forked from Archive/PX4-Autopilot
239 lines
8.3 KiB
C++
239 lines
8.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2016 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_yaw_controller.cpp
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* Implementation of a simple orthogonal coordinated turn yaw PID controller.
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*
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* Authors and acknowledgements in header.
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*/
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#include "ecl_yaw_controller.h"
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#include <stdint.h>
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#include <float.h>
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#include <geo/geo.h>
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#include <ecl/ecl.h>
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#include <mathlib/mathlib.h>
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#include <systemlib/err.h>
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#include <ecl/ecl.h>
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ECL_YawController::ECL_YawController() :
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ECL_Controller("yaw"),
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_coordinated_min_speed(1.0f),
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_coordinated_method(0)
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{
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}
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ECL_YawController::~ECL_YawController()
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{
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}
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float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
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{
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switch (_coordinated_method) {
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case COORD_METHOD_OPEN:
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return control_attitude_impl_openloop(ctl_data);
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case COORD_METHOD_CLOSEACC:
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return control_attitude_impl_accclosedloop(ctl_data);
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default:
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static hrt_abstime last_print = 0;
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if (ecl_elapsed_time(&last_print) > 5e6) {
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warnx("invalid param setting FW_YCO_METHOD");
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last_print = ecl_absolute_time();
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}
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}
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return _rate_setpoint;
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}
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float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data)
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{
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switch (_coordinated_method) {
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case COORD_METHOD_OPEN:
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case COORD_METHOD_CLOSEACC:
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return control_bodyrate_impl(ctl_data);
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default:
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static hrt_abstime last_print = 0;
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if (ecl_elapsed_time(&last_print) > 5e6) {
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warnx("invalid param setting FW_YCO_METHOD");
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last_print = ecl_absolute_time();
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}
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}
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return math::constrain(_last_output, -1.0f, 1.0f);
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}
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float ECL_YawController::control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data)
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{
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/* Do not calculate control signal with bad inputs */
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if (!(PX4_ISFINITE(ctl_data.roll) &&
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PX4_ISFINITE(ctl_data.pitch) &&
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PX4_ISFINITE(ctl_data.speed_body_u) &&
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PX4_ISFINITE(ctl_data.speed_body_v) &&
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PX4_ISFINITE(ctl_data.speed_body_w) &&
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PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
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PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
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return _rate_setpoint;
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}
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// static int counter = 0;
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/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
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_rate_setpoint = 0.0f;
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if (sqrtf(ctl_data.speed_body_u * ctl_data.speed_body_u + ctl_data.speed_body_v * ctl_data.speed_body_v +
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ctl_data.speed_body_w * ctl_data.speed_body_w) > _coordinated_min_speed) {
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float denumerator = (ctl_data.speed_body_u * cosf(ctl_data.roll) * cosf(ctl_data.pitch) +
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ctl_data.speed_body_w * sinf(ctl_data.pitch));
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if (fabsf(denumerator) > FLT_EPSILON) {
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_rate_setpoint = (ctl_data.speed_body_w * ctl_data.roll_rate_setpoint +
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9.81f * sinf(ctl_data.roll) * cosf(ctl_data.pitch) +
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ctl_data.speed_body_u * ctl_data.pitch_rate_setpoint * sinf(ctl_data.roll)) /
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denumerator;
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// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
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}
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// if(counter % 20 == 0) {
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// warnx("denumerator: %.4f, speed_body_u: %.4f, speed_body_w: %.4f, cosf(roll): %.4f, cosf(pitch): %.4f, sinf(pitch): %.4f", (double)denumerator, (double)speed_body_u, (double)speed_body_w, (double)cosf(roll), (double)cosf(pitch), (double)sinf(pitch));
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// }
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}
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/* limit the rate */ //XXX: move to body angluar rates
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if (_max_rate > 0.01f) {
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_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
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_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
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}
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// counter++;
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if (!PX4_ISFINITE(_rate_setpoint)) {
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warnx("yaw rate sepoint not finite");
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_rate_setpoint = 0.0f;
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}
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return _rate_setpoint;
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}
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float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl_data)
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{
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/* Do not calculate control signal with bad inputs */
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if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.pitch_rate) &&
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PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
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PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
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PX4_ISFINITE(ctl_data.scaler))) {
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return math::constrain(_last_output, -1.0f, 1.0f);
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}
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/* get the usual dt estimate */
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uint64_t dt_micros = ecl_elapsed_time(&_last_run);
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_last_run = ecl_absolute_time();
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float dt = (float)dt_micros * 1e-6f;
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/* lock integral for long intervals */
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bool lock_integrator = ctl_data.lock_integrator;
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if (dt_micros > 500000) {
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lock_integrator = true;
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}
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/* input conditioning */
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float airspeed = ctl_data.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 = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
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} else if (airspeed < ctl_data.airspeed_min) {
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airspeed = ctl_data.airspeed_min;
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}
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/* Transform setpoint to body angular rates (jacobian) */
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_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
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cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint;
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/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
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if (_coordinated_method == COORD_METHOD_CLOSEACC) {
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//XXX: filtering of acceleration?
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_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
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}
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/* Calculate body angular rate error */
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_rate_error = _bodyrate_setpoint - ctl_data.yaw_rate; //body angular rate error
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if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
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float id = _rate_error * dt;
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/*
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* anti-windup: do not allow integrator to increase if actuator is at limit
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*/
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if (_last_output < -1.0f) {
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/* only allow motion to center: increase value */
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id = math::max(id, 0.0f);
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} else if (_last_output > 1.0f) {
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/* only allow motion to center: decrease value */
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id = math::min(id, 0.0f);
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}
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_integrator += id * _k_i;
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}
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/* integrator limit */
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//xxx: until start detection is available: integral part in control signal is limited here
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float integrator_constrained = math::constrain(_integrator, -_integrator_max, _integrator_max);
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/* Apply PI rate controller and store non-limited output */
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_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler *
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ctl_data.scaler; //scaler is proportional to 1/airspeed
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//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
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return math::constrain(_last_output, -1.0f, 1.0f);
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}
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float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data)
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{
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/* dont set a rate setpoint */
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return 0.0f;
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}
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