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RpmControl: split into cpp source file fixing includes

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This commit is contained in:
Matthias Grob 2024-12-16 16:30:43 +01:00
parent 2772ae7e0e
commit 1c4325db6d
3 changed files with 88 additions and 48 deletions
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1
src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt
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@ -62,6 +62,7 @@ px4_add_library(ActuatorEffectiveness
ActuatorEffectivenessTailsitterVTOL.hpp
ActuatorEffectivenessRoverAckermann.hpp
ActuatorEffectivenessRoverAckermann.cpp
RpmControl.cpp
RpmControl.hpp
)

83
src/modules/control_allocator/ActuatorEffectiveness/RpmControl.cpp Normal file
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@ -0,0 +1,83 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. 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 PX4 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.
*
****************************************************************************/
#include "RpmControl.hpp"
#include <drivers/drv_hrt.h>
using namespace time_literals;
RpmControl::RpmControl(ModuleParams *parent) : ModuleParams(parent) {};
void RpmControl::setSpoolupProgress(float spoolup_progress)
{
_spoolup_progress = spoolup_progress;
_pid.setSetpoint(_spoolup_progress * _param_ca_heli_rpm_sp.get());
if (_spoolup_progress < .8f) {
_pid.resetIntegral();
}
}
float RpmControl::getActuatorCorrection()
{
if (_rpm_sub.updated()) {
rpm_s rpm{};
if (_rpm_sub.copy(&rpm)) {
_rpm_estimate = rpm.rpm_estimate;
_timestamp_last_rpm_measurement = rpm.timestamp;
}
}
hrt_abstime now = hrt_absolute_time();
const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 1e-3f, 1.f);
_timestamp_last_update = now;
const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s;
if (rpm_measurement_timeout) {
const float gain_scale = math::max((_spoolup_progress - .8f) * 5.f, 0.f) * 1e-3f;
_pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f);
} else {
_pid.setGains(0.f, 0.f, 0.f);
}
_pid.setOutputLimit(.5f);
_pid.setIntegralLimit(.5f);
float output = _pid.update(_rpm_estimate, dt, true);
return output;
}

52
src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp
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@ -43,64 +43,20 @@
#pragma once
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <lib/pid/PID.hpp>
#include <px4_platform_common/module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/pwm_input.h>
#include <uORB/topics/rpm.h>
using namespace time_literals;
class RpmControl : public ModuleParams
{
public:
RpmControl(ModuleParams *parent) : ModuleParams(parent) {};
RpmControl(ModuleParams *parent);
~RpmControl() = default;
void setSpoolupProgress(float spoolup_progress)
{
_spoolup_progress = spoolup_progress;
_pid.setSetpoint(_spoolup_progress * _param_ca_heli_rpm_sp.get());
if (_spoolup_progress < .8f) {
_pid.resetIntegral();
}
}
float getActuatorCorrection()
{
if (_rpm_sub.updated()) {
rpm_s rpm{};
if (_rpm_sub.copy(&rpm)) {
_rpm_estimate = rpm.rpm_estimate;
_timestamp_last_rpm_measurement = rpm.timestamp;
}
}
hrt_abstime now = hrt_absolute_time();
const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 1e-3f, 1.f);
_timestamp_last_update = now;
const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s;
if (rpm_measurement_timeout) {
const float gain_scale = math::max((_spoolup_progress - .8f) * 5.f, 0.f) * 1e-3f;
_pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f);
} else {
_pid.setGains(0.f, 0.f, 0.f);
}
_pid.setOutputLimit(.5f);
_pid.setIntegralLimit(.5f);
float output = _pid.update(_rpm_estimate, dt, true);
return output;
}
void setSpoolupProgress(float spoolup_progress);
float getActuatorCorrection();
private:
uORB::Subscription _rpm_sub{ORB_ID(rpm)};