forked from Archive/PX4-Autopilot
141 lines
3.8 KiB
C++
141 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ecl_controller.cpp
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* Definition of base class for other controllers
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*
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* Acknowledgements:
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*
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* The control design is based on a design
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* by Paul Riseborough and Andrew Tridgell, 2013,
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* which in turn is based on initial work of
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* Jonathan Challinger, 2012.
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*/
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#include "ecl_controller.h"
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#include <stdio.h>
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#include <mathlib/mathlib.h>
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ECL_Controller::ECL_Controller(const char *name) :
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_last_run(0),
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_tc(0.1f),
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_k_p(0.0f),
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_k_i(0.0f),
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_k_ff(0.0f),
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_integrator_max(0.0f),
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_max_rate(0.0f),
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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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_rate_setpoint(0.0f),
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_bodyrate_setpoint(0.0f),
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_perf_name()
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{
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/* Init performance counter */
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snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
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_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
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}
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ECL_Controller::~ECL_Controller()
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{
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perf_free(_nonfinite_input_perf);
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}
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void ECL_Controller::reset_integrator()
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{
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_integrator = 0.0f;
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}
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void ECL_Controller::set_time_constant(float time_constant)
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{
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if (time_constant > 0.1f && time_constant < 3.0f) {
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_tc = time_constant;
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}
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}
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void ECL_Controller::set_k_p(float k_p)
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{
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_k_p = k_p;
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}
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void ECL_Controller::set_k_i(float k_i)
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{
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_k_i = k_i;
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}
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void ECL_Controller::set_k_ff(float k_ff)
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{
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_k_ff = k_ff;
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}
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void ECL_Controller::set_integrator_max(float max)
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{
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_integrator_max = max;
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}
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void ECL_Controller::set_max_rate(float max_rate)
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{
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_max_rate = max_rate;
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}
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float ECL_Controller::get_rate_error()
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{
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return _rate_error;
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}
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float ECL_Controller::get_desired_rate()
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{
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return _rate_setpoint;
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}
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float ECL_Controller::get_desired_bodyrate()
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{
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return _bodyrate_setpoint;
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}
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float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float maxspeed) {
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float airspeed_result = airspeed;
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if (!PX4_ISFINITE(airspeed)) {
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/* airspeed is NaN, +- INF or not available, pick center of band */
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airspeed_result = 0.5f * (minspeed + maxspeed);
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} else if (airspeed < minspeed) {
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airspeed_result = minspeed;
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}
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return airspeed_result;
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}
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