extracted heading controller

src/lib/ecl/attitude_fw/ecl_heading_controller.cpp

@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_yaw_controller.cpp
+ * Implementation of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_heading_controller.h"
+#include <stdint.h>
+#include <float.h>
+#include <geo/geo.h>
+#include <ecl/ecl.h>
+#include <mathlib/mathlib.h>
+#include <systemlib/err.h>
+#include <ecl/ecl.h>
+
+ECL_HeadingController::ECL_HeadingController() :
+    ECL_Controller("heading")
+{
+}
+
+ECL_HeadingController::~ECL_HeadingController()
+{
+}
+
+float ECL_HeadingController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+    /* Do not calculate control signal with bad inputs */
+    if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.pitch_rate) &&
+          PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
+          PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
+          PX4_ISFINITE(ctl_data.scaler))) {
+        perf_count(_nonfinite_input_perf);
+        return math::constrain(_last_output, -1.0f, 1.0f);
+    }
+
+    /* get the usual dt estimate */
+    uint64_t dt_micros = ecl_elapsed_time(&_last_run);
+    _last_run = ecl_absolute_time();
+    float dt = (float)dt_micros * 1e-6f;
+
+    /* lock integral for long intervals */
+    bool lock_integrator = ctl_data.lock_integrator;
+
+    if (dt_micros > 500000) {
+        lock_integrator = true;
+    }
+
+    /* input conditioning */
+    float airspeed = ctl_data.airspeed;
+
+    if (!PX4_ISFINITE(airspeed)) {
+        /* airspeed is NaN, +- INF or not available, pick center of band */
+        airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+
+    } else if (airspeed < ctl_data.airspeed_min) {
+        airspeed = ctl_data.airspeed_min;
+    }
+
+
+    /* Transform setpoint to body angular rates (jacobian) */
+    _bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
+                 cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint;
+
+    /* Calculate body angular rate error */
+    _rate_error = _bodyrate_setpoint - ctl_data.yaw_rate; //body angular rate error
+
+    if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
+
+        float id = _rate_error * dt;
+
+        /*
+         * anti-windup: do not allow integrator to increase if actuator is at limit
+         */
+        if (_last_output < -1.0f) {
+            /* only allow motion to center: increase value */
+            id = math::max(id, 0.0f);
+
+        } else if (_last_output > 1.0f) {
+            /* only allow motion to center: decrease value */
+            id = math::min(id, 0.0f);
+        }
+
+        _integrator += id;
+    }
+
+    /* integrator limit */
+    //xxx: until start detection is available: integral part in control signal is limited here
+    float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+
+    /* Apply PI rate controller and store non-limited output */
+    _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler *
+               ctl_data.scaler;  //scaler is proportional to 1/airspeed
+    warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
+
+
+    return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+
+float ECL_HeadingController::control_attitude(const struct ECL_ControlData &ctl_data)
+{
+    /* Do not calculate control signal with bad inputs */
+    if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
+          PX4_ISFINITE(ctl_data.yaw) &&
+          PX4_ISFINITE(ctl_data.airspeed))) {
+        perf_count(_nonfinite_input_perf);
+        warnx("not controlling yaw");
+        return _rate_setpoint;
+    }
+
+    /* Calculate the error */
+    float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw;
+
+    /*  Apply P controller: rate setpoint from current error and time constant */
+    _rate_setpoint =  yaw_error / _tc;
+
+    /* limit the rate */
+    if (_max_rate > 0.01f) {
+        if (_rate_setpoint > 0.0f) {
+            _rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
+
+        } else {
+            _rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
+        }
+
+    }
+
+    return _rate_setpoint;
+}

src/lib/ecl/attitude_fw/ecl_heading_controller.h

@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_yaw_controller.h
+ * Definition of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Andreas Antener <andreas@uaventure.com>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough and Andrew Tridgell, 2013,
+ *   which in turn is based on initial work of
+ *   Jonathan Challinger, 2012.
+ */
+#ifndef ECL_HEADING_CONTROLLER_H
+#define ECL_HEADING_CONTROLLER_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "ecl_controller.h"
+
+class __EXPORT ECL_HeadingController :
+    public ECL_Controller
+{
+public:
+    ECL_HeadingController();
+
+    ~ECL_HeadingController();
+
+    float control_attitude(const struct ECL_ControlData &ctl_data);
+
+    float control_bodyrate(const struct ECL_ControlData &ctl_data);
+};
+
+#endif // ECL_HEADING_CONTROLLER_H

src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp

@@ -67,9 +67,6 @@ float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data
 	case COORD_METHOD_CLOSEACC:
 		return control_attitude_impl_accclosedloop(ctl_data);
 
-	case COORD_METHOD_HEADING:
-		return control_heading(ctl_data);
-
 	default:
 		static hrt_abstime last_print = 0;
 
@@ -241,34 +238,3 @@ float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_Co
 	/* dont set a rate setpoint */
 	return 0.0f;
 }
-
-float ECL_YawController::control_heading(const struct ECL_ControlData &ctl_data)
-{
-	/* Do not calculate control signal with bad inputs */
-	if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
-	      PX4_ISFINITE(ctl_data.yaw) &&
-	      PX4_ISFINITE(ctl_data.airspeed))) {
-		perf_count(_nonfinite_input_perf);
-		warnx("not controlling yaw");
-		return _rate_setpoint;
-	}
-
-	/* Calculate the error */
-	float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw;
-
-	/*  Apply P controller: rate setpoint from current error and time constant */
-	_rate_setpoint =  yaw_error / _tc;
-
-	/* limit the rate */
-	if (_max_rate > 0.01f) {
-		if (_rate_setpoint > 0.0f) {
-			_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
-
-		} else {
-			_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
-		}
-
-	}
-
-	return _rate_setpoint;
-}

src/lib/ecl/attitude_fw/ecl_yaw_controller.h

@@ -78,8 +78,7 @@ public:
 
 	enum {
 		COORD_METHOD_OPEN = 0,
-		COORD_METHOD_CLOSEACC = 1,
-		COORD_METHOD_HEADING = 2
+		COORD_METHOD_CLOSEACC = 1
 	};
 
 protected:
@@ -94,8 +93,6 @@ protected:
 
 	float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
 
-	float control_heading(const struct ECL_ControlData &ctl_data);
-
 };
 
 #endif // ECL_YAW_CONTROLLER_H

src/lib/runway_takeoff/RunwayTakeoff.cpp

@@ -105,7 +105,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
 	case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
 		if (airspeed > _airspeed_min.get() * _min_airspeed_scaling) {
 			_state = RunwayTakeoffState::TAKEOFF;
-			mavlink_log_info(mavlink_fd, "#audio: Takeoff airspeed reached");
+			mavlink_log_info(mavlink_fd, "#Takeoff airspeed reached");
 		}
 
 		break;
@@ -113,7 +113,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
 	case RunwayTakeoffState::TAKEOFF:
 		if (alt_agl > math::max(_runway_takeoff_nav_alt.get(), _climbout_diff.get())) {
 			_state = RunwayTakeoffState::FLY;
-			mavlink_log_info(mavlink_fd, "#audio: Navigating to waypoint");
+			mavlink_log_info(mavlink_fd, "#Navigating to waypoint");
 		}
 
 		break;

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -82,6 +82,7 @@
 #include <ecl/attitude_fw/ecl_pitch_controller.h>
 #include <ecl/attitude_fw/ecl_roll_controller.h>
 #include <ecl/attitude_fw/ecl_yaw_controller.h>
+#include <ecl/attitude_fw/ecl_heading_controller.h>
 #include <platforms/px4_defines.h>
 
 /**
@@ -248,6 +249,7 @@ private:
 	ECL_RollController				_roll_ctrl;
 	ECL_PitchController				_pitch_ctrl;
 	ECL_YawController				_yaw_ctrl;
+	ECL_HeadingController			_heading_ctrl;
 
 
 	/**
@@ -502,6 +504,13 @@ FixedwingAttitudeControl::parameters_update()
 	_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
 	_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
 
+	/* heading control parameters */
+	_heading_ctrl.set_k_p(_parameters.y_p);
+	_heading_ctrl.set_k_i(_parameters.y_i);
+	_heading_ctrl.set_k_ff(_parameters.y_ff);
+	_heading_ctrl.set_integrator_max(_parameters.y_integrator_max);
+	_heading_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
+
 	return OK;
 }
 
@@ -961,18 +970,14 @@ FixedwingAttitudeControl::task_main()
 				control_input.scaler = airspeed_scaling;
 				control_input.lock_integrator = lock_integrator;
 
-				if (_att_sp.fw_control_yaw == true) {
-					// this method controls heading directly with rudder. Used for auto takeoff on runway
-					_yaw_ctrl.set_coordinated_method(ECL_YawController::COORD_METHOD_HEADING);
-				} else {
-					_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
-				}
+				_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
 
 				/* Run attitude controllers */
 				if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
 					_roll_ctrl.control_attitude(control_input);
 					_pitch_ctrl.control_attitude(control_input);
 					_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
+					_heading_ctrl.control_attitude(control_input);
 
 					/* Update input data for rate controllers */
 					control_input.roll_rate_setpoint = _roll_ctrl.get_desired_rate();
@@ -1012,7 +1017,14 @@ FixedwingAttitudeControl::task_main()
 						}
 					}
 
-					float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
+					float yaw_u = 0.0f;
+					if (_att_sp.fw_control_yaw == true) {
+						yaw_u = _heading_ctrl.control_bodyrate(control_input);
+					}
+
+					else {
+						yaw_u = _yaw_ctrl.control_bodyrate(control_input);
+					}
 					_actuators.control[2] = (PX4_ISFINITE(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
 
 					/* add in manual rudder control */

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -960,7 +960,7 @@ float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint
 	 * for the whole landing */
 	if (_parameters.land_use_terrain_estimate && (global_pos.terrain_alt_valid || land_useterrain)) {
 		if(!land_useterrain) {
-			mavlink_log_info(_mavlink_fd, "#audio: Landing, using terrain estimate");
+			mavlink_log_info(_mavlink_fd, "Landing, using terrain estimate");
 			land_useterrain = true;
 		}
 		return global_pos.terrain_alt;
@@ -1229,7 +1229,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					} else {
 						target_bearing = _yaw;
 					}
-					mavlink_log_info(_mavlink_fd, "#audio: Landing, heading hold");
+					mavlink_log_info(_mavlink_fd, "#Landing, heading hold");
 				}
 
 //					warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_yaw));
@@ -1290,7 +1290,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
 					if (!land_motor_lim) {
 						land_motor_lim  = true;
-						mavlink_log_info(_mavlink_fd, "#audio: Landing, limiting throttle");
+						mavlink_log_info(_mavlink_fd, "#Landing, limiting throttle");
 					}
 
 				 }
@@ -1314,7 +1314,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 						land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
 
 				if (!land_noreturn_vertical) {
-					mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
+					mavlink_log_info(_mavlink_fd, "#Landing, flaring");
 					land_noreturn_vertical = true;
 				}
 				//warnx("Landing:  flare, _global_pos.alt  %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
@@ -1336,7 +1336,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					/* stay on slope */
 					altitude_desired_rel = landing_slope_alt_rel_desired;
 					if (!land_onslope) {
-						mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
+						mavlink_log_info(_mavlink_fd, "#Landing, on slope");
 						land_onslope = true;
 					}
 				} else {
@@ -1367,7 +1367,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					/* need this already before takeoff is detected
 					 * doesn't matter if it gets reset when takeoff is detected eventually */
 					_takeoff_ground_alt = _global_pos.alt;
-					mavlink_log_info(_mavlink_fd, "#audio: Takeoff on runway");
+					mavlink_log_info(_mavlink_fd, "#Takeoff on runway");
 				}
 
 				// update navigation
@@ -1417,7 +1417,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					/* Inform user that launchdetection is running */
 					static hrt_abstime last_sent = 0;
 					if(hrt_absolute_time() - last_sent > 4e6) {
-						mavlink_log_critical(_mavlink_fd, "Launchdetection running");
+						mavlink_log_critical(_mavlink_fd, "#Launchdetection running");
 						last_sent = hrt_absolute_time();
 					}
 
@@ -1509,7 +1509,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		}
 
 		/* reset takeoff/launch state */
-		// FIXME: reset on arm/disarm cycle and mode switch
 		if (pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
 			reset_takeoff_state();
 		}
@@ -1750,7 +1749,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	 * already (not by tecs) */
 	if (!(_control_mode_current ==  FW_POSCTRL_MODE_AUTO &&
 				pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
-				launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
+					(launch_detection_state == LAUNCHDETECTION_RES_NONE ||
+					_runway_takeoff.runwayTakeoffEnabled())
+				)) {
 		_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
 	}