forked from Archive/PX4-Autopilot
Compiling attitude control, ready for tests
This commit is contained in:
Lorenz Meier
parent
2697790aa5
commit
9b48fe3622
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@ -38,13 +38,19 @@
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*/
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#include "ecl_pitch_controller.h"
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#include <math.h>
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#include <stdint.h>
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#include <float.h>
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#include <geo/geo.h>
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#include <ecl/ecl.h>
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#include <mathlib/mathlib.h>
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ECL_PitchController::ECL_PitchController() :
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_last_run(0),
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_last_output(0.0f),
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_integrator(0.0f),
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_rate_error(0.0f),
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_desired_rate(0.0f),
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_rate_setpoint(0.0f),
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_max_deflection_rad(math::radians(45.0f))
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{
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}
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@ -62,7 +68,7 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
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if (dt_micros > 500000)
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lock_integrator = true;
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float k_roll_ff = max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
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float k_roll_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
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float k_i_rate = _k_i * _tc;
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/* input conditioning */
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@ -75,7 +81,7 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
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/* calculate the offset in the rate resulting from rolling */
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float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) *
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tanf(roll) * sinf(roll)) * _roll;
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tanf(roll) * sinf(roll)) * _roll_ff;
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float pitch_error = pitch_setpoint - pitch;
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/* rate setpoint from current error and time constant */
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@ -88,7 +94,7 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
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float ilimit_scaled = 0.0f;
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if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5 * airspeed_min) {
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if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
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float id = _rate_error * k_i_rate * dt * scaler;
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@ -98,21 +104,21 @@ float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitc
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*/
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if (_last_output < -_max_deflection_rad) {
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/* only allow motion to center: increase value */
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id = max(id, 0.0f);
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id = math::max(id, 0.0f);
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} else if (_last_output > _max_deflection_rad) {
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/* only allow motion to center: decrease value */
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id = min(id, 0.0f);
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id = math::min(id, 0.0f);
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}
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_integrator += id;
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}
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/* integrator limit */
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_integrator = constrain(_integrator, -ilimit_scaled, ilimit_scaled);
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_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
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/* store non-limited output */
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_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
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return constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
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return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
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}
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void ECL_PitchController::reset_integrator()
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@ -83,7 +83,7 @@ public:
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}
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float get_desired_rate() {
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return _desired_rate;
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return _rate_setpoint;
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}
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private:
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@ -39,6 +39,11 @@
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#include "../ecl.h"
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#include "ecl_roll_controller.h"
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#include <stdint.h>
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#include <float.h>
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#include <geo/geo.h>
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#include <ecl/ecl.h>
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#include <mathlib/mathlib.h>
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ECL_RollController::ECL_RollController() :
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_last_run(0),
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@ -61,7 +66,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
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float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
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float k_ff = max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
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float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
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float k_i_rate = _k_i * _tc;
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/* input conditioning */
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@ -86,7 +91,7 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
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float ilimit_scaled = 0.0f;
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if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5 * airspeed_min) {
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if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
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float id = _rate_error * k_i_rate * dt * scaler;
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@ -96,21 +101,21 @@ float ECL_RollController::control(float roll_setpoint, float roll, float roll_ra
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*/
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if (_last_output < -_max_deflection_rad) {
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/* only allow motion to center: increase value */
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id = max(id, 0.0f);
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id = math::max(id, 0.0f);
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} else if (_last_output > _max_deflection_rad) {
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/* only allow motion to center: decrease value */
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id = min(id, 0.0f);
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id = math::min(id, 0.0f);
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}
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_integrator += id;
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}
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/* integrator limit */
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_integrator = constrain(_integrator, -ilimit_scaled, ilimit_scaled);
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_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
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/* store non-limited output */
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_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
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_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
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return constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
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return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
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}
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void ECL_RollController::reset_integrator()
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@ -79,7 +79,7 @@ public:
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}
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float get_desired_rate() {
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return _desired_rate;
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return _rate_setpoint;
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}
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private:
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@ -38,6 +38,11 @@
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*/
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#include "ecl_yaw_controller.h"
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#include <stdint.h>
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#include <float.h>
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#include <geo/geo.h>
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#include <ecl/ecl.h>
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#include <mathlib/mathlib.h>
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ECL_YawController::ECL_YawController() :
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_last_run(0),
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