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Working on segway controller, restructure of fixedwing.
This commit is contained in:
James Goppert
@@ -0,0 +1,361 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 fixedwing.cpp
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*
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* Controller library code
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*/
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#include "fixedwing.hpp"
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namespace control
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{
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namespace fixedwing
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{
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BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_rLowPass(this, "R_LP"),
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_rWashout(this, "R_HP"),
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_r2Rdr(this, "R2RDR"),
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_rudder(0)
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{
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}
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BlockYawDamper::~BlockYawDamper() {};
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void BlockYawDamper::update(float rCmd, float r, float outputScale)
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{
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_rudder = outputScale*_r2Rdr.update(rCmd -
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_rWashout.update(_rLowPass.update(r)));
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}
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BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_yawDamper(this, ""),
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_pLowPass(this, "P_LP"),
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_qLowPass(this, "Q_LP"),
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_p2Ail(this, "P2AIL"),
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_q2Elv(this, "Q2ELV"),
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_aileron(0),
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_elevator(0)
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{
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}
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BlockStabilization::~BlockStabilization() {};
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void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
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float p, float q, float r, float outputScale)
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{
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_aileron = outputScale*_p2Ail.update(
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pCmd - _pLowPass.update(p));
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_elevator = outputScale*_q2Elv.update(
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qCmd - _qLowPass.update(q));
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_yawDamper.update(rCmd, r, outputScale);
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}
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BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_xtYawLimit(this, "XT2YAW"),
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_xt2Yaw(this, "XT2YAW"),
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_psiCmd(0)
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{
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}
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BlockWaypointGuidance::~BlockWaypointGuidance() {};
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void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
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vehicle_attitude_s &att,
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vehicle_global_position_setpoint_s &posCmd,
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vehicle_global_position_setpoint_s &lastPosCmd)
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{
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// heading to waypoint
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float psiTrack = get_bearing_to_next_waypoint(
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(double)pos.lat / (double)1e7d,
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(double)pos.lon / (double)1e7d,
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(double)posCmd.lat / (double)1e7d,
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(double)posCmd.lon / (double)1e7d);
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// cross track
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struct crosstrack_error_s xtrackError;
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get_distance_to_line(&xtrackError,
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(double)pos.lat / (double)1e7d,
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(double)pos.lon / (double)1e7d,
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(double)lastPosCmd.lat / (double)1e7d,
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(double)lastPosCmd.lon / (double)1e7d,
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(double)posCmd.lat / (double)1e7d,
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(double)posCmd.lon / (double)1e7d);
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_psiCmd = _wrap_2pi(psiTrack -
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_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
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}
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BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
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BlockUorbEnabledAutopilot(parent, name),
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_stabilization(this, ""), // no name needed, already unique
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// heading hold
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_psi2Phi(this, "PSI2PHI"),
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_phi2P(this, "PHI2P"),
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_phiLimit(this, "PHI_LIM"),
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// velocity hold
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_v2Theta(this, "V2THE"),
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_theta2Q(this, "THE2Q"),
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_theLimit(this, "THE"),
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_vLimit(this, "V"),
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// altitude/climb rate hold
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_h2Thr(this, "H2THR"),
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_cr2Thr(this, "CR2THR"),
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// guidance block
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_guide(this, ""),
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_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
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_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
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_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
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_trimThr(this, "TRIM_THR"), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
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_trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */
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_vCmd(this, "V_CMD"),
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_crMax(this, "CR_MAX"),
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_attPoll(),
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_lastPosCmd(),
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_timeStamp(0)
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{
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_attPoll.fd = _att.getHandle();
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_attPoll.events = POLLIN;
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}
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void BlockMultiModeBacksideAutopilot::update()
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{
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// wait for a sensor update, check for exit condition every 100 ms
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if (poll(&_attPoll, 1, 100) < 0) return; // poll error
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uint64_t newTimeStamp = hrt_absolute_time();
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float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
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_timeStamp = newTimeStamp;
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// check for sane values of dt
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// to prevent large control responses
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if (dt > 1.0f || dt < 0) return;
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// set dt for all child blocks
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setDt(dt);
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// store old position command before update if new command sent
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if (_posCmd.updated()) {
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_lastPosCmd = _posCmd.getData();
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}
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// check for new updates
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if (_param_update.updated()) updateParams();
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// get new information from subscriptions
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updateSubscriptions();
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// default all output to zero unless handled by mode
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for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++)
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_actuators.control[i] = 0.0f;
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// only update guidance in auto mode
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if (_status.state_machine == SYSTEM_STATE_AUTO) {
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// update guidance
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_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
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}
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// XXX handle STABILIZED (loiter on spot) as well
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// once the system switches from manual or auto to stabilized
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// the setpoint should update to loitering around this position
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// handle autopilot modes
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if (_status.state_machine == SYSTEM_STATE_AUTO ||
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_status.state_machine == SYSTEM_STATE_STABILIZED) {
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// update guidance
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_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
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// calculate velocity, XXX should be airspeed, but using ground speed for now
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// for the purpose of control we will limit the velocity feedback between
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// the min/max velocity
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float v = _vLimit.update(sqrtf(
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_pos.vx * _pos.vx +
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_pos.vy * _pos.vy +
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_pos.vz * _pos.vz));
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// limit velocity command between min/max velocity
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float vCmd = _vLimit.update(_vCmd.get());
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// altitude hold
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float dThrottle = _h2Thr.update(_posCmd.current.altitude - _pos.alt);
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// heading hold
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float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
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float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
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float pCmd = _phi2P.update(phiCmd - _att.roll);
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// velocity hold
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// negative sign because nose over to increase speed
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float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
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float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
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// yaw rate cmd
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float rCmd = 0;
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// stabilization
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float velocityRatio = _trimV.get()/v;
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float outputScale = velocityRatio*velocityRatio;
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// this term scales the output based on the dynamic pressure change from trim
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_stabilization.update(pCmd, qCmd, rCmd,
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_att.rollspeed, _att.pitchspeed, _att.yawspeed,
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outputScale);
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// output
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_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
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_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
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_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
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_actuators.control[CH_THR] = dThrottle + _trimThr.get();
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// XXX limit throttle to manual setting (safety) for now.
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// If it turns out to be confusing, it can be removed later once
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// a first binary release can be targeted.
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// This is not a hack, but a design choice.
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/* do not limit in HIL */
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if (!_status.flag_hil_enabled) {
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/* limit to value of manual throttle */
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_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
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_actuators.control[CH_THR] : _manual.throttle;
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}
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} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
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if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
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_actuators.control[CH_AIL] = _manual.roll;
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_actuators.control[CH_ELV] = _manual.pitch;
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_actuators.control[CH_RDR] = _manual.yaw;
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_actuators.control[CH_THR] = _manual.throttle;
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} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
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// calculate velocity, XXX should be airspeed, but using ground speed for now
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// for the purpose of control we will limit the velocity feedback between
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// the min/max velocity
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float v = _vLimit.update(sqrtf(
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_pos.vx * _pos.vx +
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_pos.vy * _pos.vy +
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_pos.vz * _pos.vz));
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// pitch channel -> rate of climb
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// TODO, might want to put a gain on this, otherwise commanding
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// from +1 -> -1 m/s for rate of climb
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//float dThrottle = _cr2Thr.update(
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//_crMax.get()*_manual.pitch - _pos.vz);
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// roll channel -> bank angle
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float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
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float pCmd = _phi2P.update(phiCmd - _att.roll);
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// throttle channel -> velocity
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// negative sign because nose over to increase speed
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float vCmd = _vLimit.update(_manual.throttle *
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(_vLimit.getMax() - _vLimit.getMin()) +
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_vLimit.getMin());
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float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
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float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
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// yaw rate cmd
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float rCmd = 0;
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// stabilization
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_stabilization.update(pCmd, qCmd, rCmd,
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_att.rollspeed, _att.pitchspeed, _att.yawspeed);
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// output
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_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
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_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
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_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
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// currently using manual throttle
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// XXX if you enable this watch out, vz might be very noisy
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//_actuators.control[CH_THR] = dThrottle + _trimThr.get();
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_actuators.control[CH_THR] = _manual.throttle;
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// XXX limit throttle to manual setting (safety) for now.
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// If it turns out to be confusing, it can be removed later once
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// a first binary release can be targeted.
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// This is not a hack, but a design choice.
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/* do not limit in HIL */
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if (!_status.flag_hil_enabled) {
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/* limit to value of manual throttle */
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_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
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_actuators.control[CH_THR] : _manual.throttle;
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}
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}
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// body rates controller, disabled for now
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else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {
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_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
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_att.rollspeed, _att.pitchspeed, _att.yawspeed);
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_actuators.control[CH_AIL] = _stabilization.getAileron();
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_actuators.control[CH_ELV] = _stabilization.getElevator();
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_actuators.control[CH_RDR] = _stabilization.getRudder();
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_actuators.control[CH_THR] = _manual.throttle;
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}
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}
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// update all publications
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updatePublications();
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}
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BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
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{
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// send one last publication when destroyed, setting
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// all output to zero
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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_actuators.control[i] = 0.0f;
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updatePublications();
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}
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} // namespace fixedwing
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} // namespace control
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