forked from Archive/PX4-Autopilot
Merge branch 'beta' into beta_merge4
This commit is contained in:
commit
85007d8952
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@ -18,9 +18,12 @@ float32 airspeed_filtered
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float32 airspeedDerivativeSp
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float32 airspeedDerivative
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float32 totalEnergyRateSp
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float32 totalEnergyRate
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float32 energyDistributionRateSp
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float32 energyDistributionRate
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float32 totalEnergyError
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float32 energyDistributionError
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float32 totalEnergyRateError
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float32 energyDistributionRateError
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float32 throttle_sp
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float32 pitch_sp
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uint8 mode
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@ -309,12 +309,12 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
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// Calculate total energy values
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_STE_error = _SPE_dem - _SPE_est + _SKE_dem - _SKE_est;
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float STEdot_dem = constrain((_SPEdot_dem + _SKEdot_dem), _STEdot_min, _STEdot_max);
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float STEdot_error = STEdot_dem - _SPEdot - _SKEdot;
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_STEdot_error = STEdot_dem - _SPEdot - _SKEdot;
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// Apply 0.5 second first order filter to STEdot_error
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// This is required to remove accelerometer noise from the measurement
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STEdot_error = 0.2f * STEdot_error + 0.8f * _STEdotErrLast;
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_STEdotErrLast = STEdot_error;
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_STEdot_error = 0.2f * _STEdot_error + 0.8f * _STEdotErrLast;
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_STEdotErrLast = _STEdot_error;
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// Calculate throttle demand
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// If underspeed condition is set, then demand full throttle
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@ -342,7 +342,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
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}
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// Calculate PD + FF throttle and constrain to avoid blow-up of the integrator later
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_throttle_dem = (_STE_error + STEdot_error * _thrDamp) * K_STE2Thr + ff_throttle;
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_throttle_dem = (_STE_error + _STEdot_error * _thrDamp) * K_STE2Thr + ff_throttle;
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_throttle_dem = constrain(_throttle_dem, _THRminf, _THRmaxf);
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// Rate limit PD + FF throttle
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@ -438,11 +438,11 @@ void TECS::_update_pitch(void)
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// Calculate Specific Energy Balance demand, and error
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float SEB_dem = _SPE_dem * SPE_weighting - _SKE_dem * SKE_weighting;
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float SEBdot_dem = _SPEdot_dem * SPE_weighting - _SKEdot_dem * SKE_weighting;
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float SEB_error = SEB_dem - (_SPE_est * SPE_weighting - _SKE_est * SKE_weighting);
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float SEBdot_error = SEBdot_dem - (_SPEdot * SPE_weighting - _SKEdot * SKE_weighting);
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_SEB_error = SEB_dem - (_SPE_est * SPE_weighting - _SKE_est * SKE_weighting);
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_SEBdot_error = SEBdot_dem - (_SPEdot * SPE_weighting - _SKEdot * SKE_weighting);
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// Calculate integrator state, constraining input if pitch limits are exceeded
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float integ7_input = SEB_error * _integGain;
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float integ7_input = _SEB_error * _integGain;
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if (_pitch_dem_unc > _PITCHmaxf) {
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integ7_input = min(integ7_input, _PITCHmaxf - _pitch_dem_unc);
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@ -460,7 +460,7 @@ void TECS::_update_pitch(void)
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// demand equal to the minimum value (which is )set by the mission plan during this mode). Otherwise the
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// integrator has to catch up before the nose can be raised to reduce speed during climbout.
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float gainInv = (_integ5_state * _timeConst * CONSTANTS_ONE_G);
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float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst;
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float temp = _SEB_error + _SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst;
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if (_climbOutDem)
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{
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temp += _PITCHminf * gainInv;
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@ -598,18 +598,27 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
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_tecs_state.mode = ECL_TECS_MODE_NORMAL;
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}
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_tecs_state.hgt_dem = _hgt_dem_adj;
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_tecs_state.hgt = _integ3_state;
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_tecs_state.dhgt_dem = _hgt_rate_dem;
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_tecs_state.dhgt = _integ2_state;
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_tecs_state.spd_dem = _TAS_dem_adj;
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_tecs_state.spd = _integ5_state;
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_tecs_state.dspd = _vel_dot;
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_tecs_state.ithr = _integ6_state;
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_tecs_state.iptch = _integ7_state;
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_tecs_state.thr = _throttle_dem;
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_tecs_state.ptch = _pitch_dem;
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_tecs_state.dspd_dem = _TAS_rate_dem;
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_tecs_state.altitude_sp = _hgt_dem_adj;
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_tecs_state.altitude_filtered = _integ3_state;
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_tecs_state.altitude_rate_sp = _hgt_rate_dem;
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_tecs_state.altitude_rate = _integ2_state;
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_tecs_state.airspeed_sp = _TAS_dem_adj;
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_tecs_state.airspeed_rate_sp = _TAS_rate_dem;
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_tecs_state.airspeed_filtered = _integ5_state;
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_tecs_state.airspeed_rate = _vel_dot;
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_tecs_state.total_energy_error = _STE_error;
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_tecs_state.energy_distribution_error = _SEB_error;
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_tecs_state.total_energy_rate_error = _STEdot_error;
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_tecs_state.energy_distribution_error = _SEBdot_error;
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_tecs_state.energy_error_integ = _integ6_state;
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_tecs_state.energy_distribution_error_integ = _integ7_state;
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_tecs_state.throttle_sp = _throttle_dem;
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_tecs_state.pitch_sp = _pitch_dem;
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_update_pitch_throttle_last_usec = now;
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@ -79,6 +79,10 @@ public:
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_SKE_est(0.0f),
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_SPEdot(0.0f),
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_SKEdot(0.0f),
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_STE_error(0.0f),
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_STEdot_error(0.0f),
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_SEB_error(0.0f),
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_SEBdot_error(0.0f),
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_airspeed_enabled(false),
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_states_initalized(false),
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_in_air(false),
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@ -137,18 +141,22 @@ public:
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struct tecs_state {
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uint64_t timestamp;
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float hgt;
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float dhgt;
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float hgt_dem;
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float dhgt_dem;
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float spd_dem;
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float spd;
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float dspd;
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float ithr;
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float iptch;
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float thr;
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float ptch;
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float dspd_dem;
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float altitude_filtered;
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float altitude_sp;
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float altitude_rate;
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float altitude_rate_sp;
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float airspeed_filtered;
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float airspeed_sp;
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float airspeed_rate;
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float airspeed_rate_sp;
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float energy_error_integ;
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float energy_distribution_error_integ;
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float total_energy_error;
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float total_energy_rate_error;
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float energy_distribution_error;
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float energy_distribution_rate_error;
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float throttle_sp;
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float pitch_sp;
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enum ECL_TECS_MODE mode;
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};
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@ -376,6 +384,15 @@ private:
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// Specific energy error quantities
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float _STE_error;
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// Energy error rate
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float _STEdot_error;
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// Specific energy balance error
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float _SEB_error;
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// Specific energy balance error rate
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float _SEBdot_error;
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// Time since last update of main TECS loop (seconds)
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float _DT;
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@ -1920,22 +1920,25 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
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break;
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}
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t.altitudeSp = s.hgt_dem;
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t.altitude_filtered = s.hgt;
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t.airspeedSp = s.spd_dem;
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t.airspeed_filtered = s.spd;
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t.altitudeSp = s.altitude_sp;
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t.altitude_filtered = s.altitude_filtered;
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t.airspeedSp = s.airspeed_sp;
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t.airspeed_filtered = s.airspeed_filtered;
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t.flightPathAngleSp = s.dhgt_dem;
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t.flightPathAngle = s.dhgt;
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t.flightPathAngleFiltered = s.dhgt;
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t.flightPathAngleSp = s.altitude_rate_sp;
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t.flightPathAngle = s.altitude_rate;
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t.flightPathAngleFiltered = s.altitude_rate;
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t.airspeedDerivativeSp = s.dspd_dem;
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t.airspeedDerivative = s.dspd;
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t.airspeedDerivativeSp = s.airspeed_rate_sp;
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t.airspeedDerivative = s.airspeed_rate;
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t.totalEnergyRateSp = s.thr;
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t.totalEnergyRate = s.ithr;
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t.energyDistributionRateSp = s.ptch;
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t.energyDistributionRate = s.iptch;
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t.totalEnergyError = s.total_energy_error;
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t.totalEnergyRateError = s.total_energy_rate_error;
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t.energyDistributionError = s.energy_distribution_error;
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t.energyDistributionRateError = s.energy_distribution_rate_error;
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t.throttle_sp = s.throttle_sp;
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t.pitch_sp = s.pitch_sp;
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if (_tecs_status_pub != nullptr) {
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orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
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@ -226,17 +226,17 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
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* is running) */
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limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
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/* Write part of the status message */
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_status.flightPathAngleSp = flightPathAngleSp;
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_status.flightPathAngle = flightPathAngle;
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_status.flightPathAngleFiltered = flightPathAngleFiltered;
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_status.airspeedDerivativeSp = airspeedDerivativeSp;
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_status.airspeedDerivative = airspeedDerivative;
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_status.totalEnergyRateSp = totalEnergyRateSp;
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_status.totalEnergyRate = totalEnergyRate;
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_status.energyDistributionRateSp = energyDistributionRateSp;
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_status.energyDistributionRate = energyDistributionRate;
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_status.mode = mode;
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// /* Write part of the status message */
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// _status.flightPathAngleSp = flightPathAngleSp;
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// _status.flightPathAngle = flightPathAngle;
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// _status.flightPathAngleFiltered = flightPathAngleFiltered;
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// _status.airspeedDerivativeSp = airspeedDerivativeSp;
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// _status.airspeedDerivative = airspeedDerivative;
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// _status.totalEnergyRateSp = totalEnergyRateSp;
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// _status.totalEnergyRate = totalEnergyRate;
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// _status.energyDistributionRateSp = energyDistributionRateSp;
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// _status.energyDistributionRate = energyDistributionRate;
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// _status.mode = mode;
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/** update control blocks **/
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/* update total energy rate control block */
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@ -1900,15 +1900,16 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
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log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
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log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
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log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
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log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
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log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered;
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log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
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log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
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log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;
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log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate;
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log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp;
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log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate;
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log_msg.body.log_TECS.totalEnergyError = buf.tecs_status.totalEnergyError;
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log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
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log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
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log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
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log_msg.body.log_TECS.throttle_sp = buf.tecs_status.throttle_sp;
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log_msg.body.log_TECS.pitch_sp = buf.tecs_status.pitch_sp;
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log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
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LOGBUFFER_WRITE_AND_COUNT(TECS);
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}
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@ -363,16 +363,16 @@ struct log_TECS_s {
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float altitudeFiltered;
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float flightPathAngleSp;
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float flightPathAngle;
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float flightPathAngleFiltered;
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float airspeedSp;
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float airspeedFiltered;
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float airspeedDerivativeSp;
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float airspeedDerivative;
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float totalEnergyRateSp;
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float totalEnergyRate;
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float energyDistributionRateSp;
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float energyDistributionRate;
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float totalEnergyError;
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float totalEnergyRateError;
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float energyDistributionError;
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float energyDistributionRateError;
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float throttle_sp;
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float pitch_sp;
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uint8_t mode;
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};
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@ -545,7 +545,7 @@ static const struct log_format_s log_formats[] = {
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LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
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LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
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LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
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LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
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LOG_FORMAT(TECS, "ffffffffffffffB", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,EDE,ERE,EDRE,Thr,Ptch,M"),
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LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
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LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
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LOG_FORMAT(TSYN, "Q", "TimeOffset"),
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