fw_att_control: move ecl/attitude_fw into fw_att_control module

- ecl/attitude_fw was never maintained as a standalone library - moving ecl/attitude_fw library into the fw_att_control module to ease further development
2026-10-22 16:43:34 +08:00 · 2020-03-15 14:14:59 -04:00
parent 4e4fb2232e
commit 1a9452e411
13 changed files with 1195 additions and 7 deletions
@@ -0,0 +1,207 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 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_yaw_controller.cpp
+ * Implementation of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_yaw_controller.h"
+#include <float.h>
+#include <lib/ecl/geo/geo.h>
+#include <mathlib/mathlib.h>
+
+float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
+{
+	switch (_coordinated_method) {
+	case COORD_METHOD_OPEN:
+		return control_attitude_impl_openloop(ctl_data);
+
+	case COORD_METHOD_CLOSEACC:
+		return control_attitude_impl_accclosedloop(ctl_data);
+
+	default:
+		static hrt_abstime last_print = 0;
+
+		if (hrt_elapsed_time(&last_print) > 5e6) {
+			PX4_WARN("invalid param setting FW_YCO_METHOD");
+			last_print = hrt_absolute_time();
+		}
+	}
+
+	return _rate_setpoint;
+}
+
+float ECL_YawController::control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.roll) &&
+	      PX4_ISFINITE(ctl_data.pitch) &&
+	      PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
+	      PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
+
+		return _rate_setpoint;
+	}
+
+	float constrained_roll;
+	bool inverted = false;
+
+	/* roll is used as feedforward term and inverted flight needs to be considered */
+	if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
+		/* not inverted, but numerically still potentially close to infinity */
+		constrained_roll = math::constrain(ctl_data.roll, math::radians(-80.0f), math::radians(80.0f));
+
+	} else {
+		inverted = true;
+
+		// inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity
+		//note: the ranges are extended by 10 deg here to avoid numeric resolution effects
+		if (ctl_data.roll > 0.0f) {
+			/* right hemisphere */
+			constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f));
+
+		} else {
+			/* left hemisphere */
+			constrained_roll = math::constrain(ctl_data.roll, math::radians(-180.0f), math::radians(-100.0f));
+		}
+	}
+
+	constrained_roll = math::constrain(constrained_roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));
+
+
+	if (!inverted) {
+		/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
+		_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * CONSTANTS_ONE_G / (ctl_data.airspeed <
+				 ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed);
+	}
+
+	if (!PX4_ISFINITE(_rate_setpoint)) {
+		PX4_WARN("yaw rate sepoint not finite");
+		_rate_setpoint = 0.0f;
+	}
+
+	return _rate_setpoint;
+}
+
+float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.body_y_rate) &&
+	      PX4_ISFINITE(ctl_data.body_z_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
+	      PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
+	      PX4_ISFINITE(ctl_data.scaler))) {
+
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
+	/* get the usual dt estimate */
+	uint64_t dt_micros = hrt_elapsed_time(&_last_run);
+	_last_run = hrt_absolute_time();
+	float dt = (float)dt_micros * 1e-6f;
+
+	/* lock integral for long intervals */
+	bool lock_integrator = ctl_data.lock_integrator;
+
+	if (dt_micros > 500000) {
+		lock_integrator = true;
+	}
+
+	/* input conditioning */
+	float airspeed = ctl_data.airspeed;
+
+	if (!PX4_ISFINITE(airspeed)) {
+		/* airspeed is NaN, +- INF or not available, pick center of band */
+		airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+
+	} else if (airspeed < ctl_data.airspeed_min) {
+		airspeed = ctl_data.airspeed_min;
+	}
+
+	/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
+	if (_coordinated_method == COORD_METHOD_CLOSEACC) {
+		// XXX lateral acceleration needs to go into integrator with a gain
+		//_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
+	}
+
+	/* Calculate body angular rate error */
+	_rate_error = _bodyrate_setpoint - ctl_data.body_z_rate; // body angular rate error
+
+	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
+
+		float id = _rate_error * dt;
+
+		/*
+		 * anti-windup: do not allow integrator to increase if actuator is at limit
+		 */
+		if (_last_output < -1.0f) {
+			/* only allow motion to center: increase value */
+			id = math::max(id, 0.0f);
+
+		} else if (_last_output > 1.0f) {
+			/* only allow motion to center: decrease value */
+			id = math::min(id, 0.0f);
+		}
+
+		/* add and constrain */
+		_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
+	}
+
+	/* Apply PI rate controller and store non-limited output */
+	_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + _integrator) * ctl_data.scaler *
+		       ctl_data.scaler;  //scaler is proportional to 1/airspeed
+
+
+	return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data)
+{
+	(void)ctl_data; // unused
+
+	/* dont set a rate setpoint */
+	return 0.0f;
+}
+
+float ECL_YawController::control_euler_rate(const struct ECL_ControlData &ctl_data)
+{
+	/* Transform setpoint to body angular rates (jacobian) */
+	_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
+			     cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint;
+
+	set_bodyrate_setpoint(_bodyrate_setpoint);
+
+	return control_bodyrate(ctl_data);
+
+}