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px4-firmware
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Merge branch 'seatbelt_controllib' of https://github.com/jgoppert/Firmware into seatbelt

This commit is contained in:
Lorenz Meier 2013-03-19 23:20:06 +01:00
parent ccdb2da4f4 8025a54d77
commit f43a74c6ca
6 changed files with 159 additions and 253 deletions
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222
apps/controllib/fixedwing.cpp
View File

@ -86,113 +86,6 @@ void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
_yawDamper.update(rCmd, r);
}
BlockHeadingHold::BlockHeadingHold(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_psi2Phi(this, "PSI2PHI"),
_phi2P(this, "PHI2P"),
_phiLimit(this, "PHI_LIM")
{
}
BlockHeadingHold::~BlockHeadingHold() {};
float BlockHeadingHold::update(float psiCmd, float phi, float psi, float p)
{
float psiError = _wrap_pi(psiCmd - psi);
float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
return _phi2P.update(phiCmd - phi);
}
BlockVelocityHoldBackside::BlockVelocityHoldBackside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_v2Theta(this, "V2THE"),
_theta2Q(this, "THE2Q"),
_theLimit(this, "THE"),
_vLimit(this, "V")
{
}
BlockVelocityHoldBackside::~BlockVelocityHoldBackside() {};
float BlockVelocityHoldBackside::update(float vCmd, float v, float theta, float q)
{
// negative sign because nose over to increase speed
float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
return _theta2Q.update(thetaCmd - theta);
}
BlockVelocityHoldFrontside::BlockVelocityHoldFrontside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_v2Thr(this, "V2THR")
{
}
BlockVelocityHoldFrontside::~BlockVelocityHoldFrontside() {};
float BlockVelocityHoldFrontside::update(float vCmd, float v)
{
return _v2Thr.update(vCmd - v);
}
BlockAltitudeHoldBackside::BlockAltitudeHoldBackside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_h2Thr(this, "H2THR"),
_throttle(0)
{
}
BlockAltitudeHoldBackside::~BlockAltitudeHoldBackside() {};
void BlockAltitudeHoldBackside::update(float hCmd, float h)
{
_throttle = _h2Thr.update(hCmd - h);
}
BlockAltitudeHoldFrontside::BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_h2Theta(this, "H2THE"),
_theta2Q(this, "THE2Q")
{
}
BlockAltitudeHoldFrontside::~BlockAltitudeHoldFrontside() {};
float BlockAltitudeHoldFrontside::update(float hCmd, float h, float theta, float q)
{
float thetaCmd = _h2Theta.update(hCmd - h);
return _theta2Q.update(thetaCmd - theta);
}
BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
const char *name,
BlockStabilization *stabilization) :
SuperBlock(parent, name),
_stabilization(stabilization),
_headingHold(this, ""),
_velocityHold(this, ""),
_altitudeHold(this, ""),
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR", true) /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
{
}
BlockBacksideAutopilot::~BlockBacksideAutopilot() {};
void BlockBacksideAutopilot::update(float hCmd, float vCmd, float rCmd, float psiCmd,
float h, float v,
float phi, float theta, float psi,
float p, float q, float r)
{
_altitudeHold.update(hCmd, h);
_stabilization->update(
_headingHold.update(psiCmd, phi, psi, p),
_velocityHold.update(vCmd, v, theta, q),
rCmd,
p, q, r);
}
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
_xtYawLimit(this, "XT2YAW"),
@ -251,9 +144,33 @@ BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
BlockUorbEnabledAutopilot(parent, name),
_stabilization(this, ""), // no name needed, already unique
_backsideAutopilot(this, "", &_stabilization),
// heading hold
_psi2Phi(this, "PSI2PHI"),
_phi2P(this, "PHI2P"),
_phiLimit(this, "PHI_LIM"),
// velocity hold
_v2Theta(this, "V2THE"),
_theta2Q(this, "THE2Q"),
_theLimit(this, "THE"),
_vLimit(this, "V"),
// altitude/roc hold
_h2Thr(this, "H2THR"),
_roc2Thr(this, "ROC2THR"),
// guidance block
_guide(this, ""),
// block params
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
_vCmd(this, "V_CMD"),
_rocMax(this, "ROC_MAX"),
_attPoll(),
_lastPosCmd(),
_timeStamp(0)
@ -313,19 +230,32 @@ void BlockMultiModeBacksideAutopilot::update()
// calculate velocity, XXX should be airspeed, but using ground speed for now
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
// commands
// altitude hold
float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt);
// heading hold
float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
float pCmd = _phi2P.update(phiCmd - _att.roll);
// velocity hold
// negative sign because nose over to increase speed
float thetaCmd = _theLimit.update(-_v2Theta.update(
_vLimit.update(_vCmd.get()) - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
_backsideAutopilot.update(
_posCmd.altitude, _vCmd.get(), rCmd, _guide.getPsiCmd(),
_pos.alt, v,
_att.roll, _att.pitch, _att.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed
);
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
// stabilization
_stabilization.update(pCmd, qCmd, rCmd,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
_actuators.control[CH_THR] = dThrottle + _trimThr.get();
// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
@ -339,11 +269,9 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[CH_THR] : _manual.throttle;
}
} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
_actuators.control[CH_AIL] = _manual.roll;
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
@ -351,6 +279,58 @@ void BlockMultiModeBacksideAutopilot::update()
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
// calculate velocity, XXX should be airspeed, but using ground speed for now
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding
// from +1 -> -1 m/s for rate of climb
//float dThrottle = _roc2Thr.update(
//_rocMax.get()*_manual.pitch - _pos.vz);
// roll channel -> bank angle
float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
float pCmd = _phi2P.update(phiCmd - _att.roll);
// throttle channel -> velocity
// negative sign because nose over to increase speed
float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
// yaw rate cmd
float rCmd = 0;
// stabilization
_stabilization.update(pCmd, qCmd, rCmd,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
// output
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
// currenlty using manual throttle
// XXX if you enable this watch out, vz might be very noisy
//_actuators.control[CH_THR] = dThrottle + _trimThr.get();
_actuators.control[CH_THR] = _manual.throttle;
// XXX limit throttle to manual setting (safety) for now.
// If it turns out to be confusing, it can be removed later once
// a first binary release can be targeted.
// This is not a hack, but a design choice.
/* do not limit in HIL */
if (!_status.flag_hil_enabled) {
/* limit to value of manual throttle */
_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
_actuators.control[CH_THR] : _manual.throttle;
}
}
// body rates controller, disabled for now
else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {
_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);

146
apps/controllib/fixedwing.hpp
View File

@ -232,26 +232,6 @@ public:
float getRudder() { return _yawDamper.getRudder(); }
};
/**
* Heading hold autopilot block.
* Aircraft Control and Simulation, Stevens and Lewis
* Heading hold, pg. 348
*/
class __EXPORT BlockHeadingHold : public SuperBlock
{
private:
BlockP _psi2Phi;
BlockP _phi2P;
BlockLimitSym _phiLimit;
public:
BlockHeadingHold(SuperBlock *parent, const char *name);
virtual ~BlockHeadingHold();
/**
* returns pCmd
*/
float update(float psiCmd, float phi, float psi, float p);
};
/**
* Frontside/ Backside Control Systems
*
@ -269,106 +249,6 @@ public:
* than frontside at high speeds.
*/
/**
* Backside velocity hold autopilot block.
* v -> theta -> q -> elevator
*/
class __EXPORT BlockVelocityHoldBackside : public SuperBlock
{
private:
BlockPID _v2Theta;
BlockPID _theta2Q;
BlockLimit _theLimit;
BlockLimit _vLimit;
public:
BlockVelocityHoldBackside(SuperBlock *parent, const char *name);
virtual ~BlockVelocityHoldBackside();
/**
* returns qCmd
*/
float update(float vCmd, float v, float theta, float q);
};
/**
* Frontside velocity hold autopilot block.
* v -> throttle
*/
class __EXPORT BlockVelocityHoldFrontside : public SuperBlock
{
private:
BlockPID _v2Thr;
public:
BlockVelocityHoldFrontside(SuperBlock *parent, const char *name);
virtual ~BlockVelocityHoldFrontside();
/**
* returns throttle
*/
float update(float vCmd, float v);
};
/**
* Backside altitude hold autopilot block.
* h -> throttle
*/
class __EXPORT BlockAltitudeHoldBackside : public SuperBlock
{
private:
BlockPID _h2Thr;
float _throttle;
public:
BlockAltitudeHoldBackside(SuperBlock *parent, const char *name);
virtual ~BlockAltitudeHoldBackside();
void update(float hCmd, float h);
float getThrottle() { return _throttle; }
};
/**
* Frontside altitude hold autopilot block.
* h -> theta > q -> elevator
*/
class __EXPORT BlockAltitudeHoldFrontside : public SuperBlock
{
private:
BlockPID _h2Theta;
BlockPID _theta2Q;
public:
BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name);
virtual ~BlockAltitudeHoldFrontside();
/**
* return qCmd
*/
float update(float hCmd, float h, float theta, float q);
};
/**
* Backside autopilot
*/
class __EXPORT BlockBacksideAutopilot : public SuperBlock
{
private:
BlockStabilization *_stabilization;
BlockHeadingHold _headingHold;
BlockVelocityHoldBackside _velocityHold;
BlockAltitudeHoldBackside _altitudeHold;
BlockParam<float> _trimAil;
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
public:
BlockBacksideAutopilot(SuperBlock *parent,
const char *name,
BlockStabilization *stabilization);
virtual ~BlockBacksideAutopilot();
void update(float hCmd, float vCmd, float rCmd, float psiCmd,
float h, float v,
float phi, float theta, float psi,
float p, float q, float r);
float getRudder() { return _stabilization->getRudder() + _trimRdr.get(); }
float getAileron() { return _stabilization->getAileron() + _trimAil.get(); }
float getElevator() { return _stabilization->getElevator() + _trimElv.get(); }
float getThrottle() { return _altitudeHold.getThrottle() + _trimThr.get(); }
};
/**
* Waypoint Guidance block
*/
@ -416,10 +296,34 @@ public:
class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
{
private:
// stabilization
BlockStabilization _stabilization;
BlockBacksideAutopilot _backsideAutopilot;
// heading hold
BlockP _psi2Phi;
BlockP _phi2P;
BlockLimitSym _phiLimit;
// velocity hold
BlockPID _v2Theta;
BlockPID _theta2Q;
BlockLimit _theLimit;
BlockLimit _vLimit;
// altitude/ roc hold
BlockPID _h2Thr;
BlockPID _roc2Thr;
// guidance
BlockWaypointGuidance _guide;
// block params
BlockParam<float> _trimAil;
BlockParam<float> _trimElv;
BlockParam<float> _trimRdr;
BlockParam<float> _trimThr;
BlockParam<float> _vCmd;
BlockParam<float> _rocMax;
struct pollfd _attPoll;
vehicle_global_position_setpoint_s _lastPosCmd;

12
apps/examples/control_demo/params.c
View File

@ -56,4 +56,16 @@ PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity
// rate of climb
// this is what rate of climb is commanded (in m/s)
// when the pitch stick is fully defelcted in simple mode
PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f);
// rate of climb -> thr
PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID
PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)

22
apps/examples/kalman_demo/KalmanNav.cpp
View File

@ -61,8 +61,8 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
HAtt(6, 9),
RAtt(6, 6),
// position measurement ekf matrices
HPos(5, 9),
RPos(5, 5),
HPos(6, 9),
RPos(6, 6),
// attitude representations
C_nb(),
q(),
@ -95,6 +95,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
_rGpsVel(this, "R_GPS_VEL"),
_rGpsPos(this, "R_GPS_POS"),
_rGpsAlt(this, "R_GPS_ALT"),
_rPressAlt(this, "R_PRESS_ALT"),
_rAccel(this, "R_ACCEL"),
_magDip(this, "ENV_MAG_DIP"),
_magDec(this, "ENV_MAG_DEC"),
@ -134,6 +135,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
HPos(4, 8) = 1.0f;
HPos(5, 8) = 1.0f;
// initialize all parameters
updateParams();
@ -630,12 +632,13 @@ int KalmanNav::correctPos()
using namespace math;
// residual
Vector y(5);
Vector y(6);
y(0) = _gps.vel_n_m_s - vN;
y(1) = _gps.vel_e_m_s - vE;
y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
y(4) = double(_gps.alt) / 1.0e3 - alt;
y(5) = double(_sensors.baro_alt_meter) - alt;
// compute correction
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
@ -685,7 +688,8 @@ int KalmanNav::correctPos()
double(y(1) / sqrtf(RPos(1, 1))),
double(y(2) / sqrtf(RPos(2, 2))),
double(y(3) / sqrtf(RPos(3, 3))),
double(y(4) / sqrtf(RPos(4, 4))));
double(y(4) / sqrtf(RPos(4, 4))),
double(y(5) / sqrtf(RPos(5, 5))));
}
return ret_ok;
@ -740,7 +744,8 @@ void KalmanNav::updateParams()
float noiseVel = _rGpsVel.get();
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
float noiseAlt = _rGpsAlt.get();
float noiseGpsAlt = _rGpsAlt.get();
float noisePressAlt = _rPressAlt.get();
// bound noise to prevent singularities
if (noiseVel < noiseMin) noiseVel = noiseMin;
@ -749,13 +754,16 @@ void KalmanNav::updateParams()
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
if (noiseAlt < noiseMin) noiseAlt = noiseMin;
if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
RPos(0, 0) = noiseVel * noiseVel; // vn
RPos(1, 1) = noiseVel * noiseVel; // ve
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
RPos(4, 4) = noiseAlt * noiseAlt; // h
RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
RPos(5, 5) = noisePressAlt * noisePressAlt; // h
// XXX, note that RPos depends on lat, so updateParams should
// be called if lat changes significantly
}

1
apps/examples/kalman_demo/KalmanNav.hpp
View File

@ -159,6 +159,7 @@ protected:
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */

1
apps/examples/kalman_demo/params.c
View File

@ -7,6 +7,7 @@ PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);