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constrain integrator part in control output until startup detection is available for safety reasons

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Thomas Gubler
2013-10-24 17:57:21 +02:00
parent ccc6dd73a0
commit 1e89f30120
4 changed files with 12 additions and 9 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+3 -2
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@@ -161,9 +161,10 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+3 -2
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@@ -133,11 +133,12 @@ float ECL_RollController::control_bodyrate(float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+3 -2
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@@ -147,9 +147,10 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//xxx: until start detection is available: integral part in control signal is limited here
float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/modules/fw_att_control/fw_att_control_params.c
+3 -3
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@@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_P_IMAX, 0.2f);
// @DisplayName Roll feedforward gain.
// @Description This compensates during turns and ensures the nose stays level.
@@ -119,7 +119,7 @@ PARAM_DEFINE_FLOAT(FW_R_I, 0.0f);
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_R_IMAX, 0.2f);
// @DisplayName Maximum Roll Rate
// @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
@@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
PARAM_DEFINE_FLOAT(FW_Y_P, 0);
PARAM_DEFINE_FLOAT(FW_Y_I, 0);
PARAM_DEFINE_FLOAT(FW_Y_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_Y_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_Y_D, 0);
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);