Add dob rate control module

src/modules/dob_rate_control/DobControl.cpp

@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file DobControl.cpp
+ */
+
+#include "DobControl.hpp"
+#include <px4_platform_common/defines.h>
+
+using namespace matrix;
+
+void DobControl::setGains(const Vector3f &tau)
+{
+	_gain_tau = tau;
+}
+
+void DobControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
+				     const Vector<bool, 3> &saturation_negative)
+{
+	_control_allocator_saturation_positive = saturation_positive;
+	_control_allocator_saturation_negative = saturation_negative;
+}
+
+Vector3f DobControl::update(const Vector3f &rate,
+			    const Vector3f actuator_sp, const float dt, const bool landed)
+{
+	// angular rates error
+	Vector3f diff = differentiator(rate, dt);
+
+	matrix::Vector3f integ_input = actuator_sp - diff;
+
+	// update integral only if we are not landed
+	if (!landed) {
+		updateIntegral(integ_input, dt);
+	}
+
+	const matrix::Vector3f torque = integ_input + _input_rate;
+	return torque;
+}
+
+Vector3f DobControl::differentiator(const matrix::Vector3f &input, const float dt)
+{
+	Vector3f output = (1 - _c0) * _prev_output + (_c0 / dt) * (input - _prev_input);
+	_prev_input = input;
+	_prev_output = output;
+	return output;
+}
+
+void DobControl::updateIntegral(Vector3f &integ_input, const float dt)
+{
+	_input_rate = _input_rate + _gain_tau.emult(integ_input);
+
+}
+
+void DobControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
+{
+	rate_ctrl_status.rollspeed_integ = _input_rate(0);
+	rate_ctrl_status.pitchspeed_integ = _input_rate(1);
+	rate_ctrl_status.yawspeed_integ = _input_rate(2);
+}