fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-09 15:28:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

tuned high-level gains, corr AoA wind computing

Browse Source
This commit is contained in:
Marvin Harms
2022-06-28 17:25:51 +02:00
parent abb09e5bba
commit 401ccc054d
3 changed files with 14 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+9 -5
View File
@@ -403,8 +403,8 @@ 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");
@@ -591,8 +591,12 @@ FixedwingPositionINDIControl::Run()
// compute expected AoA from g-forces:
Vector3f body_force = _mass*R_bi*(_acc + Vector3f{0.f,0.f,9.81f});
// approximate lift force, since implicit equation cannot be solved analytically:
float lift = -body_force(2);
float AoA_approx = ((2.f*lift)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f) - _C_L0)/_C_L1;
// since alpha<<1, we approximate the lift force L = sin(alpha)*Fx - cos(alpha)*Fz
// as L = alpha*Fx - Fz
float Fx = body_force(0);
float Fz = -body_force(2);
float AoA_approx = (((2.f*Fz)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f) - _C_L0)/_C_L1) /
(1 - ((2.f*Fx)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f)/_C_L1));
AoA_approx = constrain(AoA_approx,-0.2f,0.2f);
Vector3f vel_air = R_ib*(Vector3f{_airspeed,0.f,tanf(AoA_approx)*_airspeed});
Vector3f wind = _vel - vel_air;
@@ -600,7 +604,7 @@ FixedwingPositionINDIControl::Run()
wind(1) = _lp_filter_wind[1].apply(wind(1));
wind(2) = _lp_filter_wind[2].apply(wind(2));
_set_wind_estimate(wind);
//PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
// only run actuators poll, when our module is not publishing:
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+1 -1
View File
@@ -296,7 +296,7 @@ private:
// controller frequency
const float _sample_frequency = 200.f;
// Low-Pass filters stage 1
const float _cutoff_frequency_1 = 5.f;
const float _cutoff_frequency_1 = 30.f;
math::LowPassFilter2p _lp_filter_accel[3] {{_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}}; // linear acceleration
math::LowPassFilter2p _lp_filter_force[3] {{_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}}; // force command
math::LowPassFilter2p _lp_filter_omega[3] {{_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}}; // body rates
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+4 -4
View File
@@ -243,7 +243,7 @@ PARAM_DEFINE_FLOAT(DS_K_X_YAW, 1.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_K_V_ROLL, 1.3f);
PARAM_DEFINE_FLOAT(DS_K_V_ROLL, 1.5f);
/**
* pitch gain of K_v (velocity error gain)
@@ -255,7 +255,7 @@ PARAM_DEFINE_FLOAT(DS_K_V_ROLL, 1.3f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_K_V_PITCH, 1.3f);
PARAM_DEFINE_FLOAT(DS_K_V_PITCH, 1.5f);
/**
* yaw gain of K_v (velocity error gain)
@@ -267,7 +267,7 @@ PARAM_DEFINE_FLOAT(DS_K_V_PITCH, 1.3f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_K_V_YAW, 1.3f);
PARAM_DEFINE_FLOAT(DS_K_V_YAW, 1.5f);
/**
* roll gain of K_A (acceleration error gain)
@@ -391,7 +391,7 @@ PARAM_DEFINE_FLOAT(DS_K_W_YAW, 1.0f);
* @increment 0.001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_K_ACT_ROLL, 0.2f);
PARAM_DEFINE_FLOAT(DS_K_ACT_ROLL, 0.25f);
/**
* pitch gain of K_ACT (actuator deflection gain)