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working loiter circle tracking

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This commit is contained in:
Marvin Harms
2022-04-26 17:52:43 +02:00
parent 92af71bc37
commit 31ac4634b7
2 changed files with 66 additions and 39 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+54 -27
View File
@@ -380,22 +380,22 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv()
_basis_coeffs_x(14) = -10676.696033f;
_basis_coeffs_x(15) = 3032.667571f;
_basis_coeffs_y(0) = 100.005984f;
_basis_coeffs_y(1) = 4686.100637f;
_basis_coeffs_y(2) = -21963.998713f;
_basis_coeffs_y(3) = 50566.542718f;
_basis_coeffs_y(4) = -71908.811359f;
_basis_coeffs_y(5) = 61683.065460f;
_basis_coeffs_y(6) = -15730.546677f;
_basis_coeffs_y(7) = -39386.062413f;
_basis_coeffs_y(8) = 63952.599923f;
_basis_coeffs_y(9) = -39525.510553f;
_basis_coeffs_y(10) = -15526.730604f;
_basis_coeffs_y(11) = 61505.752706f;
_basis_coeffs_y(12) = -71804.582542f;
_basis_coeffs_y(13) = 50525.803330f;
_basis_coeffs_y(14) = -21954.858741f;
_basis_coeffs_y(15) = 4685.311429f;
_basis_coeffs_y(0) = -100.005984f;
_basis_coeffs_y(1) = -4686.100637f;
_basis_coeffs_y(2) = 21963.998713f;
_basis_coeffs_y(3) = -50566.542718f;
_basis_coeffs_y(4) = 71908.811359f;
_basis_coeffs_y(5) = -61683.065460f;
_basis_coeffs_y(6) = 15730.546677f;
_basis_coeffs_y(7) = 39386.062413f;
_basis_coeffs_y(8) = -63952.599923f;
_basis_coeffs_y(9) = 39525.510553f;
_basis_coeffs_y(10) = 15526.730604f;
_basis_coeffs_y(11) = -61505.752706f;
_basis_coeffs_y(12) = 71804.582542f;
_basis_coeffs_y(13) = -50525.803330f;
_basis_coeffs_y(14) = 21954.858741f;
_basis_coeffs_y(15) = -4685.311429f;
_basis_coeffs_z(0) = 100.0f;
_basis_coeffs_z(1) = 0.0f;
@@ -471,6 +471,8 @@ FixedwingPositionINDIControl::Run()
Vector3f alpha_ref = _get_angular_acceleration_ref(t_ref,T); // body angular acceleration
//PX4_INFO("local position ref:\t%.4f\t%.4f\t%.4f", (double)pos_ref(0),(double)pos_ref(1),(double)pos_ref(2));
//PX4_INFO("alpha ref:\t%.4f\t%.4f\t%.4f", (double)alpha_ref(0),(double)alpha_ref(1),(double)alpha_ref(2));
//PX4_INFO("vel ref:\t%.4f\t%.4f\t%.4f", (double)vel_ref(0),(double)vel_ref(1),(double)vel_ref(2));
//PX4_INFO("vel:\t%.4f\t%.4f\t%.4f", (double)_vel(0),(double)_vel(1),(double)_vel(2));
@@ -539,7 +541,7 @@ FixedwingPositionINDIControl::Run()
_actuators.control[actuator_controls_s::INDEX_ROLL] = ctrl2(0);
_actuators.control[actuator_controls_s::INDEX_PITCH] = ctrl2(1);
_actuators.control[actuator_controls_s::INDEX_YAW] = ctrl2(2);
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.5f;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.3f;
_actuators_0_pub.publish(_actuators);
//print_message(_actuators);
}
@@ -584,7 +586,7 @@ Vector<float, FixedwingPositionINDIControl::_num_basis_funs>
FixedwingPositionINDIControl::_get_d_dt_basis_funs(float t)
{
Vector<float, _num_basis_funs> vec;
vec(0) = 1.0f;
vec(0) = 0.0f;
float sigma = 1.0f/_num_basis_funs;
for(uint i=1; i<_num_basis_funs; i++){
float fun1 = sinf(M_PI_F*t);
@@ -598,7 +600,7 @@ Vector<float, FixedwingPositionINDIControl::_num_basis_funs>
FixedwingPositionINDIControl::_get_d2_dt2_basis_funs(float t)
{
Vector<float, _num_basis_funs> vec;
vec(0) = 1.0f;
vec(0) = 0.0f;
float sigma = 1.0f/_num_basis_funs;
for(uint i=1; i<_num_basis_funs; i++){
float fun1 = sinf(M_PI_F*t);
@@ -652,7 +654,7 @@ FixedwingPositionINDIControl::_get_attitude_ref(float t, float T)
Vector3f f = _mass*acc;
// compute force component projected onto lift axis
Vector3f vel_normalized = vel_air.normalized();
Vector3f f_lift = -(f - (f*vel_normalized)*vel_normalized);
Vector3f f_lift = f - (f*vel_normalized)*vel_normalized;
Vector3f lift_normalized = f_lift.normalized();
Vector3f wing_normalized = -vel_normalized.cross(lift_normalized);
// compute rotation matrix between ENU and FRD frame
@@ -674,6 +676,13 @@ FixedwingPositionINDIControl::_get_attitude_ref(float t, float T)
Eulerf e(0.f, AoA, 0.f);
Dcmf R_pitch(e);
Dcmf Rotation(R_pitch*R_bi);
// switch from FRD to ENU frame
Rotation(1,0) *= -1;
Rotation(1,1) *= -1;
Rotation(1,2) *= -1;
Rotation(2,0) *= -1;
Rotation(2,1) *= -1;
Rotation(2,2) *= -1;
/*
float determinant = Rotation(0,0)*(Rotation(1,1)*Rotation(2,2)-Rotation(2,1)*Rotation(1,2)) -
Rotation(1,0)*(Rotation(0,1)*Rotation(2,2)-Rotation(2,1)*Rotation(0,2)) +
@@ -722,7 +731,7 @@ FixedwingPositionINDIControl::_get_angular_acceleration_ref(float t, float T)
float
FixedwingPositionINDIControl::_get_closest_t(Vector3f pos)
{
const uint n = 100;
const uint n = 500;
Vector<float, n> distances;
float t_ref;
// compute all distances
@@ -753,12 +762,21 @@ Quatf
FixedwingPositionINDIControl::_get_attitude(Vector3f vel, Vector3f f)
{
Vector3f vel_air = vel - _wind_estimate;
// catch case, where the aircraft needs to accelerate downwards
// only become inverted, if we need to accelerate a lot:
/*
Vector3f f_body = Dcmf(_att).transpose()*f;
bool inverted = false;
if(f_body(2)>9.81*_mass){
inverted = true;
}
*/
// compute force component projected onto lift axis
Vector3f vel_normalized = vel_air.normalized();
Vector3f f_lift = -(f - (f*vel_normalized)*vel_normalized);
Vector3f f_lift = f - (f*vel_normalized)*vel_normalized;
Vector3f lift_normalized = f_lift.normalized();
Vector3f wing_normalized = -vel_normalized.cross(lift_normalized);
// compute rotation matrix
// compute rotation matrix between ENU and FRD frame
Dcmf R_bi;
R_bi(0,0) = vel_normalized(0);
R_bi(0,1) = vel_normalized(1);
@@ -769,14 +787,21 @@ FixedwingPositionINDIControl::_get_attitude(Vector3f vel, Vector3f f)
R_bi(2,0) = lift_normalized(0);
R_bi(2,1) = lift_normalized(1);
R_bi(2,2) = lift_normalized(2);
R_bi.renormalize();
// compute required AoA
Vector3f f_phi = R_bi*f_lift;
float AoA = ((2.f*f_phi(2))/(_rho*_area*(vel_air*vel_air)) - _C_L0)/_C_L1;
float AoA = ((2.f*f_phi(2))/(_rho*_area*(vel_air*vel_air)+0.001f) - _C_L0)/_C_L1;
// compute final rotation matrix
Eulerf e(0.f, AoA, 0.f);
Dcmf R_pitch(e);
Dcmf Rotation(R_pitch*R_bi);
// switch from FRD to ENU frame
Rotation(1,0) *= -1;
Rotation(1,1) *= -1;
Rotation(1,2) *= -1;
Rotation(2,0) *= -1;
Rotation(2,1) *= -1;
Rotation(2,2) *= -1;
Quatf q(Rotation.transpose());
return q;
@@ -800,9 +825,11 @@ FixedwingPositionINDIControl::_compute_NDI_stage_1(Vector3f pos_ref, Vector3f ve
// get required rotation vector (in body frame)
AxisAnglef q_err(R_ref_true);
Vector3f w_err = -q_err.angle()*q_err.axis();
PX4_INFO("force command: \t%.2f\t%.2f\t%.2f", (double)f_command(0), (double)f_command(1), (double)f_command(2));
//PX4_INFO("FRD body frame rotation vec: \t%.2f\t%.2f\t%.2f", (double)w_err(0), (double)w_err(1), (double)w_err(2));
// compute angular acceleration command (in body frame)
Vector3f rot_acc_command = _K_q*w_err + _K_w*(omega_ref-_omega) + alpha_ref;
rot_acc_command = 1.f*_K_q*w_err + 0.3f*_K_w*(omega_ref-_omega) + alpha_ref;;
rot_acc_command = 1.0f*_K_q*w_err + 1.0f*_K_w*(omega_ref-_omega) + alpha_ref;;
// apply LP filtered values for incremental part
@@ -835,7 +862,7 @@ FixedwingPositionINDIControl::_compute_NDI_stage_2(Vector3f ctrl)
Vector3f command = _inertia*(ctrl-alpha_filtered) + moment_filtered;
//PX4_INFO("filtered alpha: \t%.2f\t%.2f", (double)(_l_list(0))(2), (double)(_l_lpf_list(0))(1));
//command = _inertia*ctrl + _omega.cross(_inertia*_omega);
return 0.f*command + 1.f*(_inertia*ctrl);
return 0.f*command + 1.f*(ctrl);
}
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+12 -12
View File
@@ -22,7 +22,7 @@
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FW_INERTIA_ROLL, 1.0f);
PARAM_DEFINE_FLOAT(FW_INERTIA_ROLL, 0.197563f);
/**
* inertia around body y-axis
@@ -36,7 +36,7 @@ PARAM_DEFINE_FLOAT(FW_INERTIA_ROLL, 1.0f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FW_INERTIA_PITCH, 1.0f);
PARAM_DEFINE_FLOAT(FW_INERTIA_PITCH, 0.1458929f);
/**
* inertia around body z-axis
@@ -50,7 +50,7 @@ PARAM_DEFINE_FLOAT(FW_INERTIA_PITCH, 1.0f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FW_INERTIA_YAW, 1.0f);
PARAM_DEFINE_FLOAT(FW_INERTIA_YAW, 0.1477f);
@@ -242,7 +242,7 @@ PARAM_DEFINE_FLOAT(FILTER_B3, 0.01323107f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_X_ROLL, 2.0f);
PARAM_DEFINE_FLOAT(K_X_ROLL, 1.0f);
/**
* pitch gain of K_x (position error gain)
@@ -254,7 +254,7 @@ PARAM_DEFINE_FLOAT(K_X_ROLL, 2.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_X_PITCH, 2.0f);
PARAM_DEFINE_FLOAT(K_X_PITCH, 1.0f);
/**
* yaw gain of K_x (position error gain)
@@ -266,7 +266,7 @@ PARAM_DEFINE_FLOAT(K_X_PITCH, 2.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_X_YAW, 2.0f);
PARAM_DEFINE_FLOAT(K_X_YAW, 1.0f);
/**
* roll gain of K_v (velocity error gain)
@@ -278,7 +278,7 @@ PARAM_DEFINE_FLOAT(K_X_YAW, 2.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_V_ROLL, 2.0f);
PARAM_DEFINE_FLOAT(K_V_ROLL, 1.0f);
/**
* pitch gain of K_v (velocity error gain)
@@ -290,7 +290,7 @@ PARAM_DEFINE_FLOAT(K_V_ROLL, 2.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_V_PITCH, 2.0f);
PARAM_DEFINE_FLOAT(K_V_PITCH, 1.0f);
/**
* yaw gain of K_v (velocity error gain)
@@ -302,7 +302,7 @@ PARAM_DEFINE_FLOAT(K_V_PITCH, 2.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_V_YAW, 2.0f);
PARAM_DEFINE_FLOAT(K_V_YAW, 1.0f);
/**
* roll gain of K_A (acceleration error gain)
@@ -314,7 +314,7 @@ PARAM_DEFINE_FLOAT(K_V_YAW, 2.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_A_ROLL, 1.0f);
PARAM_DEFINE_FLOAT(K_A_ROLL, 0.5f);
/**
* pitch gain of K_A (acceleration error gain)
@@ -326,7 +326,7 @@ PARAM_DEFINE_FLOAT(K_A_ROLL, 1.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_A_PITCH, 1.0f);
PARAM_DEFINE_FLOAT(K_A_PITCH, 0.5f);
/**
* yaw gain of K_A (acceleration error gain)
@@ -338,7 +338,7 @@ PARAM_DEFINE_FLOAT(K_A_PITCH, 1.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_A_YAW, 1.0f);
PARAM_DEFINE_FLOAT(K_A_YAW, 0.5f);
/**
* roll gain of K_Q (attitude error gain)