forked from Archive/PX4-Autopilot
487 lines
12 KiB
C++
487 lines
12 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 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 blocks.cpp
|
|
*
|
|
* Controller library code
|
|
*/
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
|
|
#include "blocks.hpp"
|
|
|
|
namespace control
|
|
{
|
|
|
|
int basicBlocksTest()
|
|
{
|
|
blockLimitTest();
|
|
blockLimitSymTest();
|
|
blockLowPassTest();
|
|
blockHighPassTest();
|
|
blockIntegralTest();
|
|
blockIntegralTrapTest();
|
|
blockDerivativeTest();
|
|
blockPTest();
|
|
blockPITest();
|
|
blockPDTest();
|
|
blockPIDTest();
|
|
blockOutputTest();
|
|
blockRandUniformTest();
|
|
blockRandGaussTest();
|
|
return 0;
|
|
}
|
|
|
|
float BlockLimit::update(float input)
|
|
{
|
|
if (input > getMax()) {
|
|
input = _max.get();
|
|
|
|
} else if (input < getMin()) {
|
|
input = getMin();
|
|
}
|
|
|
|
return input;
|
|
}
|
|
|
|
int blockLimitTest()
|
|
{
|
|
printf("Test BlockLimit\t\t\t: ");
|
|
BlockLimit limit(NULL, "TEST");
|
|
// initial state
|
|
ASSERT(equal(1.0f, limit.getMax()));
|
|
ASSERT(equal(-1.0f, limit.getMin()));
|
|
ASSERT(equal(0.0f, limit.getDt()));
|
|
// update
|
|
ASSERT(equal(-1.0f, limit.update(-2.0f)));
|
|
ASSERT(equal(1.0f, limit.update(2.0f)));
|
|
ASSERT(equal(0.0f, limit.update(0.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
float BlockLimitSym::update(float input)
|
|
{
|
|
if (input > getMax()) {
|
|
input = _max.get();
|
|
|
|
} else if (input < -getMax()) {
|
|
input = -getMax();
|
|
}
|
|
|
|
return input;
|
|
}
|
|
|
|
int blockLimitSymTest()
|
|
{
|
|
printf("Test BlockLimitSym\t\t: ");
|
|
BlockLimitSym limit(NULL, "TEST");
|
|
// initial state
|
|
ASSERT(equal(1.0f, limit.getMax()));
|
|
ASSERT(equal(0.0f, limit.getDt()));
|
|
// update
|
|
ASSERT(equal(-1.0f, limit.update(-2.0f)));
|
|
ASSERT(equal(1.0f, limit.update(2.0f)));
|
|
ASSERT(equal(0.0f, limit.update(0.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
float BlockLowPass::update(float input)
|
|
{
|
|
float b = 2 * float(M_PI) * getFCut() * getDt();
|
|
float a = b / (1 + b);
|
|
setState(a * input + (1 - a)*getState());
|
|
return getState();
|
|
}
|
|
|
|
int blockLowPassTest()
|
|
{
|
|
printf("Test BlockLowPass\t\t: ");
|
|
BlockLowPass lowPass(NULL, "TEST_LP");
|
|
// test initial state
|
|
ASSERT(equal(10.0f, lowPass.getFCut()));
|
|
ASSERT(equal(0.0f, lowPass.getState()));
|
|
ASSERT(equal(0.0f, lowPass.getDt()));
|
|
// set dt
|
|
lowPass.setDt(0.1f);
|
|
ASSERT(equal(0.1f, lowPass.getDt()));
|
|
// set state
|
|
lowPass.setState(1.0f);
|
|
ASSERT(equal(1.0f, lowPass.getState()));
|
|
// test update
|
|
ASSERT(equal(1.8626974f, lowPass.update(2.0f)));
|
|
|
|
// test end condition
|
|
for (int i = 0; i < 100; i++) {
|
|
lowPass.update(2.0f);
|
|
}
|
|
|
|
ASSERT(equal(2.0f, lowPass.getState()));
|
|
ASSERT(equal(2.0f, lowPass.update(2.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
};
|
|
|
|
float BlockHighPass::update(float input)
|
|
{
|
|
float b = 2 * float(M_PI) * getFCut() * getDt();
|
|
float a = 1 / (1 + b);
|
|
setY(a * (getY() + input - getU()));
|
|
setU(input);
|
|
return getY();
|
|
}
|
|
|
|
int blockHighPassTest()
|
|
{
|
|
printf("Test BlockHighPass\t\t: ");
|
|
BlockHighPass highPass(NULL, "TEST_HP");
|
|
// test initial state
|
|
ASSERT(equal(10.0f, highPass.getFCut()));
|
|
ASSERT(equal(0.0f, highPass.getU()));
|
|
ASSERT(equal(0.0f, highPass.getY()));
|
|
ASSERT(equal(0.0f, highPass.getDt()));
|
|
// set dt
|
|
highPass.setDt(0.1f);
|
|
ASSERT(equal(0.1f, highPass.getDt()));
|
|
// set state
|
|
highPass.setU(1.0f);
|
|
ASSERT(equal(1.0f, highPass.getU()));
|
|
highPass.setY(1.0f);
|
|
ASSERT(equal(1.0f, highPass.getY()));
|
|
// test update
|
|
ASSERT(equal(0.2746051f, highPass.update(2.0f)));
|
|
|
|
// test end condition
|
|
for (int i = 0; i < 100; i++) {
|
|
highPass.update(2.0f);
|
|
}
|
|
|
|
ASSERT(equal(0.0f, highPass.getY()));
|
|
ASSERT(equal(0.0f, highPass.update(2.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
float BlockIntegral::update(float input)
|
|
{
|
|
// trapezoidal integration
|
|
setY(_limit.update(getY() + input * getDt()));
|
|
return getY();
|
|
}
|
|
|
|
int blockIntegralTest()
|
|
{
|
|
printf("Test BlockIntegral\t\t: ");
|
|
BlockIntegral integral(NULL, "TEST_I");
|
|
// test initial state
|
|
ASSERT(equal(1.0f, integral.getMax()));
|
|
ASSERT(equal(0.0f, integral.getDt()));
|
|
// set dt
|
|
integral.setDt(0.1f);
|
|
ASSERT(equal(0.1f, integral.getDt()));
|
|
// set Y
|
|
integral.setY(0.9f);
|
|
ASSERT(equal(0.9f, integral.getY()));
|
|
|
|
// test exceed max
|
|
for (int i = 0; i < 100; i++) {
|
|
integral.update(1.0f);
|
|
}
|
|
|
|
ASSERT(equal(1.0f, integral.update(1.0f)));
|
|
// test exceed min
|
|
integral.setY(-0.9f);
|
|
ASSERT(equal(-0.9f, integral.getY()));
|
|
|
|
for (int i = 0; i < 100; i++) {
|
|
integral.update(-1.0f);
|
|
}
|
|
|
|
ASSERT(equal(-1.0f, integral.update(-1.0f)));
|
|
// test update
|
|
integral.setY(0.1f);
|
|
ASSERT(equal(0.2f, integral.update(1.0)));
|
|
ASSERT(equal(0.2f, integral.getY()));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
float BlockIntegralTrap::update(float input)
|
|
{
|
|
// trapezoidal integration
|
|
setY(_limit.update(getY() +
|
|
(getU() + input) / 2.0f * getDt()));
|
|
setU(input);
|
|
return getY();
|
|
}
|
|
|
|
int blockIntegralTrapTest()
|
|
{
|
|
printf("Test BlockIntegralTrap\t\t: ");
|
|
BlockIntegralTrap integral(NULL, "TEST_I");
|
|
// test initial state
|
|
ASSERT(equal(1.0f, integral.getMax()));
|
|
ASSERT(equal(0.0f, integral.getDt()));
|
|
// set dt
|
|
integral.setDt(0.1f);
|
|
ASSERT(equal(0.1f, integral.getDt()));
|
|
// set U
|
|
integral.setU(1.0f);
|
|
ASSERT(equal(1.0f, integral.getU()));
|
|
// set Y
|
|
integral.setY(0.9f);
|
|
ASSERT(equal(0.9f, integral.getY()));
|
|
|
|
// test exceed max
|
|
for (int i = 0; i < 100; i++) {
|
|
integral.update(1.0f);
|
|
}
|
|
|
|
ASSERT(equal(1.0f, integral.update(1.0f)));
|
|
// test exceed min
|
|
integral.setU(-1.0f);
|
|
integral.setY(-0.9f);
|
|
ASSERT(equal(-0.9f, integral.getY()));
|
|
|
|
for (int i = 0; i < 100; i++) {
|
|
integral.update(-1.0f);
|
|
}
|
|
|
|
ASSERT(equal(-1.0f, integral.update(-1.0f)));
|
|
// test update
|
|
integral.setU(2.0f);
|
|
integral.setY(0.1f);
|
|
ASSERT(equal(0.25f, integral.update(1.0)));
|
|
ASSERT(equal(0.25f, integral.getY()));
|
|
ASSERT(equal(1.0f, integral.getU()));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
float BlockDerivative::update(float input)
|
|
{
|
|
float output = _lowPass.update((input - getU()) / getDt());
|
|
setU(input);
|
|
return output;
|
|
}
|
|
|
|
int blockDerivativeTest()
|
|
{
|
|
printf("Test BlockDerivative\t\t: ");
|
|
BlockDerivative derivative(NULL, "TEST_D");
|
|
// test initial state
|
|
ASSERT(equal(0.0f, derivative.getU()));
|
|
ASSERT(equal(10.0f, derivative.getLP()));
|
|
// set dt
|
|
derivative.setDt(0.1f);
|
|
ASSERT(equal(0.1f, derivative.getDt()));
|
|
// set U
|
|
derivative.setU(1.0f);
|
|
ASSERT(equal(1.0f, derivative.getU()));
|
|
// test update
|
|
ASSERT(equal(8.6269744f, derivative.update(2.0f)));
|
|
ASSERT(equal(2.0f, derivative.getU()));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockPTest()
|
|
{
|
|
printf("Test BlockP\t\t\t: ");
|
|
BlockP blockP(NULL, "TEST_P");
|
|
// test initial state
|
|
ASSERT(equal(0.2f, blockP.getKP()));
|
|
ASSERT(equal(0.0f, blockP.getDt()));
|
|
// set dt
|
|
blockP.setDt(0.1f);
|
|
ASSERT(equal(0.1f, blockP.getDt()));
|
|
// test update
|
|
ASSERT(equal(0.4f, blockP.update(2.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockPITest()
|
|
{
|
|
printf("Test BlockPI\t\t\t: ");
|
|
BlockPI blockPI(NULL, "TEST");
|
|
// test initial state
|
|
ASSERT(equal(0.2f, blockPI.getKP()));
|
|
ASSERT(equal(0.1f, blockPI.getKI()));
|
|
ASSERT(equal(0.0f, blockPI.getDt()));
|
|
ASSERT(equal(1.0f, blockPI.getIntegral().getMax()));
|
|
// set dt
|
|
blockPI.setDt(0.1f);
|
|
ASSERT(equal(0.1f, blockPI.getDt()));
|
|
// set integral state
|
|
blockPI.getIntegral().setY(0.1f);
|
|
ASSERT(equal(0.1f, blockPI.getIntegral().getY()));
|
|
// test update
|
|
// 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43
|
|
ASSERT(equal(0.43f, blockPI.update(2.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockPDTest()
|
|
{
|
|
printf("Test BlockPD\t\t\t: ");
|
|
BlockPD blockPD(NULL, "TEST");
|
|
// test initial state
|
|
ASSERT(equal(0.2f, blockPD.getKP()));
|
|
ASSERT(equal(0.01f, blockPD.getKD()));
|
|
ASSERT(equal(0.0f, blockPD.getDt()));
|
|
ASSERT(equal(10.0f, blockPD.getDerivative().getLP()));
|
|
// set dt
|
|
blockPD.setDt(0.1f);
|
|
ASSERT(equal(0.1f, blockPD.getDt()));
|
|
// set derivative state
|
|
blockPD.getDerivative().setU(1.0f);
|
|
ASSERT(equal(1.0f, blockPD.getDerivative().getU()));
|
|
// test update
|
|
// 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744
|
|
ASSERT(equal(0.486269744f, blockPD.update(2.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockPIDTest()
|
|
{
|
|
printf("Test BlockPID\t\t\t: ");
|
|
BlockPID blockPID(NULL, "TEST");
|
|
// test initial state
|
|
ASSERT(equal(0.2f, blockPID.getKP()));
|
|
ASSERT(equal(0.1f, blockPID.getKI()));
|
|
ASSERT(equal(0.01f, blockPID.getKD()));
|
|
ASSERT(equal(0.0f, blockPID.getDt()));
|
|
ASSERT(equal(10.0f, blockPID.getDerivative().getLP()));
|
|
ASSERT(equal(1.0f, blockPID.getIntegral().getMax()));
|
|
// set dt
|
|
blockPID.setDt(0.1f);
|
|
ASSERT(equal(0.1f, blockPID.getDt()));
|
|
// set derivative state
|
|
blockPID.getDerivative().setU(1.0f);
|
|
ASSERT(equal(1.0f, blockPID.getDerivative().getU()));
|
|
// set integral state
|
|
blockPID.getIntegral().setY(0.1f);
|
|
ASSERT(equal(0.1f, blockPID.getIntegral().getY()));
|
|
// test update
|
|
// 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697
|
|
ASSERT(equal(0.5162697f, blockPID.update(2.0f)));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockOutputTest()
|
|
{
|
|
printf("Test BlockOutput\t\t: ");
|
|
BlockOutput blockOutput(NULL, "TEST");
|
|
// test initial state
|
|
ASSERT(equal(0.0f, blockOutput.getDt()));
|
|
ASSERT(equal(0.5f, blockOutput.get()));
|
|
ASSERT(equal(-1.0f, blockOutput.getMin()));
|
|
ASSERT(equal(1.0f, blockOutput.getMax()));
|
|
// test update below min
|
|
blockOutput.update(-2.0f);
|
|
ASSERT(equal(-1.0f, blockOutput.get()));
|
|
// test update above max
|
|
blockOutput.update(2.0f);
|
|
ASSERT(equal(1.0f, blockOutput.get()));
|
|
// test trim
|
|
blockOutput.update(0.0f);
|
|
ASSERT(equal(0.5f, blockOutput.get()));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockRandUniformTest()
|
|
{
|
|
srand(1234);
|
|
printf("Test BlockRandUniform\t\t: ");
|
|
BlockRandUniform blockRandUniform(NULL, "TEST");
|
|
// test initial state
|
|
ASSERT(equal(0.0f, blockRandUniform.getDt()));
|
|
ASSERT(equal(-1.0f, blockRandUniform.getMin()));
|
|
ASSERT(equal(1.0f, blockRandUniform.getMax()));
|
|
// test update
|
|
int n = 10000;
|
|
float mean = blockRandUniform.update();
|
|
|
|
// recursive mean algorithm from Knuth
|
|
for (int i = 2; i < n + 1; i++) {
|
|
float val = blockRandUniform.update();
|
|
mean += (val - mean) / i;
|
|
ASSERT(val <= blockRandUniform.getMax());
|
|
ASSERT(val >= blockRandUniform.getMin());
|
|
}
|
|
|
|
ASSERT(equal(mean, (blockRandUniform.getMin() +
|
|
blockRandUniform.getMax()) / 2, 1e-1));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
int blockRandGaussTest()
|
|
{
|
|
srand(1234);
|
|
printf("Test BlockRandGauss\t\t: ");
|
|
BlockRandGauss blockRandGauss(NULL, "TEST");
|
|
// test initial state
|
|
ASSERT(equal(0.0f, blockRandGauss.getDt()));
|
|
ASSERT(equal(1.0f, blockRandGauss.getMean()));
|
|
ASSERT(equal(2.0f, blockRandGauss.getStdDev()));
|
|
// test update
|
|
int n = 10000;
|
|
float mean = blockRandGauss.update();
|
|
float sum = 0;
|
|
|
|
// recursive mean, stdev algorithm from Knuth
|
|
for (int i = 2; i < n + 1; i++) {
|
|
float val = blockRandGauss.update();
|
|
float newMean = mean + (val - mean) / i;
|
|
sum += (val - mean) * (val - newMean);
|
|
mean = newMean;
|
|
}
|
|
|
|
float stdDev = sqrt(sum / (n - 1));
|
|
ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1));
|
|
ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
} // namespace control
|