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added param stall speed

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This commit is contained in:
Marvin Harms
2022-06-21 10:25:51 +02:00
parent 7e38274e2a
commit 470ed93972
3 changed files with 21 additions and 5 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+7 -5
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@@ -137,6 +137,7 @@ FixedwingPositionINDIControl::parameters_update()
_C_D1 = _param_fw_c_d1.get();
_C_D2 = _param_fw_c_d2.get();
_aoa_offset = _param_aoa_offset.get();
_stall_speed = _param_stall_speed.get();
// filter parameters
_a1 = _param_filter_a1.get();
@@ -408,8 +409,8 @@ 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");
@@ -1169,14 +1170,15 @@ FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f v
Vector3f vel_normalized = vel_air.normalized();
Vector3f f = _mass*_acc;
Vector3f f_normalized = f.normalized();
// compute ideal angular velocity
Vector3f omega_turn_ref_normalized = vel_normalized.cross(f_normalized);
Vector3f omega_turn_ref;
if (_airspeed_valid&&_airspeed>5.0f) {
if (_airspeed_valid&&_airspeed>_stall_speed) {
omega_turn_ref = sqrtf(_acc*_acc) / (_airspeed) * R_bi * omega_turn_ref_normalized.normalized();
//PX4_INFO("yaw rate ref, yaw rate: \t%.2f\t%.2f", (double)(omega_turn_ref(2)), (double)(omega_filtered(2)));
}
else {
omega_turn_ref = sqrtf(_acc*_acc) / (5.f) * R_bi * omega_turn_ref_normalized.normalized();
omega_turn_ref = sqrtf(_acc*_acc) / (_stall_speed) * R_bi * omega_turn_ref_normalized.normalized();
//PX4_ERR("No valid airspeed message detected or airspeed to low");
}
@@ -1192,7 +1194,7 @@ FixedwingPositionINDIControl::_compute_INDI_stage_2(Vector3f ctrl)
// compute velocity in body frame
Dcmf R_ib(_att);
Vector3f vel_body = R_ib.transpose()*_vel;
float q = fmaxf(0.5f*sqrtf(vel_body*vel_body)*vel_body(0), 0.5f*5.f*5.f); // dynamic pressure, saturates at minimum 5m/s stall
float q = fmaxf(0.5f*sqrtf(vel_body*vel_body)*vel_body(0), 0.5f*_stall_speed*_stall_speed); // dynamic pressure, saturates at stall speed
//Vector3f vel_body_2 = Dcmf(Quatf(_attitude.q)).transpose()*Vector3f{_local_pos.vx,_local_pos.vy,_local_pos.vz};
//PX4_INFO("ENU body frame velocity: \t%.2f\t%.2f\t%.2f", (double)vel_body_2(0), (double)vel_body_2(1), (double)vel_body_2(2));
//PX4_INFO("FRD body frame velocity: \t%.2f\t%.2f\t%.2f", (double)vel_body(0), (double)vel_body(1), (double)vel_body(2));
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+2
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@@ -173,6 +173,7 @@ private:
(ParamFloat<px4::params::DS_C_D1>) _param_fw_c_d1,
(ParamFloat<px4::params::DS_C_D2>) _param_fw_c_d2,
(ParamFloat<px4::params::DS_AOA_OFFSET>) _param_aoa_offset,
(ParamFloat<px4::params::DS_STALL_SPEED>) _param_stall_speed,
// filter params
(ParamFloat<px4::params::DS_FILTER_A1>) _param_filter_a1,
(ParamFloat<px4::params::DS_FILTER_A2>) _param_filter_a2,
@@ -335,6 +336,7 @@ private:
float _C_D1;
float _C_D2;
float _aoa_offset;
float _stall_speed;
float _a1;
float _a2;
float _b1;
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+12
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@@ -183,6 +183,18 @@ PARAM_DEFINE_FLOAT(DS_C_D2, 1.984f);
*/
PARAM_DEFINE_FLOAT(DS_AOA_OFFSET, 0.01f);
/**
* stall speed of the aircraft
*
* @unit rad
* @min 5
* @max 10
* @decimal 1
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_STALL_SPEED, 7.0f);
/**
* coefficients of the butterworth filter used for smoothing the IMU
*