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fw pos ctrl: variable min calibrated airsp in auto airspeed adjuster

This commit is contained in:
Thomas Stastny 2022-07-14 14:21:11 +02:00 committed by Daniel Agar
parent 6612d4696d
commit 4953fdd1ab
2 changed files with 44 additions and 38 deletions
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69
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -403,15 +403,11 @@ FixedwingPositionControl::get_manual_airspeed_setpoint()
} }
float float
FixedwingPositionControl::get_auto_airspeed_setpoint(const float control_interval, const float pos_sp_cruise_airspeed, FixedwingPositionControl::get_auto_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
const Vector2f &ground_speed) float calibrated_min_airspeed, const Vector2f &ground_speed)
{ {
// overwrite internal setpoint (e.g. set prior through MAV_CMD_DO_CHANGE_SPEED) in case if (!PX4_ISFINITE(calibrated_airspeed_setpoint) || calibrated_airspeed_setpoint <= FLT_EPSILON) {
// the current position_setpoint contains a valid airspeed setpoint calibrated_airspeed_setpoint = _param_fw_airspd_trim.get();
float airspeed_setpoint = _param_fw_airspd_trim.get();
if (PX4_ISFINITE(pos_sp_cruise_airspeed) && pos_sp_cruise_airspeed > FLT_EPSILON) {
airspeed_setpoint = pos_sp_cruise_airspeed;
} }
// Adapt cruise airspeed when otherwise the min groundspeed couldn't be maintained // Adapt cruise airspeed when otherwise the min groundspeed couldn't be maintained
@ -425,12 +421,10 @@ FixedwingPositionControl::get_auto_airspeed_setpoint(const float control_interva
const float ground_speed_body = _body_velocity(0); const float ground_speed_body = _body_velocity(0);
if (ground_speed_body < _param_fw_gnd_spd_min.get()) { if (ground_speed_body < _param_fw_gnd_spd_min.get()) {
airspeed_setpoint += _param_fw_gnd_spd_min.get() - ground_speed_body; calibrated_airspeed_setpoint += _param_fw_gnd_spd_min.get() - ground_speed_body;
} }
} }
float airspeed_min_adjusted = _param_fw_airspd_min.get();
float load_factor = 1.0f; float load_factor = 1.0f;
if (PX4_ISFINITE(_att_sp.roll_body)) { if (PX4_ISFINITE(_att_sp.roll_body)) {
@ -446,25 +440,25 @@ FixedwingPositionControl::get_auto_airspeed_setpoint(const float control_interva
// Stall speed increases with the square root of the load factor times the weight ratio // Stall speed increases with the square root of the load factor times the weight ratio
// Vs ~ sqrt(load_factor * weight_ratio) // Vs ~ sqrt(load_factor * weight_ratio)
airspeed_min_adjusted = constrain(_param_fw_airspd_stall.get() * sqrtf(load_factor * weight_ratio), calibrated_min_airspeed = constrain(_param_fw_airspd_stall.get() * sqrtf(load_factor * weight_ratio),
airspeed_min_adjusted, _param_fw_airspd_max.get()); calibrated_min_airspeed, _param_fw_airspd_max.get());
// constrain setpoint calibrated_airspeed_setpoint = constrain(calibrated_airspeed_setpoint, calibrated_min_airspeed,
airspeed_setpoint = constrain(airspeed_setpoint, airspeed_min_adjusted, _param_fw_airspd_max.get()); _param_fw_airspd_max.get());
// initialize to current airspeed setpoint, also if previous setpoint is out of bounds to not apply slew rate in that case // initialize to current airspeed setpoint, also if previous setpoint is out of bounds to not apply slew rate in that case
const bool outside_of_limits = _airspeed_slew_rate_controller.getState() < airspeed_min_adjusted const bool slewed_airspeed_outside_of_limits = _airspeed_slew_rate_controller.getState() < calibrated_min_airspeed
|| _airspeed_slew_rate_controller.getState() > _param_fw_airspd_max.get(); || _airspeed_slew_rate_controller.getState() > _param_fw_airspd_max.get();
if (!PX4_ISFINITE(_airspeed_slew_rate_controller.getState()) || outside_of_limits) { if (!PX4_ISFINITE(_airspeed_slew_rate_controller.getState()) || slewed_airspeed_outside_of_limits) {
_airspeed_slew_rate_controller.setForcedValue(airspeed_setpoint); _airspeed_slew_rate_controller.setForcedValue(calibrated_airspeed_setpoint);
} else if (control_interval > FLT_EPSILON) { } else if (control_interval > FLT_EPSILON) {
// constrain airspeed setpoint changes with slew rate of ASPD_SP_SLEW_RATE m/s/s // constrain airspeed setpoint changes with slew rate of ASPD_SP_SLEW_RATE m/s/s
airspeed_setpoint = _airspeed_slew_rate_controller.update(airspeed_setpoint, control_interval); calibrated_airspeed_setpoint = _airspeed_slew_rate_controller.update(calibrated_airspeed_setpoint, control_interval);
} }
return airspeed_setpoint; return calibrated_airspeed_setpoint;
} }
void void
@ -1145,7 +1139,8 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
} }
} }
float target_airspeed = get_auto_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, ground_speed); float target_airspeed = get_auto_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
_param_fw_airspd_min.get(), ground_speed);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1)); Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
@ -1218,7 +1213,8 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
Vector2f target_velocity{pos_sp_curr.vx, pos_sp_curr.vy}; Vector2f target_velocity{pos_sp_curr.vx, pos_sp_curr.vy};
_target_bearing = wrap_pi(atan2f(target_velocity(1), target_velocity(0))); _target_bearing = wrap_pi(atan2f(target_velocity(1), target_velocity(0)));
float target_airspeed = get_auto_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, ground_speed); float target_airspeed = get_auto_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
_param_fw_airspd_min.get(), ground_speed);
if (_param_fw_use_npfg.get()) { if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas); _npfg.setAirspeedNom(target_airspeed * _eas2tas);
@ -1321,7 +1317,8 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF; _att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
} }
float target_airspeed = get_auto_airspeed_setpoint(control_interval, airspeed_sp, ground_speed); float target_airspeed = get_auto_airspeed_setpoint(control_interval, airspeed_sp, _param_fw_airspd_min.get(),
ground_speed);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y}; Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1)); Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
@ -1406,7 +1403,16 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
&_mavlink_log_pub); &_mavlink_log_pub);
const float takeoff_airspeed = _runway_takeoff.getMinAirspeedScaling() * _param_fw_airspd_min.get(); const float takeoff_airspeed = _runway_takeoff.getMinAirspeedScaling() * _param_fw_airspd_min.get();
float target_airspeed = get_auto_airspeed_setpoint(control_interval, takeoff_airspeed, ground_speed); float adjusted_min_airspeed = _param_fw_airspd_min.get();
if (takeoff_airspeed < _param_fw_airspd_min.get()) {
// adjust underspeed detection bounds for takeoff airspeed
_tecs.set_equivalent_airspeed_min(takeoff_airspeed);
adjusted_min_airspeed = takeoff_airspeed;
}
float target_airspeed = get_auto_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed,
ground_speed);
// yaw control is disabled once in "taking off" state // yaw control is disabled once in "taking off" state
_att_sp.fw_control_yaw = _runway_takeoff.controlYaw(); _att_sp.fw_control_yaw = _runway_takeoff.controlYaw();
@ -1476,11 +1482,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_tecs.resetIntegrals(); _tecs.resetIntegrals();
} }
if (takeoff_airspeed < _param_fw_airspd_min.get()) {
// adjust underspeed detection bounds for takeoff airspeed
_tecs.set_equivalent_airspeed_min(takeoff_airspeed);
}
tecs_update_pitch_throttle(control_interval, tecs_update_pitch_throttle(control_interval,
altitude_setpoint_amsl, altitude_setpoint_amsl,
target_airspeed, target_airspeed,
@ -1545,7 +1546,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
if (_launch_detection_state != LAUNCHDETECTION_RES_NONE) { if (_launch_detection_state != LAUNCHDETECTION_RES_NONE) {
/* Launch has been detected, hence we have to control the plane. */ /* Launch has been detected, hence we have to control the plane. */
float target_airspeed = get_auto_airspeed_setpoint(control_interval, _param_fw_airspd_trim.get(), ground_speed); float target_airspeed = get_auto_airspeed_setpoint(control_interval, _param_fw_airspd_trim.get(),
_param_fw_airspd_min.get(), ground_speed);
if (_param_fw_use_npfg.get()) { if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas); _npfg.setAirspeedNom(target_airspeed * _eas2tas);
@ -1652,13 +1654,16 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
const Vector2f landing_approach_vector = calculateLandingApproachVector(); const Vector2f landing_approach_vector = calculateLandingApproachVector();
const float airspeed_land = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get(); const float airspeed_land = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
float adjusted_min_airspeed = _param_fw_airspd_min.get();
if (airspeed_land < _param_fw_airspd_min.get()) { if (airspeed_land < _param_fw_airspd_min.get()) {
// adjust underspeed detection bounds for landing airspeed // adjust underspeed detection bounds for landing airspeed
_tecs.set_equivalent_airspeed_min(airspeed_land); _tecs.set_equivalent_airspeed_min(airspeed_land);
adjusted_min_airspeed = airspeed_land;
} }
float target_airspeed = get_auto_airspeed_setpoint(control_interval, airspeed_land, ground_speed); float target_airspeed = get_auto_airspeed_setpoint(control_interval, airspeed_land, adjusted_min_airspeed,
ground_speed);
// calculate the altitude setpoint based on the landing glide slope // calculate the altitude setpoint based on the landing glide slope
const float along_track_dist_to_touchdown = -landing_approach_vector.unit_or_zero().dot( const float along_track_dist_to_touchdown = -landing_approach_vector.unit_or_zero().dot(

13
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -616,17 +616,18 @@ private:
float get_manual_airspeed_setpoint(); float get_manual_airspeed_setpoint();
/** /**
* @brief Returns an calibrated airspeed setpoint for auto modes. * @brief Returns a calibrated airspeed setpoint for auto modes.
* *
* Adjusts the setpoint for wind, accelerated stall, and slew rates. * Adjusts the setpoint for wind, accelerated stall, and slew rates.
* *
* @param control_interval Time since the last position control update [s] * @param control_interval Time since the last position control update [s]
* @param pos_sp_cru_airspeed The commanded cruise airspeed from the position setpoint [s] * @param calibrated_airspeed_setpoint Calibrated airspeed septoint (generally from the position setpoint) [m/s]
* @param ground_speed Vehicle ground velocity vector [m/s] * @param calibrated_min_airspeed Minimum calibrated airspeed [m/s]
* @return Calibrated airspeed setpoint [m/s] * @param ground_speed Vehicle ground velocity vector (NE) [m/s]
* @return Adjusted calibrated airspeed setpoint [m/s]
*/ */
float get_auto_airspeed_setpoint(const float control_interval, const float pos_sp_cru_airspeed, float get_auto_airspeed_setpoint(const float control_interval, float calibrated_airspeed_setpoint,
const Vector2f &ground_speed); float calibrated_min_airspeed, const Vector2f &ground_speed);
void reset_takeoff_state(); void reset_takeoff_state();
void reset_landing_state(); void reset_landing_state();