added trajec_to_ENU transform and force saturation

src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp

@@ -94,6 +94,15 @@ FixedwingPositionINDIControl::init()
 	_R_ned_to_enu.renormalize();
     _R_enu_to_ned = _R_ned_to_enu;
 
+    // initialize wind shear params
+    _shear_V_max = 0.f;
+    _shear_alpha = 0.f;
+    _shear_h_ref = 0.f;
+    _shear_heading = M_PI_2_F;
+
+    // initialize transform to trajec frame
+    _compute_trajectory_transform();
+
 	return true;
 }
 
@@ -354,6 +363,15 @@ FixedwingPositionINDIControl::soaring_controller_status_poll()
     }
 }
 
+void
+FixedwingPositionINDIControl::_compute_trajectory_transform()
+{
+    Eulerf e(0.f, 0.f, _shear_heading);
+    _R_enu_to_trajec = Dcmf(e);
+    _R_trajec_to_enu = _R_enu_to_trajec.transpose();
+    _vec_enu_to_trajec = Vector3f{0.f,0.f,_shear_h_ref};
+}
+
 void
 FixedwingPositionINDIControl::_set_wind_estimate(Vector3f wind)
 {
@@ -396,6 +414,28 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
     default:
         strcpy(filename,"trajectory0.csv");
     }
+
+    /* 
+    We read a trajectory based on initial energy available at the beginning of the trajectory.
+    So the trajectory is selected based on two criteria, first the correct wind shear params (alpha and V_max) and the initial energy (potential + kinetic).
+    
+    The filename structure of the trajectories is the following:
+    trajec_<type>_<energy>_<V_max>_<alpha>
+    with
+    <type> in {nominal, robust}
+    <energy> in [E_min, E_max]
+    <V_max> in [8,24]
+    <alpha> in [0.1, 1.0]
+    */
+
+    /*
+    Also, we need to place the current trajectory, centered around zero height and assuming wind from the west, into the soaring frame.
+    Since the necessary computations for position, velocity and acceleration require the basis coefficients, which are not easy to transform, 
+    we choose to transform our position in soaring frame into the "trajectory frame", compute position vector and it's derivatives from the basis coeffs
+    in the trajectory frame, and then transform these back to soaring frame for control purposes.
+
+    Therefore we define a new transform between the soaring frame and the trajectory frame.
+    */
     
 
     _read_trajectory_coeffs_csv(filename);
@@ -588,6 +628,9 @@ FixedwingPositionINDIControl::Run()
         vehicle_angular_acceleration_poll();
         soaring_controller_status_poll();
 
+        // update transform from trajectory frame to ENU frame (soaring frame)
+        _compute_trajectory_transform();
+
         // ===============================
         // compute wind pseudo-measurement
         // ===============================
@@ -835,7 +878,7 @@ FixedwingPositionINDIControl::_get_position_ref(float t)
     float x = _basis_coeffs_x*basis;
     float y = _basis_coeffs_y*basis;
     float z = _basis_coeffs_z*basis;
-    return Vector3f{x, y, z};
+    return _R_trajec_to_enu*Vector3f{x, y, z} + _vec_enu_to_trajec;
 }
 
 Vector3f
@@ -845,7 +888,7 @@ FixedwingPositionINDIControl::_get_velocity_ref(float t, float T)
     float x = _basis_coeffs_x*basis;
     float y = _basis_coeffs_y*basis;
     float z = _basis_coeffs_z*basis;
-    return Vector3f{x, y, z}/T;
+    return _R_trajec_to_enu*(Vector3f{x, y, z}/T);
 }
 
 Vector3f
@@ -855,7 +898,7 @@ FixedwingPositionINDIControl::_get_acceleration_ref(float t, float T)
     float x = _basis_coeffs_x*basis;
     float y = _basis_coeffs_y*basis;
     float z = _basis_coeffs_z*basis;
-    return Vector3f{x, y, z}/powf(T,2);
+    return _R_trajec_to_enu*(Vector3f{x, y, z}/powf(T,2));
 }
 
 Quatf
@@ -975,7 +1018,6 @@ FixedwingPositionINDIControl::_get_closest_t(Vector3f pos)
     //PX4_INFO("closest t: %.2f", (double)t);
     //PX4_INFO("closest distance:%.2f", (double)sqrtf(min_dist));
 
-    
     const uint n_1 = 20;
     Vector<float, n_1> distances;
     float t_ref;
@@ -1120,9 +1162,22 @@ FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f v
     // limit maximum lift force by the maximum lift force, the aircraft can produce (assume max force at 12° aoa)
     //PX4_INFO("force current, command: \t%.2f\t%.2f", (double)sqrtf(f_current_filtered*f_current_filtered), (double)sqrtf(f_command*f_command));
 
+    // ====================================================================
+    // saturate force command to avoid overly agressive maneuvers and stall
+    // ====================================================================
     if (_switch_saturation){
-        float f_max = -factor*sqrtf(vel_body*vel_body)*(_C_L0 + _C_L1*0.2f);
+        float speed = vel_body*vel_body;
+        // compute amximum achievable force
+        float f_max;
+        if (speed>_stall_speed){
+            f_max = -factor*sqrtf(vel_body*vel_body)*(_C_L0 + _C_L1*0.25f); // assume stall at 15° AoA
+        }
+        else {
+            f_max = -factor*_stall_speed*(_C_L0 + _C_L1*0.25f); // assume stall at 15° AoA
+        }
+        // compute current command
         float f_now = sqrtf(f_command*f_command);
+        // saturate current command
         if (f_now>f_max){
             f_command = f_max/f_now * f_command;
         }

src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp

@@ -250,6 +250,7 @@ private:
 	const static size_t _num_basis_funs = 16;			// number of basis functions used for the trajectory approximation
 
 	// controller methods
+	void _compute_trajectory_transform();						// compute the transform between trajectory frame and ENU frame (soaring frame) based on shear params
 	void _select_trajectory(float initial_energy);				// select the correct trajectory based on available energy
 	void _read_trajectory_coeffs_csv(char *filename);				// read in the correct coefficients of the appropriate trajectory
 	void _set_wind_estimate(Vector3f wind);
@@ -332,6 +333,11 @@ private:
 	float _origin_N;
 	float _origin_E;
 	float _origin_D;
+	// wind shear parameters
+	float _shear_V_max;
+	float _shear_alpha;
+	float _shear_h_ref;
+	float _shear_heading;
 	// loiter circle
 	int _loiter;
 	// thrust
@@ -354,14 +360,17 @@ private:
 	float _slip{0.0f};
 
 	// vectors defining the initial velocities, wind speed and shear strength
-	Vector<float, 10> _initial_velocities_trajectory = {};	
-	Vector<float, 10> _wind_speed_trajectory = {};	
-	Vector<float, 10> _shear_param_trajectory = {};	
+	Vector<float, 10> _initial_energy_arr = {};	
+	Vector<float, 10> _V_max_arr = {};	
+	Vector<float, 10> _alpha_arr = {};	
 
 
 	// helper variables
 	Dcmf _R_ned_to_enu;	// rotation matrix from NED to ENU frame
 	Dcmf _R_enu_to_ned;	// rotation matrix from ENU to NED frame
+	Dcmf _R_trajec_to_enu; // rotation matrix from trajectory frame to ENU frame
+	Dcmf _R_enu_to_trajec; // rotation matrix from ENU frame to trajectory frame
+	Vector3f _vec_enu_to_trajec; // 3D vector from ENU origin to trajectory frame origin (expressed in ENU)
 	Vector3f _zero_crossing_local_pos;	// vector denoting the zero crossing of the trajectories in NED frame
 	Vector3f _f_command_filtered {};
 	Vector3f _m_command_filtered {};

src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c

@@ -533,4 +533,4 @@ PARAM_DEFINE_INT32(DS_SWITCH_MANUAL, 0);
  * @increment 1
  * @group FW DYN SOAR Control
  */
-PARAM_DEFINE_INT32(DS_SWITCH_SAT, 0);
+PARAM_DEFINE_INT32(DS_SWITCH_SAT, 1);