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FW Rate Controller: allow to enable/disable yaw axis in Acro (#21566) 

* RateControl: rename setGains to setPidGains to be more precise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* FW Rate controller: only allow to disable Yaw in Acro, not roll and pitch

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-05-26 15:09:29 +02:00 committed by GitHub
parent ee96d209d7
commit ad769db8d6
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 53 additions and 18 deletions
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4
src/lib/rate_control/rate_control.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2023 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
@ -40,7 +40,7 @@
using namespace matrix;
void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
void RateControl::setPidGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
{
_gain_p = P;
_gain_i = I;

18
src/lib/rate_control/rate_control.hpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2023 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
@ -51,12 +51,12 @@ public:
~RateControl() = default;
/**
* Set the rate control gains
* Set the rate control PID gains
* @param P 3D vector of proportional gains for body x,y,z axis
* @param I 3D vector of integral gains
* @param D 3D vector of derivative gains
*/
void setGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D);
void setPidGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D);
/**
* Set the mximum absolute value of the integrator for all axes
@ -94,6 +94,18 @@ public:
*/
void resetIntegral() { _rate_int.zero(); }
/**
* Set the integral term to 0 for specific axes
* @param axis roll 0 / pitch 1 / yaw 2
* @see _rate_int
*/
void resetIntegral(size_t axis)
{
if (axis < 3) {
_rate_int(axis) = 0.f;
}
}
/**
* Get status message of controller for logging/debugging
* @param rate_ctrl_status status message to fill with internal states

33
src/modules/fw_rate_control/FixedwingRateControl.cpp
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@ -77,7 +77,7 @@ FixedwingRateControl::parameters_update()
const Vector3f rate_i = Vector3f(_param_fw_rr_i.get(), _param_fw_pr_i.get(), _param_fw_yr_i.get());
const Vector3f rate_d = Vector3f(_param_fw_rr_d.get(), _param_fw_pr_d.get(), _param_fw_yr_d.get());
_rate_control.setGains(rate_p, rate_i, rate_d);
_rate_control.setPidGains(rate_p, rate_i, rate_d);
_rate_control.setIntegratorLimit(
Vector3f(_param_fw_rr_imax.get(), _param_fw_pr_imax.get(), _param_fw_yr_imax.get()));
@ -335,27 +335,36 @@ void FixedwingRateControl::Run()
body_rates_setpoint = Vector3f(-_rates_sp.yaw, _rates_sp.pitch, _rates_sp.roll);
}
/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
// Run attitude RATE controllers which need the desired attitudes from above, add trim.
const Vector3f angular_acceleration_setpoint = _rate_control.update(rates, body_rates_setpoint, angular_accel, dt,
_landed);
float roll_feedforward = _param_fw_rr_ff.get() * _airspeed_scaling * body_rates_setpoint(0);
float roll_u = angular_acceleration_setpoint(0) * _airspeed_scaling * _airspeed_scaling + roll_feedforward;
_vehicle_torque_setpoint.xyz[0] = PX4_ISFINITE(roll_u) ? math::constrain(roll_u + trim_roll, -1.f, 1.f) : trim_roll;
float pitch_feedforward = _param_fw_pr_ff.get() * _airspeed_scaling * body_rates_setpoint(1);
float pitch_u = angular_acceleration_setpoint(1) * _airspeed_scaling * _airspeed_scaling + pitch_feedforward;
_vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(pitch_u) ? math::constrain(pitch_u + trim_pitch, -1.f, 1.f) : trim_pitch;
const float roll_feedforward = _param_fw_rr_ff.get() * _airspeed_scaling * body_rates_setpoint(0);
const float pitch_feedforward = _param_fw_pr_ff.get() * _airspeed_scaling * body_rates_setpoint(1);
const float yaw_feedforward = _param_fw_yr_ff.get() * _airspeed_scaling * body_rates_setpoint(2);
float yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
_vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(yaw_u) ? math::constrain(yaw_u + trim_yaw, -1.f, 1.f) : trim_yaw;
const float roll_u = angular_acceleration_setpoint(0) * _airspeed_scaling * _airspeed_scaling + roll_feedforward;
const float pitch_u = angular_acceleration_setpoint(1) * _airspeed_scaling * _airspeed_scaling + pitch_feedforward;
// Special case yaw in Acro: if the parameter FW_ACRO_YAW_CTL is not set then don't control yaw
float yaw_u = 0.f;
if (_vcontrol_mode.flag_control_attitude_enabled || _param_fw_acro_yaw_en.get()) {
yaw_u = angular_acceleration_setpoint(2) * _airspeed_scaling * _airspeed_scaling + yaw_feedforward;
} else {
yaw_u = _manual_control_setpoint.yaw * _param_fw_man_y_sc.get();
_rate_control.resetIntegral(2);
}
if (!PX4_ISFINITE(roll_u) || !PX4_ISFINITE(pitch_u) || !PX4_ISFINITE(yaw_u)) {
_rate_control.resetIntegral();
}
_vehicle_torque_setpoint.xyz[0] = PX4_ISFINITE(roll_u) ? math::constrain(roll_u + trim_roll, -1.f, 1.f) : trim_roll;
_vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(pitch_u) ? math::constrain(pitch_u + trim_pitch, -1.f, 1.f) : trim_pitch;
_vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(yaw_u) ? math::constrain(yaw_u + trim_yaw, -1.f, 1.f) : trim_yaw;
/* throttle passed through if it is finite */
_vehicle_thrust_setpoint.xyz[0] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ? _rates_sp.thrust_body[0] : 0.0f;

1
src/modules/fw_rate_control/FixedwingRateControl.hpp
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@ -148,6 +148,7 @@ private:
(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
(ParamFloat<px4::params::FW_ACRO_Z_MAX>) _param_fw_acro_z_max,
(ParamInt<px4::params::FW_ACRO_YAW_EN>) _param_fw_acro_yaw_en,
(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,

13
src/modules/fw_rate_control/fw_rate_control_params.c
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@ -537,3 +537,16 @@ PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f);
* @group FW Attitude Control
*/
PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);
/**
* Enable yaw rate controller in Acro
*
* If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode.
* Otherwise the pilot commands directly the yaw actuator.
* It is disabled by default because an active yaw rate controller will fight against the
* natural turn coordination of the plane.
*
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0);

2
src/modules/mc_rate_control/MulticopterRateControl.cpp
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@ -80,7 +80,7 @@ MulticopterRateControl::parameters_updated()
// to the ideal (K * [1 + 1/sTi + sTd]) form
const Vector3f rate_k = Vector3f(_param_mc_rollrate_k.get(), _param_mc_pitchrate_k.get(), _param_mc_yawrate_k.get());
_rate_control.setGains(
_rate_control.setPidGains(
rate_k.emult(Vector3f(_param_mc_rollrate_p.get(), _param_mc_pitchrate_p.get(), _param_mc_yawrate_p.get())),
rate_k.emult(Vector3f(_param_mc_rollrate_i.get(), _param_mc_pitchrate_i.get(), _param_mc_yawrate_i.get())),
rate_k.emult(Vector3f(_param_mc_rollrate_d.get(), _param_mc_pitchrate_d.get(), _param_mc_yawrate_d.get())));