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synced 2026-05-23 09:27:34 +08:00
Added control_attitude function and cleaned up
This commit is contained in:
Roman Bapst
@@ -6,23 +6,23 @@
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*/
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#include "fw_att_control_base.h"
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#include <math.h>
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#include <mathlib/mathlib.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/err.h>
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using namespace std;
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FixedwingAttitudeControlBase::FixedwingAttitudeControlBase() :
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_task_should_exit(false),
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_task_running(false),
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_control_task(-1),
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_task_should_exit(false), _task_running(false), _control_task(-1),
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
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_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
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_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
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/* states */
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_setpoint_valid(false),
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_debug(false)
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{
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")), _nonfinite_input_perf(
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perf_alloc(PC_COUNT, "fw att control nonfinite input")), _nonfinite_output_perf(
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perf_alloc(PC_COUNT, "fw att control nonfinite output")),
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/* states */
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_setpoint_valid(false), _debug(false) {
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/* safely initialize structs */
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_att = {};
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_accel = {};
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@@ -37,14 +37,203 @@ FixedwingAttitudeControlBase::FixedwingAttitudeControlBase() :
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}
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FixedwingAttitudeControlBase::~FixedwingAttitudeControlBase()
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{
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FixedwingAttitudeControlBase::~FixedwingAttitudeControlBase() {
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}
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void FixedwingAttitudeControlBase::control_attitude()
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{
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void FixedwingAttitudeControlBase::control_attitude() {
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bool lock_integrator = false;
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static int loop_counter = 0;
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/* scale around tuning airspeed */
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float airspeed;
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/* if airspeed is not updating, we assume the normal average speed */
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if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s)
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|| hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
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airspeed = _parameters.airspeed_trim;
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if (nonfinite) {
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perf_count(_nonfinite_input_perf);
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}
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} else {
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/* prevent numerical drama by requiring 0.5 m/s minimal speed */
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airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s);
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}
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/*
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* For scaling our actuators using anything less than the min (close to stall)
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* speed doesn't make any sense - its the strongest reasonable deflection we
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* want to do in flight and its the baseline a human pilot would choose.
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*
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* Forcing the scaling to this value allows reasonable handheld tests.
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*/
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float airspeed_scaling = _parameters.airspeed_trim
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/ ((airspeed < _parameters.airspeed_min) ?
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_parameters.airspeed_min : airspeed);
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float roll_sp = _parameters.rollsp_offset_rad;
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float pitch_sp = _parameters.pitchsp_offset_rad;
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float throttle_sp = 0.0f;
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if (_vcontrol_mode.flag_control_velocity_enabled
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|| _vcontrol_mode.flag_control_position_enabled) {
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/* read in attitude setpoint from attitude setpoint uorb topic */
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roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
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pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
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throttle_sp = _att_sp.thrust;
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/* reset integrals where needed */
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if (_att_sp.roll_reset_integral) {
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_roll_ctrl.reset_integrator();
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}
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if (_att_sp.pitch_reset_integral) {
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_pitch_ctrl.reset_integrator();
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}
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if (_att_sp.yaw_reset_integral) {
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_yaw_ctrl.reset_integrator();
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}
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} else {
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/*
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* Scale down roll and pitch as the setpoints are radians
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* and a typical remote can only do around 45 degrees, the mapping is
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* -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
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*
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* With this mapping the stick angle is a 1:1 representation of
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* the commanded attitude.
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*
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* The trim gets subtracted here from the manual setpoint to get
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* the intended attitude setpoint. Later, after the rate control step the
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* trim is added again to the control signal.
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*/
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roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
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+ _parameters.rollsp_offset_rad;
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pitch_sp = -(_manual.x * _parameters.man_pitch_max
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- _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
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throttle_sp = _manual.z;
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_actuators.control[4] = _manual.flaps;
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/*
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* in manual mode no external source should / does emit attitude setpoints.
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* emit the manual setpoint here to allow attitude controller tuning
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* in attitude control mode.
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*/
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struct vehicle_attitude_setpoint_s att_sp;
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att_sp.timestamp = hrt_absolute_time();
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att_sp.roll_body = roll_sp;
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att_sp.pitch_body = pitch_sp;
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att_sp.yaw_body = 0.0f - _parameters.trim_yaw;
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att_sp.thrust = throttle_sp;
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}
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/* If the aircraft is on ground reset the integrators */
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if (_vehicle_status.condition_landed) {
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_roll_ctrl.reset_integrator();
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_pitch_ctrl.reset_integrator();
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_yaw_ctrl.reset_integrator();
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}
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/* Prepare speed_body_u and speed_body_w */
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float speed_body_u = 0.0f;
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float speed_body_v = 0.0f;
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float speed_body_w = 0.0f;
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if (_att.R_valid) {
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speed_body_u = _att.R[0][0] * _global_pos.vel_n
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+ _att.R[1][0] * _global_pos.vel_e
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+ _att.R[2][0] * _global_pos.vel_d;
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speed_body_v = _att.R[0][1] * _global_pos.vel_n
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+ _att.R[1][1] * _global_pos.vel_e
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+ _att.R[2][1] * _global_pos.vel_d;
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speed_body_w = _att.R[0][2] * _global_pos.vel_n
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+ _att.R[1][2] * _global_pos.vel_e
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+ _att.R[2][2] * _global_pos.vel_d;
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} else {
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if (_debug && loop_counter % 10 == 0) {
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warnx("Did not get a valid R\n");
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}
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}
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/* Run attitude controllers */
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if (isfinite(roll_sp) && isfinite(pitch_sp)) {
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_roll_ctrl.control_attitude(roll_sp, _att.roll);
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_pitch_ctrl.control_attitude(pitch_sp, _att.roll, _att.pitch, airspeed);
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_yaw_ctrl.control_attitude(_att.roll, _att.pitch, speed_body_u,
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speed_body_v, speed_body_w, _roll_ctrl.get_desired_rate(),
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_pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
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/* Run attitude RATE controllers which need the desired attitudes from above, add trim */
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float roll_u = _roll_ctrl.control_bodyrate(_att.pitch, _att.rollspeed,
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_att.yawspeed, _yaw_ctrl.get_desired_rate(),
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_parameters.airspeed_min, _parameters.airspeed_max, airspeed,
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airspeed_scaling, lock_integrator);
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_actuators.control[0] =
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(isfinite(roll_u)) ?
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roll_u + _parameters.trim_roll : _parameters.trim_roll;
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if (!isfinite(roll_u)) {
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_roll_ctrl.reset_integrator();
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perf_count(_nonfinite_output_perf);
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if (_debug && loop_counter % 10 == 0) {
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warnx("roll_u %.4f", (double) roll_u);
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}
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}
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float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
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_att.pitchspeed, _att.yawspeed, _yaw_ctrl.get_desired_rate(),
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_parameters.airspeed_min, _parameters.airspeed_max, airspeed,
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airspeed_scaling, lock_integrator);
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_actuators.control[1] =
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(isfinite(pitch_u)) ?
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pitch_u + _parameters.trim_pitch :
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_parameters.trim_pitch;
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if (!isfinite(pitch_u)) {
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_pitch_ctrl.reset_integrator();
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perf_count(_nonfinite_output_perf);
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if (_debug && loop_counter % 10 == 0) {
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warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
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" airspeed %.4f, airspeed_scaling %.4f,"
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" roll_sp %.4f, pitch_sp %.4f,"
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" _roll_ctrl.get_desired_rate() %.4f,"
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" _pitch_ctrl.get_desired_rate() %.4f"
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" att_sp.roll_body %.4f", (double) pitch_u,
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(double) _yaw_ctrl.get_desired_rate(),
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(double) airspeed, (double) airspeed_scaling,
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(double) roll_sp, (double) pitch_sp,
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(double) _roll_ctrl.get_desired_rate(),
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(double) _pitch_ctrl.get_desired_rate(),
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(double) _att_sp.roll_body);
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}
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}
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float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
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_att.pitchspeed, _att.yawspeed, _pitch_ctrl.get_desired_rate(),
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_parameters.airspeed_min, _parameters.airspeed_max, airspeed,
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airspeed_scaling, lock_integrator);
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_actuators.control[2] =
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(isfinite(yaw_u)) ?
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yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
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if (!isfinite(yaw_u)) {
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_yaw_ctrl.reset_integrator();
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perf_count(_nonfinite_output_perf);
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if (_debug && loop_counter % 10 == 0) {
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warnx("yaw_u %.4f", (double) yaw_u);
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}
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}
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/* throttle passed through */
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_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
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if (!isfinite(throttle_sp)) {
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if (_debug && loop_counter % 10 == 0) {
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warnx("throttle_sp %.4f", (double) throttle_sp);
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}
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}
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} else {
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perf_count(_nonfinite_input_perf);
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if (_debug && loop_counter % 10 == 0) {
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warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f",
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(double) roll_sp, (double) pitch_sp);
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}
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}
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}
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