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ManualSmoothingXY fix comments and style

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 250afd49a9
commit 1317844a94
2 changed files with 117 additions and 84 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+32 -48
View File
@@ -61,19 +61,13 @@ void
ManualSmoothingXY::_updateAcceleration(matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
const float &yawrate_sp, const float dt)
{
/*
* In manual mode we consider four states with different acceleration handling:
* 1. user wants to stop
* 2. user wants to quickly change direction
* 3. user wants to accelerate
* 4. user wants to decelerate
*/
Intention intention = _getIntention(vel_sp, vel, yaw, yawrate_sp);
/* Adapt acceleration and jerk based on current state and
* intention. Jerk is only used for braking.
*/
_getStateAcceleration(vel_sp, vel, intention, dt);
// Adapt acceleration and jerk based on current state and
// intention. Jerk is only used for braking.
_setStateAcceleration(vel_sp, vel, intention, dt);
}
ManualSmoothingXY::Intention
@@ -82,13 +76,13 @@ ManualSmoothingXY::_getIntention(const matrix::Vector2f &vel_sp, const matrix::V
{
if (vel_sp.length() > FLT_EPSILON) {
/* Distinguish between acceleration, deceleration and direction change */
// Distinguish between acceleration, deceleration and direction change
/* Check if stick direction and current velocity are within 135.
* If current setpoint and velocity are more than 135 apart, we assume
* that the user demanded a direction change.
* The detection is done in body frame. */
/* Rotate velocity setpoint into body frame */
// Check if stick direction and current velocity are within 135.
// If current setpoint and velocity are more than 135 apart, we assume
// that the user demanded a direction change.
// The detection is done in body frame.
// Rotate velocity setpoint into body frame
matrix::Vector2f vel_sp_heading = _getWorldToHeadingFrame(vel_sp, yaw);
matrix::Vector2f vel_heading = _getWorldToHeadingFrame(vel, yaw);
@@ -102,9 +96,9 @@ ManualSmoothingXY::_getIntention(const matrix::Vector2f &vel_sp, const matrix::V
const bool is_aligned = (vel_sp_heading * vel_heading) > -0.707f;
/* In almost all cases we want to use acceleration.
* Only use direction change if not aligned, no yawspeed demand, demand larger than 0.7 of max speed and velocity larger than 2m/s.
* Only use deceleration if stick input is lower than previous setpoint, aligned and no yawspeed demand. */
// In almost all cases we want to use acceleration.
// Only use direction change if not aligned, no yawspeed demand, demand larger than 0.7 of max speed and velocity larger than 2m/s.
// Only use deceleration if stick input is lower than previous setpoint, aligned and no yawspeed demand.
bool yawspeed_demand = fabsf(yawrate_sp) > 0.05f && PX4_ISFINITE(yawrate_sp);
bool direction_change = !is_aligned && (vel_sp.length() > 0.7f * _vel_max) && !yawspeed_demand
&& (vel.length() > 2.0f);
@@ -125,29 +119,26 @@ ManualSmoothingXY::_getIntention(const matrix::Vector2f &vel_sp, const matrix::V
}
void
ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel,
ManualSmoothingXY::_setStateAcceleration(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel,
const Intention &intention, const float dt)
{
switch (intention) {
case Intention::brake: {
if (_intention == Intention::direction_change) {
/* Vehicle switched from direciton change to brake.
* Don't do any slwerate but rather just stop.
*/
// Vehicle switched from direction change to brake.
// Don't do any slwerate and just stop.
_jerk_state_dependent = 1e6f;
_vel_sp_prev = vel;
} else if (intention != _intention) {
/* we start braking with lowest acceleration
* This make stopping smoother. */
// start the brake with lowest acceleration which
// makes stopping smoother
_acc_state_dependent = _dec_xy_min.get();
/* Adjust jerk based on current velocity, This ensures
* that the vehicle will stop much quicker at large speed but
* very slow at low speed.
*/
// Adjust jerk based on current velocity. This ensures
// that the vehicle will stop much quicker at large speed but
// very slow at low speed.
_jerk_state_dependent = 1e6f; // default
if (_jerk_max.get() > _jerk_min.get()) {
@@ -156,9 +147,9 @@ ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const m
/ _vel_max * vel.length() + _jerk_min.get(), _jerk_max.get());
}
/* Since user wants to brake smoothly but NOT continuing to fly
* in the opposite direction, we have to reset the slewrate
* by setting previous velocity setpoint to current velocity. */
// User wants to brake smoothly but does NOT want the vehicle to
// continue to fly in the opposite direction. slewrate has to be reset
// by setting previous velocity setpoint to current velocity. */
_vel_sp_prev = vel;
}
@@ -177,23 +168,19 @@ ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const m
}
case Intention::direction_change: {
// We allow for fast change by setting previous setpoint to current setpoint.
/* We allow for fast change by setting previous setpoint to current
* setpoint.
*/
_vel_sp_prev = vel_sp;
/* Because previous setpoint is equal to current setpoint,
* slewrate will have no effect. Nonetheless, just set
* acceleration to maximum.
*/
// Because previous setpoint is equal to current setpoint,
// slewrate will have no effect. Nonetheless, just set
// acceleration to maximum.
_acc_state_dependent = _acc_xy_max.get();
break;
}
case Intention::acceleration: {
/* Limit acceleration linearly based on velocity setpoint.*/
// Limit acceleration linearly based on velocity setpoint.
_acc_state_dependent = (_acc_xy_max.get() - _dec_xy_min.get())
/ _vel_max * vel_sp.length() + _dec_xy_min.get();
break;
@@ -205,18 +192,17 @@ ManualSmoothingXY::_getStateAcceleration(const matrix::Vector2f &vel_sp, const m
}
}
/* Update intention for next iteration */
// Update intention for next iteration.
_intention = intention;
}
void
ManualSmoothingXY::_velocitySlewRate(matrix::Vector2f &vel_sp, const float dt)
{
/* Adjust velocity setpoint if demand exceeds acceleration. */
// Adjust velocity setpoint if demand exceeds acceleration. /
matrix::Vector2f acc = (vel_sp - _vel_sp_prev) / dt;
if (acc.length() > _acc_state_dependent) {
vel_sp = acc.normalized() * _acc_state_dependent * dt + _vel_sp_prev;
}
}
@@ -224,7 +210,6 @@ ManualSmoothingXY::_velocitySlewRate(matrix::Vector2f &vel_sp, const float dt)
matrix::Vector2f
ManualSmoothingXY::_getWorldToHeadingFrame(const matrix::Vector2f &vec, const float &yaw)
{
matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), yaw);
matrix::Vector3f vec_heading = q_yaw.conjugate_inversed(matrix::Vector3f(vec(0), vec(1), 0.0f));
return matrix::Vector2f(&vec_heading(0));
@@ -233,7 +218,6 @@ ManualSmoothingXY::_getWorldToHeadingFrame(const matrix::Vector2f &vec, const fl
matrix::Vector2f
ManualSmoothingXY::_getHeadingToWorldFrame(const matrix::Vector2f &vec, const float &yaw)
{
matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), yaw);
matrix::Vector3f vec_world = q_yaw.conjugate(matrix::Vector3f(vec(0), vec(1), 0.0f));
return matrix::Vector2f(&vec_world(0));
src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
+85 -36
View File
@@ -34,7 +34,15 @@
/**
* @file SmoothingXY.hpp
*
* This Class is used for smoothing the velocity setpoints in Z-direction.
* This Class is used for smoothing the velocity setpoint in XY-direction.
* The velocity setpoint is smoothed by applying a velocity change limit, which
* we call acceleration. Depending on the user intention, the acceleration limit
* will differ.
* In manual mode we consider four states with different acceleration handling:
* 1. user wants to stop
* 2. user wants to quickly change direction
* 3. user wants to accelerate
* 4. user wants to decelerate
*/
#pragma once
@@ -50,9 +58,9 @@ public:
/**
* Maximum velocity is required to detect user intention.
* Maximum velocity changes depending on task. Consequently,
* in order to deduce user intention from velocity, the maximum
* allowed velocity has to updated.
* Maximum velocity depends on flight-task.
* In order to deduce user intention from velocity, the maximum
* allowed velocity has to be updated.
* @param vel_max corresponds to vehicle constraint
*/
void updateMaxVelocity(const float &vel_max) {_vel_max = vel_max;};
@@ -66,19 +74,28 @@ public:
void smoothVelocity(matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
const float &yawrate_sp, const float dt);
/* User intention: brake or acceleration */
/*
* User intention.
* - brake when user demands a brake
* - acceleration when vehicle keeps speed or accelerates in the same direction
* - deceleration when vehicle slows down in the same direction
* - direction_change whne vehcile demands an abrupt direction change
*/
enum class Intention {
brake,
acceleration,
deceleration,
direction_change
};
/* Getter methods */
/**
* Get user intention.
* @see Intention
*/
Intention getIntention() { return _intention; }
/* Overwrite methods:
* Needed if different parameter values than default required.
/**
* Overwrite methods:
* Needed if different parameter values than default required.
*/
void overwriteHoverAcceleration(float acc) { _acc_hover.set(acc); }
void overwriteMaxAcceleration(float acc) { _acc_xy_max.set(acc); }
@@ -87,40 +104,72 @@ public:
void overwriteJerkMin(float jerk) { _jerk_min.set(jerk); }
private:
/**
* Sets velocity change limits (=acceleration).
* Depending on the user intention, the acceleration differs.
* @param vel_sp is desired velocity setpoint before slewrate.
* @param vel is current velocity in horizontal direction
* @param yaw is vehicle yaw
* @param yawrate_sp is desired yawspeed
* @param dt is delta-time
*/
void _updateAcceleration(matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
const float &yawrate_sp, const float dt);
Intention _getIntention(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
const float &yawrate_sp);
void _getStateAcceleration(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const Intention &intention,
const float dt);
void _velocitySlewRate(matrix::Vector2f &vel_sp, const float dt);
matrix::Vector2f _getWorldToHeadingFrame(const matrix::Vector2f &vec, const float &yaw);
matrix::Vector2f _getHeadingToWorldFrame(const matrix::Vector2f &vec, const float &yaw);
/* User intention: brake or acceleration */
Intention _intention{Intention::acceleration};
/* Acceleration that depends on vehicle state
* _acc_max_down <= _acc_state_dependent <= _acc_max_up
*/
float _acc_state_dependent;
float _jerk_state_dependent;
/**
* Maximum velocity.
* It is used to deduce user intention.
* Gets user intention.
* The intention is deduced from desired velocity setpoint.
* @param vel_sp is desired velocity setpoint before slewrate.
* @param vel is vehicle velocity in xy-direction.
* @param yaw is vehicle yaw
* @param yawrate_sp is the desired yaw-speed
*/
float _vel_max{10.0f};
Intention _getIntention(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const float &yaw,
const float &yawrate_sp);
/* Previous setpoints */
matrix::Vector2f _vel_sp_prev; // previous velocity setpoint
/**
* Set acceleration depending on Intention.
* @param vel_sp is desired velocity septoint in xy-direction
* @param vel is vehicle velociy in xy-direction
* @param intention is the user intention during flight
* @param dt is delta-time
*/
void _setStateAcceleration(const matrix::Vector2f &vel_sp, const matrix::Vector2f &vel, const Intention &intention,
const float dt);
/**
* Limits the velocity setpoint change.
* @param vel_sp that gets limited based on acceleration and previous velocity setpoint
* @param dt is delta-time
*/
void _velocitySlewRate(matrix::Vector2f &vel_sp, const float dt);
/**
* Rotate vector from local frame into heading frame.
* @param vec is an arbitrary vector in local frame
* @param yaw is the vehicle heading
*/
matrix::Vector2f _getWorldToHeadingFrame(const matrix::Vector2f &vec, const float &yaw);
/**
* Rotate vector from heading frame to local frame.
* @param vec is an arbitrary vector in heading frame
* @param yaw is the vehicle yaw
*/
matrix::Vector2f _getHeadingToWorldFrame(const matrix::Vector2f &vec, const float &yaw);
Intention _intention{Intention::acceleration}; /**< user intention */
float _acc_state_dependent; /**< velocity change limit that depends on Intention */
float _jerk_state_dependent; /**< acceleration change limit during brake */
float _vel_max{10.0f}; /**< maximum horizontal speed allowed */
matrix::Vector2f _vel_sp_prev; /**< previous velocity setpoint */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_hover, ///< acceleration in hover
(ParamFloat<px4::params::MPC_ACC_HOR>) _acc_xy_max, ///< acceleration in flight
(ParamFloat<px4::params::MPC_DEC_HOR_SLOW>) _dec_xy_min, ///< deceleration in flight
(ParamFloat<px4::params::MPC_JERK_MIN>) _jerk_min, ///< jerk min during brake
(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max, ///< jerk max during brake
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _vel_manual ///< maximum velocity in manual controlled mode
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_hover, /**< acceleration in hover */
(ParamFloat<px4::params::MPC_ACC_HOR>) _acc_xy_max, /**< acceleration in flight */
(ParamFloat<px4::params::MPC_DEC_HOR_SLOW>) _dec_xy_min, /**< deceleration in flight */
(ParamFloat<px4::params::MPC_JERK_MIN>) _jerk_min, /**< jerk min during brake */
(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max, /**< jerk max during brake */
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _vel_manual /**< maximum velocity in manual controlled mode */
)
};