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Draft for limited airmode
This commit is contained in:
Matthias Grob
+21
-120
@@ -36,6 +36,7 @@
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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* @author Beat Küng <beat-kueng@gmx.net>
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#include "ControlAllocationSequentialDesaturation.hpp"
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@@ -64,7 +65,7 @@ ControlAllocationSequentialDesaturation::allocate()
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}
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}
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void ControlAllocationSequentialDesaturation::desaturateActuators(
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float ControlAllocationSequentialDesaturation::desaturateActuators(
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ActuatorVector &actuator_sp,
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const ActuatorVector &desaturation_vector,
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float increase_limit, float decrease_limit)
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@@ -82,6 +83,8 @@ void ControlAllocationSequentialDesaturation::desaturateActuators(
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for (int i = 0; i < _num_actuators; i++) {
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actuator_sp(i) += gain * desaturation_vector(i);
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}
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return gain;
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}
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float ControlAllocationSequentialDesaturation::computeDesaturationGain(const ActuatorVector &desaturation_vector,
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@@ -124,6 +127,8 @@ void ControlAllocationSequentialDesaturation::mix(float roll_pitch_limit, float
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ActuatorVector yaw;
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ActuatorVector thrust_z;
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ActuatorVector mixed_with_yaw;
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) = _actuator_trim(i) +
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_mix(i, ControlAxis::ROLL) * (_control_sp(ControlAxis::ROLL) - _control_trim(ControlAxis::ROLL)) +
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@@ -132,148 +137,44 @@ void ControlAllocationSequentialDesaturation::mix(float roll_pitch_limit, float
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_mix(i, ControlAxis::THRUST_X) * (_control_sp(ControlAxis::THRUST_X) - _control_trim(ControlAxis::THRUST_X)) +
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_mix(i, ControlAxis::THRUST_Y) * (_control_sp(ControlAxis::THRUST_Y) - _control_trim(ControlAxis::THRUST_Y)) +
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_mix(i, ControlAxis::THRUST_Z) * (_control_sp(ControlAxis::THRUST_Z) - _control_trim(ControlAxis::THRUST_Z));
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mixed_with_yaw(i) = _actuator_sp(i) + _mix(i,
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ControlAxis::YAW) * (_control_sp(ControlAxis::YAW) - _control_trim(ControlAxis::YAW));
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roll(i) = _mix(i, ControlAxis::ROLL);
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pitch(i) = _mix(i, ControlAxis::PITCH);
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yaw(i) = _mix(i, ControlAxis::YAW);
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thrust_z(i) = _mix(i, ControlAxis::THRUST_Z);
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}
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const bool debug = false;
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const bool debug = true;
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if (debug) { printf("Roll Pitch Thrust Mixed\n"); _actuator_sp.print(); };
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desaturateActuators(_actuator_sp, thrust_z, roll_pitch_limit);
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if (debug) { printf("Roll Pitch Yaw Thrust Mixed\n"); mixed_with_yaw.print(); };
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if (debug) { printf("Thrust Roll Pitch\n"); _actuator_sp.print(); };
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float rp = desaturateActuators(_actuator_sp, thrust_z, roll_pitch_limit);
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desaturateActuators(_actuator_sp, roll);
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float rpy = desaturateActuators(mixed_with_yaw, thrust_z, roll_pitch_limit);
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desaturateActuators(_actuator_sp, pitch);
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printf("%.3f %.3f\n", (double)rp, (double)rpy);
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if (debug) { printf("Roll Pitch\n"); _actuator_sp.print(); };
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const bool use_rpy = fabsf(rpy) < fabsf(rp);
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) += _mix(i, ControlAxis::YAW) * (_control_sp(ControlAxis::YAW) - _control_trim(ControlAxis::YAW));
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if (use_rpy) {
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_actuator_sp = mixed_with_yaw;
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}
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if (debug) { printf("Yaw mixed\n"); _actuator_sp.print(); };
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desaturateActuators(_actuator_sp, thrust_z, yaw_limit, 0.15f);
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if (debug) { printf("Thrust Yaw\n"); _actuator_sp.print(); };
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desaturateActuators(_actuator_sp, yaw);
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if (debug) { printf("Yaw\n"); _actuator_sp.print(); };
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}
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void
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ControlAllocationSequentialDesaturation::mixAirmodeRP()
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{
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// Airmode for roll and pitch, but not yaw
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// Mix without yaw
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ActuatorVector thrust_z;
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) = _actuator_trim(i) +
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_mix(i, ControlAxis::ROLL) * (_control_sp(ControlAxis::ROLL) - _control_trim(ControlAxis::ROLL)) +
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_mix(i, ControlAxis::PITCH) * (_control_sp(ControlAxis::PITCH) - _control_trim(ControlAxis::PITCH)) +
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_mix(i, ControlAxis::THRUST_X) * (_control_sp(ControlAxis::THRUST_X) - _control_trim(ControlAxis::THRUST_X)) +
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_mix(i, ControlAxis::THRUST_Y) * (_control_sp(ControlAxis::THRUST_Y) - _control_trim(ControlAxis::THRUST_Y)) +
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_mix(i, ControlAxis::THRUST_Z) * (_control_sp(ControlAxis::THRUST_Z) - _control_trim(ControlAxis::THRUST_Z));
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thrust_z(i) = _mix(i, ControlAxis::THRUST_Z);
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}
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desaturateActuators(_actuator_sp, thrust_z);
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// Mix yaw independently
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mixYaw();
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}
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void
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ControlAllocationSequentialDesaturation::mixAirmodeRPY()
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{
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// Airmode for roll, pitch and yaw
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// Do full mixing
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ActuatorVector thrust_z;
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ActuatorVector yaw;
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) = _actuator_trim(i) +
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_mix(i, ControlAxis::ROLL) * (_control_sp(ControlAxis::ROLL) - _control_trim(ControlAxis::ROLL)) +
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_mix(i, ControlAxis::PITCH) * (_control_sp(ControlAxis::PITCH) - _control_trim(ControlAxis::PITCH)) +
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_mix(i, ControlAxis::YAW) * (_control_sp(ControlAxis::YAW) - _control_trim(ControlAxis::YAW)) +
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_mix(i, ControlAxis::THRUST_X) * (_control_sp(ControlAxis::THRUST_X) - _control_trim(ControlAxis::THRUST_X)) +
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_mix(i, ControlAxis::THRUST_Y) * (_control_sp(ControlAxis::THRUST_Y) - _control_trim(ControlAxis::THRUST_Y)) +
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_mix(i, ControlAxis::THRUST_Z) * (_control_sp(ControlAxis::THRUST_Z) - _control_trim(ControlAxis::THRUST_Z));
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thrust_z(i) = _mix(i, ControlAxis::THRUST_Z);
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yaw(i) = _mix(i, ControlAxis::YAW);
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}
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desaturateActuators(_actuator_sp, thrust_z);
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// Unsaturate yaw (in case upper and lower bounds are exceeded)
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// to prioritize roll/pitch over yaw.
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desaturateActuators(_actuator_sp, yaw);
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}
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void
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ControlAllocationSequentialDesaturation::mixAirmodeDisabled()
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{
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// Airmode disabled: never allow to increase the thrust to unsaturate a motor
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// Mix without yaw
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ActuatorVector thrust_z;
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ActuatorVector roll;
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ActuatorVector pitch;
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) = _actuator_trim(i) +
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_mix(i, ControlAxis::ROLL) * (_control_sp(ControlAxis::ROLL) - _control_trim(ControlAxis::ROLL)) +
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_mix(i, ControlAxis::PITCH) * (_control_sp(ControlAxis::PITCH) - _control_trim(ControlAxis::PITCH)) +
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_mix(i, ControlAxis::THRUST_X) * (_control_sp(ControlAxis::THRUST_X) - _control_trim(ControlAxis::THRUST_X)) +
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_mix(i, ControlAxis::THRUST_Y) * (_control_sp(ControlAxis::THRUST_Y) - _control_trim(ControlAxis::THRUST_Y)) +
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_mix(i, ControlAxis::THRUST_Z) * (_control_sp(ControlAxis::THRUST_Z) - _control_trim(ControlAxis::THRUST_Z));
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thrust_z(i) = _mix(i, ControlAxis::THRUST_Z);
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roll(i) = _mix(i, ControlAxis::ROLL);
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pitch(i) = _mix(i, ControlAxis::PITCH);
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}
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// only reduce thrust
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desaturateActuators(_actuator_sp, thrust_z, 0.f);
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// Reduce roll/pitch acceleration if needed to unsaturate
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desaturateActuators(_actuator_sp, roll);
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desaturateActuators(_actuator_sp, pitch);
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// Mix yaw independently
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mixYaw();
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}
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if (!use_rpy) {
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) += _mix(i, ControlAxis::YAW) * (_control_sp(ControlAxis::YAW) - _control_trim(ControlAxis::YAW));
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}
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void
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ControlAllocationSequentialDesaturation::mixYaw(float yaw_limit)
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{
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// Add yaw to outputs
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ActuatorVector yaw;
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ActuatorVector thrust_z;
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for (int i = 0; i < _num_actuators; i++) {
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_actuator_sp(i) += _mix(i, ControlAxis::YAW) * (_control_sp(ControlAxis::YAW) - _control_trim(ControlAxis::YAW));
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yaw(i) = _mix(i, ControlAxis::YAW);
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thrust_z(i) = _mix(i, ControlAxis::THRUST_Z);
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desaturateActuators(_actuator_sp, thrust_z, yaw_limit, 0.15f);
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}
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// Change yaw acceleration to unsaturate the outputs if needed (do not change roll/pitch),
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// and allow some yaw response at maximum thrust
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ActuatorVector max_prev = _actuator_max;
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_actuator_max += (_actuator_max - _actuator_min) * MINIMUM_YAW_MARGIN;
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desaturateActuators(_actuator_sp, yaw);
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_actuator_max = max_prev;
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// reduce thrust only
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desaturateActuators(_actuator_sp, thrust_z, 0.f);
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}
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void
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+3
-42
@@ -53,9 +53,7 @@ public:
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ControlAllocationSequentialDesaturation() : ModuleParams(nullptr) {}
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virtual ~ControlAllocationSequentialDesaturation() = default;
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void allocate() override;
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void updateParameters() override;
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// This is the minimum actuator yaw granted when the controller is saturated.
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@@ -78,8 +76,8 @@ private:
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* @param desaturation_vector vector that is added to the outputs, e.g. thrust_scale
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* @param increase_limit if value below 1, only allow to increase (add) a fraction of desaturation_vector to the specified amount
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*/
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void desaturateActuators(ActuatorVector &actuator_sp, const ActuatorVector &desaturation_vector,
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float increase_limit = 1.f, float decrease_limit = 1.f);
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float desaturateActuators(ActuatorVector &actuator_sp, const ActuatorVector &desaturation_vector,
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float increase_limit = 1.f, float decrease_limit = 1.f);
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/**
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* Computes the gain by which desaturation_vector has to be multiplied
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@@ -93,44 +91,7 @@ private:
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* Mix roll, pitch, yaw, thrust and set the actuator setpoint.
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*
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*/
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void mix(float roll_pitch_limit, float yaw);
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/**
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* Mix roll, pitch, yaw, thrust and set the actuator setpoint.
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*
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* Desaturation behavior: airmode for roll/pitch:
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* thrust is increased/decreased as much as required to meet the demanded roll/pitch.
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* Yaw is not allowed to increase the thrust, @see mix_yaw() for the exact behavior.
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*/
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void mixAirmodeRP();
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/**
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* Mix roll, pitch, yaw, thrust and set the actuator setpoint.
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*
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* Desaturation behavior: full airmode for roll/pitch/yaw:
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* thrust is increased/decreased as much as required to meet demanded the roll/pitch/yaw,
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* while giving priority to roll and pitch over yaw.
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*/
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void mixAirmodeRPY();
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/**
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* Mix roll, pitch, yaw, thrust and set the actuator setpoint.
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*
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* Desaturation behavior: no airmode, thrust is NEVER increased to meet the demanded
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* roll/pitch/yaw. Instead roll/pitch/yaw is reduced as much as needed.
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* Thrust can be reduced to unsaturate the upper side.
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* @see mixYaw() for the exact yaw behavior.
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*/
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void mixAirmodeDisabled();
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/**
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* Mix yaw by updating the actuator setpoint (that already contains roll/pitch/thrust).
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*
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* Desaturation behavior: thrust is allowed to be decreased up to 15% in order to allow
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* some yaw control on the upper end. On the lower end thrust will never be increased,
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* but yaw is decreased as much as required.
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*/
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void mixYaw(float yaw_limit = 0.f);
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void mix(float roll_pitch_limit, float yaw_limit);
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode ///< air-mode
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