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added turn coordination for rudder deflection

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This commit is contained in:
Marvin Harms
2022-06-20 08:46:04 +02:00
parent 02d62a7eba
commit 1e73cdc4d2
4 changed files with 60 additions and 22 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+41 -10
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@@ -407,8 +407,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
// =======================================================================
bool error = false;
//char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
//char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
//PX4_ERR(home_dir);
strcat(home_dir,filename);
FILE* fp = fopen(home_dir, "r");
@@ -458,8 +458,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
}
row++;
}
fclose(fp);
}
fclose(fp);
// =======================================================================
@@ -610,8 +610,8 @@ FixedwingPositionINDIControl::Run()
// =====================
// compute control input
// =====================
Vector3f ctrl = _compute_NDI_stage_1(pos_ref, vel_ref, acc_ref, omega_ref, alpha_ref);
Vector3f ctrl1 = _compute_NDI_stage_2(ctrl);
Vector3f ctrl = _compute_INDI_stage_1(pos_ref, vel_ref, acc_ref, omega_ref, alpha_ref);
Vector3f ctrl1 = _compute_INDI_stage_2(ctrl);
// ============================
// compute actuator deflections
@@ -725,6 +725,17 @@ FixedwingPositionINDIControl::Run()
_soaring_controller_heartbeat.heartbeat = hrt_absolute_time();
_soaring_controller_heartbeat_pub.publish(_soaring_controller_heartbeat);
// ====================
// publish debug values
// ====================
Dcmf R_ib(_att);
Dcmf R_bi(R_ib.transpose());
Vector3f vel_body = R_bi*_vel;
_slip = atan2f(vel_body(1), vel_body(0));
_debug_value.timestamp = hrt_absolute_time();
_debug_value.value = _slip;
_debug_value_pub.publish(_debug_value);
perf_end(_loop_perf);
}
@@ -1023,7 +1034,7 @@ FixedwingPositionINDIControl::_get_attitude(Vector3f vel, Vector3f f)
}
Vector3f
FixedwingPositionINDIControl::_compute_NDI_stage_1(Vector3f pos_ref, Vector3f vel_ref, Vector3f acc_ref, Vector3f omega_ref, Vector3f alpha_ref)
FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f vel_ref, Vector3f acc_ref, Vector3f omega_ref, Vector3f alpha_ref)
{
Dcmf R_ib(_att);
Dcmf R_bi(R_ib.transpose());
@@ -1150,11 +1161,31 @@ FixedwingPositionINDIControl::_compute_NDI_stage_1(Vector3f pos_ref, Vector3f ve
}
// ==============================================================
// overwrite rudder rot_acc_command with turn coordination values
// ==============================================================
Vector3f vel_air = _vel - _wind_estimate;
Vector3f vel_normalized = vel_air.normalized();
Vector3f f = _mass*_acc;
Vector3f f_normalized = f.normalized();
Vector3f omega_turn_ref_normalized = vel_normalized.cross(f_normalized);
Vector3f omega_turn_ref;
if (_airspeed_valid&&_airspeed>5.0f) {
omega_turn_ref = sqrtf(_acc*_acc) / (_airspeed) * R_bi * omega_turn_ref_normalized.normalized();
//PX4_INFO("yaw rate ref, yaw rate: \t%.2f\t%.2f", (double)(omega_turn_ref(2)), (double)(omega_filtered(2)));
}
else {
omega_turn_ref = sqrtf(_acc*_acc) / (5.f) * R_bi * omega_turn_ref_normalized.normalized();
//PX4_ERR("No valid airspeed message detected or airspeed to low");
}
rot_acc_command(2) = _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
return rot_acc_command;
}
Vector3f
FixedwingPositionINDIControl::_compute_NDI_stage_2(Vector3f ctrl)
FixedwingPositionINDIControl::_compute_INDI_stage_2(Vector3f ctrl)
{
// compute velocity in body frame
Dcmf R_ib(_att);
@@ -1188,9 +1219,9 @@ FixedwingPositionINDIControl::_compute_NDI_stage_2(Vector3f ctrl)
deflection(1) = (moment_command(1) + _k_d_pitch*q*omega_filtered(1))/fmaxf((_k_ele*q),0.0001f);
deflection(2) = (moment_command(2) + _k_d_yaw*q*omega_filtered(2))/fmaxf((_k_rud*q),0.0001f);
// TODO: tune feedback turn coordination
float turn_coordination = 0.f*vel_body(1)/(powf(vel_body(0),2)+0.0001f);
deflection(2) += turn_coordination;
// overwrite rudder deflection with NDI turn coordination (no INDI)
Vector3f moment_ref = _inertia*ctrl + _omega.cross(_inertia*_omega);
deflection(2) = (moment_ref(2) + _k_d_yaw*q*_omega(2)) / fmaxf((_k_rud*q),0.0001f);
return deflection;
}