forked from Archive/PX4-Autopilot
126 lines
3.7 KiB
C++
126 lines
3.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.h
|
|
* Definition of base class for other controllers
|
|
*
|
|
* @author Lorenz Meier <lm@inf.ethz.ch>
|
|
* @author Thomas Gubler <thomasgubler@gmail.com>
|
|
*
|
|
* Acknowledgements:
|
|
*
|
|
* The control design is based on a design
|
|
* by Paul Riseborough and Andrew Tridgell, 2013,
|
|
* which in turn is based on initial work of
|
|
* Jonathan Challinger, 2012.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
#include <systemlib/perf_counter.h>
|
|
|
|
struct ECL_ControlData {
|
|
float roll;
|
|
float pitch;
|
|
float yaw;
|
|
float roll_rate;
|
|
float pitch_rate;
|
|
float yaw_rate;
|
|
float speed_body_u;
|
|
float speed_body_v;
|
|
float speed_body_w;
|
|
float acc_body_x;
|
|
float acc_body_y;
|
|
float acc_body_z;
|
|
float roll_setpoint;
|
|
float pitch_setpoint;
|
|
float yaw_setpoint;
|
|
float roll_rate_setpoint;
|
|
float pitch_rate_setpoint;
|
|
float yaw_rate_setpoint;
|
|
float airspeed_min;
|
|
float airspeed_max;
|
|
float airspeed;
|
|
float scaler;
|
|
float groundspeed;
|
|
float groundspeed_scaler;
|
|
bool lock_integrator;
|
|
};
|
|
|
|
class __EXPORT ECL_Controller
|
|
{
|
|
public:
|
|
ECL_Controller(const char *name);
|
|
|
|
~ECL_Controller();
|
|
|
|
virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
|
|
virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
|
|
|
|
/* Setters */
|
|
void set_time_constant(float time_constant);
|
|
void set_k_p(float k_p);
|
|
void set_k_i(float k_i);
|
|
void set_k_ff(float k_ff);
|
|
void set_integrator_max(float max);
|
|
void set_max_rate(float max_rate);
|
|
|
|
/* Getters */
|
|
float get_rate_error();
|
|
float get_desired_rate();
|
|
float get_desired_bodyrate();
|
|
|
|
void reset_integrator();
|
|
|
|
protected:
|
|
uint64_t _last_run;
|
|
float _tc;
|
|
float _k_p;
|
|
float _k_i;
|
|
float _k_ff;
|
|
float _integrator_max;
|
|
float _max_rate;
|
|
float _last_output;
|
|
float _integrator;
|
|
float _rate_error;
|
|
float _rate_setpoint;
|
|
float _bodyrate_setpoint;
|
|
perf_counter_t _nonfinite_input_perf;
|
|
static const uint8_t _perf_name_max = 40;
|
|
char _perf_name[_perf_name_max];
|
|
float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
|
|
};
|