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fixed position tracking overshoot

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This commit is contained in:
Jimmy Johnson
2016-03-15 11:19:18 -07:00
committed by Lorenz Meier
parent 142884bcd8
commit 3aaad68c76
5 changed files with 61 additions and 31 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+43 -18
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@@ -1023,7 +1023,10 @@ void MulticopterPositionControl::control_auto(float dt)
/* by default use current setpoint as is */
math::Vector<3> pos_sp_s = curr_sp_s;
if ((_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION || _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET) && previous_setpoint_valid) {
if ((_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION ||
_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET) &&
previous_setpoint_valid) {
/* follow "previous - current" line */
if ((curr_sp - prev_sp).length() > MIN_DIST) {
@@ -1372,30 +1375,52 @@ MulticopterPositionControl::task_main()
_vel_sp(1) = (_pos_sp(1) - _pos(1)) * _params.pos_p(1);
}
// if there is a velocity sp available, use it
// do not go slower than the follow target velocity when position tracking is active
if(_pos_sp_triplet.current.velocity_valid) {
_vel_sp(0) += _pos_sp_triplet.current.vx;
_vel_sp(1) += _pos_sp_triplet.current.vy;
if(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
_pos_sp_triplet.current.velocity_valid) {
math::Vector<3> ft_vel(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy, 0);
float cos_ratio = (ft_vel*_vel_sp)/(ft_vel.length()*_vel_sp.length());
// only override velocity set points when uav is traveling in same direction as target and vector component
// is greater than calculated position set point velocity component
if(cos_ratio > 0) {
ft_vel *= (cos_ratio);
// min speed a little faster than target vel
ft_vel += ft_vel.normalized()*1.5f;
} else {
ft_vel.zero();
}
_vel_sp(0) = fabs(ft_vel(0)) > fabs(_vel_sp(0)) ? ft_vel(0) : _vel_sp(0);
_vel_sp(1) = fabs(ft_vel(1)) > fabs(_vel_sp(1)) ? ft_vel(1) : _vel_sp(1);
}
// Ignore position control calculated vel set points
if(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_VELOCITY &&
_pos_sp_triplet.current.velocity_valid) {
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
}
/* make sure velocity setpoint is saturated in xy*/
float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) + _vel_sp(1) * _vel_sp(1));
if (vel_norm_xy > _params.vel_max(0)) {
/* note assumes vel_max(0) == vel_max(1) */
_vel_sp(0) = _vel_sp(0) * _params.vel_max(0) / vel_norm_xy;
_vel_sp(1) = _vel_sp(1) * _params.vel_max(1) / vel_norm_xy;
}
if (_run_alt_control) {
_vel_sp(2) = (_pos_sp(2) - _pos(2)) * _params.pos_p(2);
}
/* make sure velocity setpoint is saturated in xy*/
float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) + _vel_sp(1) * _vel_sp(1));
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
_pos_sp_triplet.current.velocity_valid) {
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
} else if (vel_norm_xy > _params.vel_max(0)) {
/* note assumes vel_max(0) == vel_max(1) */
_vel_sp(0) = _vel_sp(0) * _params.vel_max(0) / vel_norm_xy;
_vel_sp(1) = _vel_sp(1) * _params.vel_max(1) / vel_norm_xy;
}
/* make sure velocity setpoint is saturated in z*/
float vel_norm_z = sqrtf(_vel_sp(2) * _vel_sp(2));