c17ad 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -247,7 +247,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); */ PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); - /** * Minimal throttle during takeoff * @@ -285,3 +284,42 @@ PARAM_DEFINE_FLOAT(MT_TKF_PIT_MIN, 0.0f); * @group mTECS */ PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f); + +/** + * Minimal throttle in underspeed mode + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f); + +/** + * Maximal throttle in underspeed mode + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_THR_MAX, 1.0f); + +/** + * Minimal pitch in underspeed mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f); + +/** + * Maximal pitch in underspeed mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f); + From 96ddea082690cd826cee10c4c00c95b2f87caf90 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 27 Apr 2014 12:45:02 +0200 Subject: [PATCH 16/29] Introduce debug option for mTECS and silence it as default --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 37 +++++++++++++++---- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 5 +++ 2 files changed, 34 insertions(+), 8 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 1fb3153e9e..a4cf0bdf8d 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -42,7 +42,7 @@ #include "mTecs.h" #include -#include +#include namespace fwPosctrl { @@ -66,7 +66,8 @@ mTecs::mTecs() : timestampLastIteration(hrt_absolute_time()), _firstIterationAfterReset(true), _dtCalculated(false), - _counter(0) + _counter(0), + _debug(false) { } @@ -82,8 +83,8 @@ void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alt float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); if (_counter % 10 == 0) { - warnx("***"); - warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); + debug("***"); + debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); } updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); } @@ -95,7 +96,7 @@ void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAn float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); if (_counter % 10 == 0) { - warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); } updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); } @@ -130,9 +131,9 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; if (_counter % 10 == 0) { - warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", + debug("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); - warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", + debug("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } @@ -161,7 +162,7 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh if (_counter % 10 == 0) { - warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", + debug("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", (double)_throttleSp, (double)_pitchSp, (double)flightPathAngleSp, (double)flightPathAngle, (double)accelerationLongitudinalSp, (double)airspeedDerivative); @@ -198,5 +199,25 @@ void mTecs::updateTimeMeasurement() } } +void mTecs::debug_print(const char *fmt, va_list args) +{ + fprintf(stderr, "%s: ", "[mtecs]"); + vfprintf(stderr, fmt, args); + + fprintf(stderr, "\n"); +} + +void mTecs::debug(const char *fmt, ...) { + + if (!_debug) { + return; + } + + va_list args; + + va_start(args, fmt); + debug_print(fmt, args); +} + } /* namespace fwPosctrl */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 393dd294d4..fab4b161af 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -121,6 +121,11 @@ protected: bool _dtCalculated; /**< True if dt has been calculated in this iteration */ int _counter; + bool _debug; ///< Set true to enable debug output + + + static void debug_print(const char *fmt, va_list args); + void debug(const char *fmt, ...); /* * Measure and update the time step dt if this was not already done in the current iteration From dd8bfc2a0b8e528f7e3c93e2dfba5b10bd37091d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 1 May 2014 13:53:47 +0200 Subject: [PATCH 17/29] mtecs: landing mode which limits pitch and as well throttle at the end of the landing --- .../fw_pos_control_l1_main.cpp | 22 ++++------- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 8 ++++ src/modules/fw_pos_control_l1/mtecs/mTecs.h | 10 +++-- .../fw_pos_control_l1/mtecs/mTecs_params.c | 37 +++++++++++++++++++ 4 files changed, 60 insertions(+), 17 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 44afa43d80..5cdab10a12 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -362,12 +362,14 @@ private: /* * Call TECS : a wrapper function to call one of the TECS implementations (mTECS is called only if enabled via parameter) + * XXX need to clean up/remove this function once mtecs fully replaces TECS */ void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, float throttle_cruise, bool climbout_mode, float climbout_pitch_min_rad, - const math::Vector<3> &ground_speed); + const math::Vector<3> &ground_speed, + fwPosctrl::mTecs::tecs_mode mode = fwPosctrl::mTecs::TECS_MODE_NORMAL); }; @@ -958,7 +960,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(flare_curve_alt, calculate_target_airspeed(airspeed_land), eas2tas, flare_pitch_angle_rad, math::radians(15.0f), 0.0f, throttle_max, throttle_land, - false, flare_pitch_angle_rad, ground_speed); + false, flare_pitch_angle_rad, ground_speed, land_motor_lim ? fwPosctrl::mTecs::TECS_MODE_LAND_THROTTLELIM : fwPosctrl::mTecs::TECS_MODE_LAND); if (!land_noreturn_vertical) { mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); @@ -1031,7 +1033,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), ground_speed); + true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), ground_speed, fwPosctrl::mTecs::TECS_MODE_TAKEOFF); /* limit roll motion to ensure enough lift */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); @@ -1355,24 +1357,16 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, float throttle_cruise, bool climbout_mode, float climbout_pitch_min_rad, - const math::Vector<3> &ground_speed) + const math::Vector<3> &ground_speed, + fwPosctrl::mTecs::tecs_mode mode) { if (_mTecs.getEnabled()) { - float flightPathAngle = 0.0f; float ground_speed_length = ground_speed.length(); if (ground_speed_length > FLT_EPSILON) { flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); } - - if (!climbout_mode) { - /* Normal operation */ - _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp, fwPosctrl::mTecs::TECS_MODE_NORMAL); - } else { - /* Climbout/Takeoff mode requested */ - _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp, fwPosctrl::mTecs::TECS_MODE_TAKEOFF); - } - + _mTecs.updateAltitudeSpeed(flightPathAngle, _global_pos.alt, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode); } else { _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, alt_sp, v_sp, _airspeed.indicated_airspeed_m_s, eas2tas, diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index a4cf0bdf8d..b717429d34 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -63,6 +63,8 @@ mTecs::mTecs() : _BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true), _BlockOutputLimiterUnderspeedThrottle(this, "USP_THR"), _BlockOutputLimiterUnderspeedPitch(this, "USP_PIT", true), + _BlockOutputLimiterLandThrottle(this, "LND_THR"), + _BlockOutputLimiterLandPitch(this, "LND_PIT", true), timestampLastIteration(hrt_absolute_time()), _firstIterationAfterReset(true), _dtCalculated(false), @@ -148,6 +150,12 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh if (mode == TECS_MODE_TAKEOFF) { outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch; + } else if (mode == TECS_MODE_LAND) { + // only limit pitch but do not limit throttle + outputLimiterPitch = &_BlockOutputLimiterLandPitch; + } else if (mode == TECS_MODE_LAND_THROTTLELIM) { + outputLimiterThrottle = &_BlockOutputLimiterLandThrottle; + outputLimiterPitch = &_BlockOutputLimiterLandPitch; } else if (mode == TECS_MODE_UNDERSPEED) { outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle; outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch; diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index fab4b161af..9ed233ba0a 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -61,7 +61,9 @@ public: typedef enum { TECS_MODE_NORMAL, TECS_MODE_UNDERSPEED, - TECS_MODE_TAKEOFF + TECS_MODE_TAKEOFF, + TECS_MODE_LAND, + TECS_MODE_LAND_THROTTLELIM } tecs_mode; /* @@ -111,8 +113,10 @@ protected: /* Output Limits in special modes */ BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ - BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits during takeoff */ - BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */ + BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in last phase)*/ + BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */ /* Time measurements */ hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index fd501c17ad..3a05f2c88f 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -323,3 +323,40 @@ PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f); */ PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f); +/** + * Minimal throttle in landing mode (only last phase of landing) + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f); + +/** + * Maximal throttle in landing mode (only last phase of landing) + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f); + +/** + * Minimal pitch in landing mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f); + +/** + * Maximal pitch in landing mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f); From 4d7cb184dbb94ca8b1747811de84de965a2f007f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 14 May 2014 18:19:07 +0200 Subject: [PATCH 18/29] mtecs: change main functions to int and add some comments --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 23 +++++++++++++++---- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 6 ++--- 2 files changed, 21 insertions(+), 8 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index b717429d34..5dba0dcd60 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -77,33 +77,43 @@ mTecs::~mTecs() { } -void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) +int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); + /* calculate flight path angle setpoint from altitude setpoint */ float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); + + /* Debug output */ if (_counter % 10 == 0) { debug("***"); debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); } - updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); + + /* use flightpath angle setpoint for total energy control */ + return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); } -void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) { +int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); + /* calculate longitudinal acceleration setpoint from airspeed setpoint*/ float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); + + /* Debug output */ if (_counter % 10 == 0) { debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); } - updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); + + /* use longitudinal acceleration setpoint for total energy control */ + return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); } -void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) +int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) { /* time measurement */ updateTimeMeasurement(); @@ -132,6 +142,7 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm; float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; + /* Debug output */ if (_counter % 10 == 0) { debug("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); @@ -182,6 +193,8 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh _dtCalculated = false; _counter++; + + return 0; } void mTecs::resetIntegrators() diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 9ed233ba0a..147c108f3d 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -69,17 +69,17 @@ public: /* * Control in altitude setpoint and speed mode */ - void updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode); + int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode */ - void updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode); + int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) */ - void updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode); + int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode); /* * Reset all integrators From 5d04bb74cbee6e57db4e9b09c02139e1df6954d1 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 14 May 2014 21:54:59 +0200 Subject: [PATCH 19/29] mtecs: check if input arguments are finite --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 5dba0dcd60..c6301bcdb5 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -79,6 +79,11 @@ mTecs::~mTecs() int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) { + /* check if all input arguments are numbers and abort if not so */ + if (!isfinite(flightPathAngle) || !isfinite(altitude) || + !isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) { + return -1; + } /* time measurement */ updateTimeMeasurement(); @@ -96,7 +101,13 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); } -int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) { +int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) +{ + /* check if all input arguments are numbers and abort if not so */ + if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || + !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) { + return -1; + } /* time measurement */ updateTimeMeasurement(); @@ -115,6 +126,11 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) { + /* check if all input arguments are numbers and abort if not so */ + if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || + !isfinite(airspeed) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) { + return -1; + } /* time measurement */ updateTimeMeasurement(); From 885efa2cfe3fd74dbf99b577e3ca486b154fd754 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 17 May 2014 20:58:27 +0200 Subject: [PATCH 20/29] fw pos control: landing: fix argument order --- .../fw_pos_control_l1_main.cpp | 30 ++++++++++++++----- 1 file changed, 22 insertions(+), 8 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 20f3fefcd7..95165ecaaf 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1047,11 +1047,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi altitude_desired_rel = math::max(relative_alt, L_altitude_rel); } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + calculate_target_airspeed(airspeed_approach), eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), _pos_sp_triplet.current.alt + relative_alt, - false, math::radians(_parameters.pitch_limit_min), ground_speed); + ground_speed); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -1107,10 +1113,18 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); } else { - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, + calculate_target_airspeed(_parameters.airspeed_trim), + eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _global_pos.alt, + ground_speed); } } else { From a28a38005c6c9fdd43e6e7182b93d274d4f4369c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 19 May 2014 08:49:25 +0200 Subject: [PATCH 21/29] mtecs fix integrator --- .../fw_pos_control_l1/mtecs/mTecs_blocks.h | 29 +++---------------- .../fw_pos_control_l1/mtecs/mTecs_params.c | 18 ++++++++++++ 2 files changed, 22 insertions(+), 25 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index f3dc9bcb28..047e4d3352 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -51,27 +51,6 @@ namespace fwPosctrl using namespace control; -/* Integrator without limit */ -class BlockIntegralNoLimit: public SuperBlock -{ -public: -// methods - BlockIntegralNoLimit(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _y(0) {}; - virtual ~BlockIntegralNoLimit() {}; - float update(float input) { - setY(getY() + input * getDt()); - return getY(); - }; -// accessors - float getY() {return _y;} - void setY(float y) {_y = y;} -protected: -// attributes - float _y; /**< previous output */ -}; - /* An block which can be used to limit the output */ class BlockOutputLimiter: public SuperBlock { @@ -128,7 +107,7 @@ public: virtual ~BlockFFPILimited() {}; float update(float inputValue, float inputError) { return calcLimitedOutput(inputValue, inputError, _outputLimiter); } // accessors - BlockIntegralNoLimit &getIntegral() { return _integral; } + BlockIntegral &getIntegral() { return _integral; } float getKFF() { return _kFF.get(); } float getKP() { return _kP.get(); } float getKI() { return _kI.get(); } @@ -143,14 +122,14 @@ protected: float integralYPrevious = _integral.getY(); float output = calcUnlimitedOutput(inputValue, inputError); if(!outputLimiter.limit(output, difference) && - (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || - ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { + (((difference < 0) && (getKI() * getIntegral().getY() < 0)) || + ((difference > 0) && (getKI() * getIntegral().getY() > 0)))) { getIntegral().setY(integralYPrevious); } return output; } private: - BlockIntegralNoLimit _integral; + BlockIntegral _integral; BlockParamFloat _kFF; BlockParamFloat _kP; BlockParamFloat _kI; diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 3a05f2c88f..5912576116 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -360,3 +360,21 @@ PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f); * @group mTECS */ PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f); + +/** + * Integrator Limit for Total Energy Rate Control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f); + +/** + * Integrator Limit for Energy Distribution Rate Control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_I_MAX, 10.0f); From 2a354c2d10a49c65a05665a0d631ebe615f306bc Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 24 May 2014 14:07:51 +0200 Subject: [PATCH 22/29] mtecs: fix usage of outputLimiter.limit --- src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index 047e4d3352..a7acd95deb 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -63,6 +63,14 @@ public: _max(this, "MAX") {}; virtual ~BlockOutputLimiter() {}; + /* + * Imposes the limits given by _min and _max on value + * + * @param value is changed to be on the interval _min to _max + * @param difference if the value is changed this corresponds to the change of value * (-1) + * otherwise unchanged + * @return: true if the limit is applied, false otherwise + */ bool limit(float& value, float& difference) { float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); @@ -121,7 +129,7 @@ protected: float difference = 0.0f; float integralYPrevious = _integral.getY(); float output = calcUnlimitedOutput(inputValue, inputError); - if(!outputLimiter.limit(output, difference) && + if(outputLimiter.limit(output, difference) && (((difference < 0) && (getKI() * getIntegral().getY() < 0)) || ((difference > 0) && (getKI() * getIntegral().getY() > 0)))) { getIntegral().setY(integralYPrevious); From 56ac13aafbbf3e9875e9c17f82f687a2690033da Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 24 May 2014 18:04:38 +0200 Subject: [PATCH 23/29] introduce tecs status uorb message --- src/modules/uORB/Publication.cpp | 2 + src/modules/uORB/objects_common.cpp | 4 ++ src/modules/uORB/topics/tecs_status.h | 81 +++++++++++++++++++++++++++ 3 files changed, 87 insertions(+) create mode 100644 src/modules/uORB/topics/tecs_status.h diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index 5a59816172..cd0b30dd61 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -47,6 +47,7 @@ #include "topics/vehicle_rates_setpoint.h" #include "topics/actuator_outputs.h" #include "topics/encoders.h" +#include "topics/tecs_status.h" namespace uORB { @@ -76,5 +77,6 @@ template class __EXPORT Publication; template class __EXPORT Publication; template class __EXPORT Publication; template class __EXPORT Publication; +template class __EXPORT Publication; } diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 90675bb2e9..bae46e14d7 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -199,3 +199,7 @@ ORB_DEFINE(encoders, struct encoders_s); #include "topics/estimator_status.h" ORB_DEFINE(estimator_status, struct estimator_status_report); + +#include "topics/tecs_status.h" +ORB_DEFINE(tecs_status, struct tecs_status_s); + diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h new file mode 100644 index 0000000000..f3d33ec206 --- /dev/null +++ b/src/modules/uORB/topics/tecs_status.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file vehicle_global_position.h + * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler + */ + +#ifndef TECS_STATUS_T_H_ +#define TECS_STATUS_T_H_ + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + + /** + * Internal values of the (m)TECS fixed wing speed alnd altitude control system + */ +struct tecs_status_s { + uint64_t timestamp; /**< timestamp, in microseconds since system start */ + + float altitudeSp; + float altitude; + float flightPathAngleSp; + float flightPathAngle; + float airspeedSp; + float airspeed; + float airspeedDerivativeSp; + float airspeedDerivative; + + float totalEnergyRateSp; + float totalEnergyRate; + float energyDistributionRateSp; + float energyDistributionRate; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(tecs_status); + +#endif From 48d884ec8fea039be8c750c9643bb476d8f8241d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 24 May 2014 18:05:31 +0200 Subject: [PATCH 24/29] mtecs: publish tecs status uorb message and small variable rename --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 38 +++++++++++++++---- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 5 +++ 2 files changed, 36 insertions(+), 7 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index c6301bcdb5..94a614bc03 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -51,6 +51,8 @@ mTecs::mTecs() : /* Parameters */ _mTecsEnabled(this, "ENABLED"), _airspeedMin(this, "FW_AIRSPD_MIN", false), + /* Publications */ + _status(&getPublications(), ORB_ID(tecs_status)), /* control blocks */ _controlTotalEnergy(this, "THR"), _controlEnergyDistribution(this, "PIT", true), @@ -97,6 +99,11 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); } + /* Write part of the status message */ + _status.altitudeSp = altitudeSp; + _status.altitude = altitude; + + /* use flightpath angle setpoint for total energy control */ return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); } @@ -120,6 +127,13 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); } + /* Write part of the status message */ + _status.flightPathAngleSp = flightPathAngleSp; + _status.flightPathAngle = flightPathAngle; + _status.airspeedSp = airspeedSp; + _status.airspeed = airspeed; + + /* use longitudinal acceleration setpoint for total energy control */ return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); } @@ -144,18 +158,18 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight airspeedDerivative = _airspeedDerivative.update(airspeed); } float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G; - float airspeedSpDerivative = accelerationLongitudinalSp; - float airspeedSpDerivativeNorm = airspeedSpDerivative / CONSTANTS_ONE_G; - float airspeedSpDerivativeNormError = airspeedSpDerivativeNorm - airspeedDerivativeNorm; + float airspeedDerivativeSp = accelerationLongitudinalSp; + float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G; + float airspeedDerivativeNormErrorSp = airspeedDerivativeNormSp - airspeedDerivativeNorm; float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm; - float totalEnergyRateError = flightPathAngleError + airspeedSpDerivativeNormError; - float totalEnergyRateSp = flightPathAngleSp + airspeedSpDerivativeNorm; + float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormErrorSp; + float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp; float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate; float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm; - float energyDistributionRateError = flightPathAngleError - airspeedSpDerivativeNormError; - float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm; + float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormErrorSp; + float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp; float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; /* Debug output */ @@ -188,6 +202,14 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch; } + /* Write part of the status message */ + _status.airspeedDerivativeSp = airspeedDerivativeSp; + _status.airspeedDerivative = airspeedDerivative; + _status.totalEnergyRateSp = totalEnergyRateSp; + _status.totalEnergyRate = totalEnergyRate; + _status.energyDistributionRateSp = energyDistributionRateSp; + _status.energyDistributionRate = energyDistributionRate; + /** update control blocks **/ /* update total energy rate control block */ _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle); @@ -203,6 +225,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight (double)accelerationLongitudinalSp, (double)airspeedDerivative); } + /* publish status messge */ + _status.update(); /* clean up */ _firstIterationAfterReset = false; diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 147c108f3d..376d396986 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -47,6 +47,8 @@ #include #include +#include +#include namespace fwPosctrl { @@ -97,6 +99,9 @@ protected: control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ control::BlockParamFloat _airspeedMin; /**< minimal airspeed */ + /* Publications */ + uORB::Publication _status; /**< publish internal values for logging */ + /* control blocks */ BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ From e87460b9f4d2a5dde2c0acd07fe3c727007b27c3 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 24 May 2014 18:07:46 +0200 Subject: [PATCH 25/29] sdlog: log tecs status messages --- src/modules/sdlog2/sdlog2.c | 23 +++++++++++++++++++++++ src/modules/sdlog2/sdlog2_messages.h | 19 +++++++++++++++++++ 2 files changed, 42 insertions(+) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 577cadfbbe..e1f3490a94 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -84,6 +84,7 @@ #include #include #include +#include #include #include @@ -939,6 +940,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct telemetry_status_s telemetry; struct range_finder_report range_finder; struct estimator_status_report estimator_status; + struct tecs_status_s tecs_status; struct system_power_s system_power; struct servorail_status_s servorail_status; } buf; @@ -979,6 +981,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GS0B_s log_GS0B; struct log_GS1A_s log_GS1A; struct log_GS1B_s log_GS1B; + struct log_TECS_s log_TECS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1010,6 +1013,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int telemetry_sub; int range_finder_sub; int estimator_status_sub; + int tecs_status_sub; int system_power_sub; int servorail_status_sub; } subs; @@ -1037,6 +1041,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); + subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status)); subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); @@ -1488,6 +1493,24 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ESTM); } + /* --- TECS STATUS --- */ + if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) { + log_msg.msg_type = LOG_TECS_MSG; + log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp; + log_msg.body.log_TECS.altitude = buf.tecs_status.altitude; + log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp; + log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle; + log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp; + log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed; + log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp; + log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative; + log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp; + log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate; + log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp; + log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate; + LOGBUFFER_WRITE_AND_COUNT(TECS); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index f4d88f0795..93ed0cdfc4 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,6 +346,24 @@ struct log_GS1B_s { uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */ }; +/* --- TECS - TECS STAUS --- */ +#define LOG_TECS_MSG 30 +struct log_TECS_s { + float altitudeSp; + float altitude; + float flightPathAngleSp; + float flightPathAngle; + float airspeedSp; + float airspeed; + float airspeedDerivativeSp; + float airspeedDerivative; + + float totalEnergyRateSp; + float totalEnergyRate; + float energyDistributionRateSp; + float energyDistributionRate; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -401,6 +419,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), + LOG_FORMAT(TECS, "ffffffffffff", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsDSP,AsD,TERSP,TER,EDRSP,EDR"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ From 0cddae02ab9c9ac52bde196b936b549f32435fb4 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 25 May 2014 15:45:01 +0200 Subject: [PATCH 26/29] fw: resolve an issue when the aircraft was climbing before landing --- .../fw_pos_control_l1/fw_pos_control_l1_main.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 4f40682ea5..f237197944 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -977,7 +977,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); - float L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance); + float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); @@ -1032,10 +1032,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* intersect glide slope: * minimize speed to approach speed * if current position is higher or within 10m of slope follow the glide slope - * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope + * also if the system captures the slope it should stay + * on the slope (bool land_onslope) + * if current position is below slope -10m continue at previous wp altitude + * until the intersection with slope * */ float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired - 10.0f) { + if (relative_alt > landing_slope_alt_rel_desired - 10.0f || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { @@ -1044,7 +1047,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } else { /* continue horizontally */ - altitude_desired_rel = math::max(relative_alt, L_altitude_rel); + altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt; } tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, From 77f0e8950f90d5304278dd6c8f47c886dd4ed572 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 25 May 2014 15:45:20 +0200 Subject: [PATCH 27/29] mtecs: rename variable --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 94a614bc03..087e1b4765 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -160,15 +160,15 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G; float airspeedDerivativeSp = accelerationLongitudinalSp; float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G; - float airspeedDerivativeNormErrorSp = airspeedDerivativeNormSp - airspeedDerivativeNorm; + float airspeedDerivativeNormError = airspeedDerivativeNormSp - airspeedDerivativeNorm; float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm; - float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormErrorSp; + float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormError; float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp; float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate; float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm; - float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormErrorSp; + float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormError; float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp; float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; From bb0cae56a0bca879bd3f1720a92d1bf0ca03eda2 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 26 May 2014 08:42:08 +0200 Subject: [PATCH 28/29] fix typo in comment --- src/modules/sdlog2/sdlog2_messages.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 93ed0cdfc4..8a0a0ad45a 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,7 +346,7 @@ struct log_GS1B_s { uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */ }; -/* --- TECS - TECS STAUS --- */ +/* --- TECS - TECS STATUS --- */ #define LOG_TECS_MSG 30 struct log_TECS_s { float altitudeSp; From 10e2a6696976a5210d826dd5826b87db76990eaa Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 27 May 2014 08:37:59 +0200 Subject: [PATCH 29/29] fw pos control: landing: continue horizontally instead of climbing if just below slope --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index f237197944..e3b6eb2611 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1031,14 +1031,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* intersect glide slope: * minimize speed to approach speed - * if current position is higher or within 10m of slope follow the glide slope + * if current position is higher than the slope follow the glide slope (sink to the + * glide slope) * also if the system captures the slope it should stay * on the slope (bool land_onslope) - * if current position is below slope -10m continue at previous wp altitude + * if current position is below the slope continue at previous wp altitude * until the intersection with slope * */ float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired - 10.0f || land_onslope) { + if (relative_alt > landing_slope_alt_rel_desired || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) {