forked from Archive/PX4-Autopilot
mc_rate_control: add inertia matrix
This commit is contained in:
Julien Lecoeur
parent
4e1ce3393e
commit
62de8a2c5b
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@ -94,6 +94,14 @@ MulticopterRateControl::parameters_updated()
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_acro_rate_max = Vector3f(radians(_param_mc_acro_r_max.get()), radians(_param_mc_acro_p_max.get()),
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radians(_param_mc_acro_y_max.get()));
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// inertia matrix
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const float inertia[3][3] = {
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{_param_vm_inertia_xx.get(), _param_vm_inertia_xy.get(), _param_vm_inertia_xz.get()},
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{_param_vm_inertia_xy.get(), _param_vm_inertia_yy.get(), _param_vm_inertia_yz.get()},
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{_param_vm_inertia_xz.get(), _param_vm_inertia_yz.get(), _param_vm_inertia_zz.get()}
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};
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_rate_control.setInertiaMatrix(matrix::Matrix3f(inertia));
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_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled_by_val(_param_cbrk_rate_ctrl.get(), CBRK_RATE_CTRL_KEY);
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}
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@ -164,6 +172,7 @@ MulticopterRateControl::Run()
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if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
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const hrt_abstime now = hrt_absolute_time();
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_timestamp_sample = angular_velocity.timestamp_sample;
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// Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
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const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f);
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@ -271,7 +280,7 @@ MulticopterRateControl::Run()
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}
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// run the rate controller
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if (_v_control_mode.flag_control_rates_enabled && !_actuators_0_circuit_breaker_enabled) {
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if (_v_control_mode.flag_control_rates_enabled) {
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// reset integral if disarmed
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if (!_v_control_mode.flag_armed || _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
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@ -291,7 +300,7 @@ MulticopterRateControl::Run()
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}
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// run rate controller
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const Vector3f att_control = _rate_control.update(rates, _rates_sp, dt, _maybe_landed || _landed);
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_rate_control.update(rates, _rates_sp, dt, _maybe_landed || _landed);
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// publish rate controller status
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rate_ctrl_status_s rate_ctrl_status{};
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@ -299,41 +308,22 @@ MulticopterRateControl::Run()
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rate_ctrl_status.timestamp = hrt_absolute_time();
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_controller_status_pub.publish(rate_ctrl_status);
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// publish actuator controls
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actuator_controls_s actuators{};
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actuators.control[actuator_controls_s::INDEX_ROLL] = PX4_ISFINITE(att_control(0)) ? att_control(0) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_PITCH] = PX4_ISFINITE(att_control(1)) ? att_control(1) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_YAW] = PX4_ISFINITE(att_control(2)) ? att_control(2) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_thrust_sp) ? _thrust_sp : 0.0f;
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actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = (float)_landing_gear.landing_gear;
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actuators.timestamp_sample = angular_velocity.timestamp_sample;
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// scale effort by battery status if enabled
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if (_param_mc_bat_scale_en.get()) {
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if (_battery_status_sub.updated()) {
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battery_status_s battery_status;
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if (_battery_status_sub.copy(&battery_status)) {
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_battery_status_scale = battery_status.scale;
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}
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}
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if (_battery_status_scale > 0.0f) {
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for (int i = 0; i < 4; i++) {
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actuators.control[i] *= _battery_status_scale;
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}
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}
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}
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actuators.timestamp = hrt_absolute_time();
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orb_publish_auto(_actuators_id, &_actuators_0_pub, &actuators, nullptr, ORB_PRIO_DEFAULT);
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// publish controller output
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publish_actuator_controls();
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publish_angular_acceleration_setpoint();
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publish_torque_setpoint();
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publish_thrust_setpoint();
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} else if (_v_control_mode.flag_control_termination_enabled) {
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if (!_vehicle_status.is_vtol) {
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// publish actuator controls
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actuator_controls_s actuators{};
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actuators.timestamp = hrt_absolute_time();
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orb_publish_auto(_actuators_id, &_actuators_0_pub, &actuators, nullptr, ORB_PRIO_DEFAULT);
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// reset controller
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_rate_control.reset();
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// publish controller output
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publish_actuator_controls();
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publish_angular_acceleration_setpoint();
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publish_torque_setpoint();
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publish_thrust_setpoint();
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}
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}
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}
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@ -341,6 +331,91 @@ MulticopterRateControl::Run()
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perf_end(_loop_perf);
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}
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void
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MulticopterRateControl::publish_actuator_controls()
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{
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Vector3f act_control = _rate_control.getTorqueSetpoint();
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actuator_controls_s actuators{};
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actuators.timestamp = hrt_absolute_time();
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actuators.timestamp_sample = _timestamp_sample;
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actuators.control[actuator_controls_s::INDEX_ROLL] = PX4_ISFINITE(act_control(0)) ? act_control(0) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_PITCH] = PX4_ISFINITE(act_control(1)) ? act_control(1) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_YAW] = PX4_ISFINITE(act_control(2)) ? act_control(2) : 0.0f;
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actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_thrust_sp) ? _thrust_sp : 0.0f;
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actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = (float)_landing_gear.landing_gear;
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// scale effort by battery status if enabled
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if (_param_mc_bat_scale_en.get()) {
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if (_battery_status_sub.updated()) {
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battery_status_s battery_status;
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if (_battery_status_sub.copy(&battery_status)) {
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_battery_status_scale = battery_status.scale;
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}
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}
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if (_battery_status_scale > 0.0f) {
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for (int i = 0; i < 4; i++) {
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actuators.control[i] *= _battery_status_scale;
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}
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}
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}
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if (!_actuators_0_circuit_breaker_enabled) {
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orb_publish_auto(_actuators_id, &_actuators_0_pub, &actuators, nullptr, ORB_PRIO_DEFAULT);
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}
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}
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void
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MulticopterRateControl::publish_angular_acceleration_setpoint()
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{
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Vector3f angular_accel_sp = _rate_control.getAngularAccelerationSetpoint();
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vehicle_angular_acceleration_setpoint_s v_angular_accel_sp = {};
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v_angular_accel_sp.timestamp = hrt_absolute_time();
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v_angular_accel_sp.timestamp_sample = _timestamp_sample;
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v_angular_accel_sp.xyz[0] = (PX4_ISFINITE(angular_accel_sp(0))) ? angular_accel_sp(0) : 0.0f;
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v_angular_accel_sp.xyz[1] = (PX4_ISFINITE(angular_accel_sp(1))) ? angular_accel_sp(1) : 0.0f;
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v_angular_accel_sp.xyz[2] = (PX4_ISFINITE(angular_accel_sp(2))) ? angular_accel_sp(2) : 0.0f;
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if (!_vehicle_status.is_vtol) {
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_vehicle_angular_acceleration_setpoint_pub.publish(v_angular_accel_sp);
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}
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}
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void
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MulticopterRateControl::publish_torque_setpoint()
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{
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Vector3f torque_sp = _rate_control.getTorqueSetpoint();
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vehicle_torque_setpoint_s v_torque_sp = {};
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v_torque_sp.timestamp = hrt_absolute_time();
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v_torque_sp.timestamp_sample = _timestamp_sample;
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v_torque_sp.xyz[0] = (PX4_ISFINITE(torque_sp(0))) ? torque_sp(0) : 0.0f;
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v_torque_sp.xyz[1] = (PX4_ISFINITE(torque_sp(1))) ? torque_sp(1) : 0.0f;
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v_torque_sp.xyz[2] = (PX4_ISFINITE(torque_sp(2))) ? torque_sp(2) : 0.0f;
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if (!_vehicle_status.is_vtol) {
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_vehicle_torque_setpoint_pub.publish(v_torque_sp);
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}
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}
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void
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MulticopterRateControl::publish_thrust_setpoint()
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{
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vehicle_thrust_setpoint_s v_thrust_sp = {};
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v_thrust_sp.timestamp = hrt_absolute_time();
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v_thrust_sp.timestamp_sample = _timestamp_sample;
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v_thrust_sp.xyz[0] = 0.0f;
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v_thrust_sp.xyz[1] = 0.0f;
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v_thrust_sp.xyz[2] = (PX4_ISFINITE(-_thrust_sp)) ? (-_thrust_sp) : 0.0f;
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if (!_vehicle_status.is_vtol) {
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_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
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}
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}
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int MulticopterRateControl::task_spawn(int argc, char *argv[])
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{
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MulticopterRateControl *instance = new MulticopterRateControl();
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@ -54,11 +54,15 @@
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#include <uORB/topics/multirotor_motor_limits.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/rate_ctrl_status.h>
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#include <uORB/topics/vehicle_angular_acceleration_setpoint.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_thrust_setpoint.h>
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#include <uORB/topics/vehicle_torque_setpoint.h>
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class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
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{
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@ -98,6 +102,11 @@ private:
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*/
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float get_landing_gear_state();
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void publish_angular_acceleration_setpoint();
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void publish_torque_setpoint();
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void publish_thrust_setpoint();
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void publish_actuator_controls();
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RateControl _rate_control; ///< class for rate control calculations
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uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint subscription */
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@ -115,6 +124,9 @@ private:
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uORB::PublicationMulti<rate_ctrl_status_s> _controller_status_pub{ORB_ID(rate_ctrl_status), ORB_PRIO_DEFAULT}; /**< controller status publication */
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uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
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uORB::Publication<vehicle_rates_setpoint_s> _v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)}; /**< rate setpoint publication */
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uORB::Publication<vehicle_angular_acceleration_setpoint_s> _vehicle_angular_acceleration_setpoint_pub{ORB_ID(vehicle_angular_acceleration_setpoint)}; /**< angular acceleration setpoint publication */
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uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)}; /**< thrust setpoint publication */
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uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)}; /**< torque setpoint publication */
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orb_advert_t _actuators_0_pub{nullptr}; /**< attitude actuator controls publication */
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orb_id_t _actuators_id{nullptr}; /**< pointer to correct actuator controls0 uORB metadata structure */
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@ -143,6 +155,7 @@ private:
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hrt_abstime _task_start{hrt_absolute_time()};
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hrt_abstime _last_run{0};
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hrt_abstime _timestamp_sample{0};
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float _dt_accumulator{0.0f};
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int _loop_counter{0};
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@ -184,7 +197,14 @@ private:
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(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
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(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
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(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl,
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(ParamFloat<px4::params::VM_INERTIA_XX>) _param_vm_inertia_xx, /**< vehicle inertia */
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(ParamFloat<px4::params::VM_INERTIA_YY>) _param_vm_inertia_yy,
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(ParamFloat<px4::params::VM_INERTIA_ZZ>) _param_vm_inertia_zz,
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(ParamFloat<px4::params::VM_INERTIA_XY>) _param_vm_inertia_xy,
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(ParamFloat<px4::params::VM_INERTIA_XZ>) _param_vm_inertia_xz,
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(ParamFloat<px4::params::VM_INERTIA_YZ>) _param_vm_inertia_yz
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)
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matrix::Vector3f _acro_rate_max; /**< max attitude rates in acro mode */
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@ -66,7 +66,7 @@ void RateControl::setSaturationStatus(const MultirotorMixer::saturation_status &
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_mixer_saturation_negative[2] = status.flags.yaw_neg;
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}
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Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const float dt, const bool landed)
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void RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const float dt, const bool landed)
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{
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// angular rates error
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Vector3f rate_error = rate_sp - rate;
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@ -79,9 +79,28 @@ Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, cons
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rate_d = (rate_filtered - _rate_prev_filtered) / dt;
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}
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// PID control with feed forward
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const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(rate_d) + _gain_ff.emult(rate_sp);
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// P + D control
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_angular_accel_sp = _gain_p.emult(rate_error) - _gain_d.emult(rate_d);
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// I + FF control
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Vector3f torque_feedforward = _rate_int + _gain_ff.emult(rate_sp);
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// compute torque setpoint
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// Note: this may go into a separate module for general usage with FW and VTOLs
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// if so, TODO:
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// - [x] publish accel sp
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// - [ ] publish torque ff sp
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// - [ ] add dynamic model module
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// - [ ] move params for inertia to that module
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// - [ ] poll vehicle_angular_velocity & vehicle_angular_acceleration_setpoint & vehicle_torque_feedforward_setpoint => compute and publish vehicle_torque_setpoint
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// - [ ] (eventually) add param for mass, poll vehicle_linear_acceleration_setpoint + vehicle_attitude => compute and publish vehicle_thrust_setpoint
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_torque_sp = (
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_inertia * _angular_accel_sp
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+ torque_feedforward
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+ rate.cross(_inertia * rate)
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);
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// save states
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_rate_prev = rate;
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_rate_prev_filtered = rate_filtered;
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@ -89,8 +108,6 @@ Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, cons
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if (!landed) {
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updateIntegral(rate_error, dt);
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}
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return torque;
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}
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void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
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@ -125,6 +142,15 @@ void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
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}
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}
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void RateControl::reset()
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{
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_rate_int.zero();
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_rate_prev.zero();
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_rate_prev_filtered.zero();
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_torque_sp.zero();
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_angular_accel_sp.zero();
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}
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void RateControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
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{
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rate_ctrl_status.rollspeed_integ = _rate_int(0);
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@ -80,6 +80,13 @@ public:
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*/
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void setFeedForwardGain(const matrix::Vector3f &FF) { _gain_ff = FF; };
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/**
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* Set inertia matrix
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* @see _inertia
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* @param inertia inertia matrix
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*/
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void setInertiaMatrix(const matrix::Matrix3f &inertia) { _inertia = inertia; };
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/**
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* Set saturation status
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* @param status message from mixer reporting about saturation
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@ -91,10 +98,20 @@ public:
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* @param rate estimation of the current vehicle angular rate
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* @param rate_sp desired vehicle angular rate setpoint
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* @param dt desired vehicle angular rate setpoint
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* @return [-1,1] normalized torque vector to apply to the vehicle
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*/
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matrix::Vector3f update(const matrix::Vector3f &rate, const matrix::Vector3f &rate_sp, const float dt,
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const bool landed);
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void update(const matrix::Vector3f &rate, const matrix::Vector3f &rate_sp, const float dt, const bool landed);
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/**
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* Get the desired angular acceleration
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* @see _angular_accel_sp
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*/
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const matrix::Vector3f &getAngularAccelerationSetpoint() {return _angular_accel_sp;};
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/**
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* Get the torque vector to apply to the vehicle
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* @see _torque_sp
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*/
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const matrix::Vector3f &getTorqueSetpoint() {return _torque_sp;};
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/**
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* Set the integral term to 0 to prevent windup
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@ -102,6 +119,11 @@ public:
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*/
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void resetIntegral() { _rate_int.zero(); }
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/**
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* ReSet the controller state
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*/
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void reset();
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/**
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* Get status message of controller for logging/debugging
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* @param rate_ctrl_status status message to fill with internal states
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@ -117,6 +139,7 @@ private:
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matrix::Vector3f _gain_d; ///< rate control derivative gain
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matrix::Vector3f _lim_int; ///< integrator term maximum absolute value
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matrix::Vector3f _gain_ff; ///< direct rate to torque feed forward gain only useful for helicopters
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matrix::Matrix3f _inertia{matrix::eye<float, 3>()}; ///< inertia matrix
|
||||
|
||||
// States
|
||||
matrix::Vector3f _rate_prev; ///< angular rates of previous update
|
||||
|
|
@ -125,4 +148,8 @@ private:
|
|||
math::LowPassFilter2pVector3f _lp_filters_d{0.f, 0.f}; ///< low-pass filters for D-term (roll, pitch & yaw)
|
||||
bool _mixer_saturation_positive[3] {};
|
||||
bool _mixer_saturation_negative[3] {};
|
||||
|
||||
// Output
|
||||
matrix::Vector3f _angular_accel_sp; //< Angular acceleration setpoint computed using P and D gains
|
||||
matrix::Vector3f _torque_sp; //< Torque setpoint to apply to the vehicle
|
||||
};
|
||||
|
|
|
|||
|
|
@ -39,6 +39,7 @@ using namespace matrix;
|
|||
TEST(RateControlTest, AllZeroCase)
|
||||
{
|
||||
RateControl rate_control;
|
||||
Vector3f torque = rate_control.update(Vector3f(), Vector3f(), 0.f, false);
|
||||
rate_control.update(Vector3f(), Vector3f(), 0.f, false);
|
||||
Vector3f torque = rate_control.getTorqueSetpoint();
|
||||
EXPECT_EQ(torque, Vector3f());
|
||||
}
|
||||
|
|
|
|||
|
|
@ -412,4 +412,3 @@ PARAM_DEFINE_INT32(MC_BAT_SCALE_EN, 0);
|
|||
* @group Multicopter Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f);
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,109 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2019 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_model_params.c
|
||||
* Parameters for vehicle model.
|
||||
*
|
||||
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Mass
|
||||
*
|
||||
* @unit kg
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_MASS, 1.f);
|
||||
|
||||
/**
|
||||
* Inertia matrix, XX component
|
||||
*
|
||||
* @unit kg.m^2
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_INERTIA_XX, 1.f);
|
||||
|
||||
/**
|
||||
* Inertia matrix, YY component
|
||||
*
|
||||
* @unit kg.m^2
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_INERTIA_YY, 1.f);
|
||||
|
||||
/**
|
||||
* Inertia matrix, ZZ component
|
||||
*
|
||||
* @unit kg.m^2
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_INERTIA_ZZ, 1.f);
|
||||
|
||||
/**
|
||||
* Inertia matrix, XY component
|
||||
*
|
||||
* @unit kg.m^2
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_INERTIA_XY, 0.f);
|
||||
|
||||
/**
|
||||
* Inertia matrix, XZ component
|
||||
*
|
||||
* @unit kg.m^2
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_INERTIA_XZ, 0.f);
|
||||
|
||||
/**
|
||||
* Inertia matrix, YZ component
|
||||
*
|
||||
* @unit kg.m^2
|
||||
* @decimal 5
|
||||
* @increment 0.00001
|
||||
* @group Vehicle Model
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VM_INERTIA_YZ, 0.f);
|
||||
Loading…
Reference in New Issue