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mc_att_control: move attitude control calculations into separate class
to modularize and simplify unit testing
This commit is contained in:
Matthias Grob
@@ -0,0 +1,111 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file AttitudeControl.cpp
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*/
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#include <AttitudeControl.hpp>
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#include <mathlib/math/Limits.hpp>
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#include <mathlib/math/Functions.hpp>
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using namespace matrix;
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void AttitudeControl::setProportionalGain(const matrix::Vector3f &proportional_gain)
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{
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_proportional_gain = proportional_gain;
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// prepare yaw weight from the ratio between roll/pitch and yaw gains
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const float roll_pitch_gain = (proportional_gain(0) + proportional_gain(1)) / 2.f;
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_yaw_w = math::constrain(proportional_gain(2) / roll_pitch_gain, 0.f, 1.f);
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_proportional_gain(2) = roll_pitch_gain;
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}
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matrix::Vector3f AttitudeControl::update(matrix::Quatf q, matrix::Quatf qd, float yawspeed_feedforward)
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{
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// ensure input quaternions are exactly normalized because acosf(1.00001) == NaN
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q.normalize();
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qd.normalize();
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// calculate reduced desired attitude neglecting vehicle's yaw to prioritize roll and pitch
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Vector3f e_z = q.dcm_z();
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Vector3f e_z_d = qd.dcm_z();
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Quatf qd_red(e_z, e_z_d);
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if (abs(qd_red(1)) > (1.f - 1e-5f) || abs(qd_red(2)) > (1.f - 1e-5f)) {
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// In the infinitesimal corner case where the vehicle and thrust have the completely opposite direction,
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// full attitude control anyways generates no yaw input and directly takes the combination of
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// roll and pitch leading to the correct desired yaw. Ignoring this case would still be totally safe and stable.
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qd_red = qd;
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} else {
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// transform rotation from current to desired thrust vector into a world frame reduced desired attitude
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qd_red *= q;
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}
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// mix full and reduced desired attitude
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Quatf q_mix = qd_red.inversed() * qd;
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q_mix *= math::signNoZero(q_mix(0));
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// catch numerical problems with the domain of acosf and asinf
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q_mix(0) = math::constrain(q_mix(0), -1.f, 1.f);
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q_mix(3) = math::constrain(q_mix(3), -1.f, 1.f);
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qd = qd_red * Quatf(cosf(_yaw_w * acosf(q_mix(0))), 0, 0, sinf(_yaw_w * asinf(q_mix(3))));
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// quaternion attitude control law, qe is rotation from q to qd
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Quatf qe = q.inversed() * qd;
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// using sin(alpha/2) scaled rotation axis as attitude error (see quaternion definition by axis angle)
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// also taking care of the antipodal unit quaternion ambiguity
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Vector3f eq = 2.f * math::signNoZero(qe(0)) * qe.imag();
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// calculate angular rates setpoint
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matrix::Vector3f rate_setpoint = eq.emult(_proportional_gain);
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// Feed forward the yaw setpoint rate.
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// yaw_sp_move_rate is the feed forward commanded rotation around the world z-axis,
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// but we need to apply it in the body frame (because _rates_sp is expressed in the body frame).
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// Therefore we infer the world z-axis (expressed in the body frame) by taking the last column of R.transposed (== q.inversed)
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// and multiply it by the yaw setpoint rate (yaw_sp_move_rate).
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// This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
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// such that it can be added to the rates setpoint.
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rate_setpoint += q.inversed().dcm_z() * yawspeed_feedforward;
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// limit rates
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for (int i = 0; i < 3; i++) {
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rate_setpoint(i) = math::constrain(rate_setpoint(i), -_rate_limit(i), _rate_limit(i));
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}
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return rate_setpoint;
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}
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@@ -0,0 +1,84 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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.
|
||||
*
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||||
* 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,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file AttitudeControl.hpp
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*
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* A quaternion based attitude controller.
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*
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* Publication documenting the implemented Quaternion Attitude Control:
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* Nonlinear Quadrocopter Attitude Control (2013)
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* by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
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* Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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*
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* https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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class AttitudeControl
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{
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public:
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AttitudeControl() = default;
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~AttitudeControl() = default;
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/**
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* Run one control loop cycle calculation with either new
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* @param q estimation of the current vehicle attitude unit quaternion
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* @param qd desired vehicle attitude setpoint
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* @param yawspeed_feedforward [rad/s] yaw feed forward angular rate in world frame
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* @return [rad/s] body frame 3D angular rate setpoint vector to be executed by the rate controller
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*/
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matrix::Vector3f update(matrix::Quatf q, matrix::Quatf qd, float yawspeed_feedforward);
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/**
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* Set proportional attitude control gain
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* @param proportional_gain 3D vector containing gains for roll, pitch, yaw
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*/
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void setProportionalGain(const matrix::Vector3f &proportional_gain);
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/**
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* Set hard limit for output rate setpoints
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* @param rate_limit [rad/s] 3D vector containing limits for roll, pitch, yaw
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*/
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void setRateLimit(const matrix::Vector3f &rate_limit) { _rate_limit = rate_limit; }
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private:
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matrix::Vector3f _proportional_gain;
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matrix::Vector3f _rate_limit;
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float _yaw_w = 0.0f; /**< yaw weight [0,1] to prioritize roll and pitch */
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};
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@@ -0,0 +1,40 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
|
||||
#
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||||
# 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
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(AttitudeControl
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AttitudeControl.cpp
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)
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target_include_directories(AttitudeControl
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}
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)
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@@ -31,6 +31,8 @@
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#
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############################################################################
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add_subdirectory(AttitudeControl)
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px4_add_module(
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MODULE modules__mc_att_control
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MAIN mc_att_control
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@@ -43,4 +45,5 @@ px4_add_module(
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circuit_breaker
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conversion
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mathlib
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AttitudeControl
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)
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@@ -58,6 +58,8 @@
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/landing_gear.h>
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#include <AttitudeControl.hpp>
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/**
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* Multicopter attitude control app start / stop handling function
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*/
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@@ -145,6 +147,7 @@ private:
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*/
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matrix::Vector3f pid_attenuations(float tpa_breakpoint, float tpa_rate);
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AttitudeControl _attitude_control; /**< class for attitude control calculations */
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int _v_att_sub{-1}; /**< vehicle attitude subscription */
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int _v_att_sp_sub{-1}; /**< vehicle attitude setpoint subscription */
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@@ -274,7 +277,6 @@ private:
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(ParamInt<px4::params::MC_AIRMODE>) _airmode
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)
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matrix::Vector3f _attitude_p; /**< P gain for attitude control */
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matrix::Vector3f _rate_p; /**< P gain for angular rate error */
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matrix::Vector3f _rate_i; /**< I gain for angular rate error */
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matrix::Vector3f _rate_int_lim; /**< integrator state limit for rate loop */
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@@ -133,8 +133,9 @@ MulticopterAttitudeControl::parameters_updated()
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{
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/* Store some of the parameters in a more convenient way & precompute often-used values */
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_attitude_control.setProportionalGain(Vector3f(_roll_p.get(), _pitch_p.get(), _yaw_p.get()));
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/* roll gains */
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_attitude_p(0) = _roll_p.get();
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_rate_p(0) = _roll_rate_p.get();
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_rate_i(0) = _roll_rate_i.get();
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_rate_int_lim(0) = _roll_rate_integ_lim.get();
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@@ -142,7 +143,6 @@ MulticopterAttitudeControl::parameters_updated()
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_rate_ff(0) = _roll_rate_ff.get();
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/* pitch gains */
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_attitude_p(1) = _pitch_p.get();
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_rate_p(1) = _pitch_rate_p.get();
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_rate_i(1) = _pitch_rate_i.get();
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_rate_int_lim(1) = _pitch_rate_integ_lim.get();
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@@ -150,7 +150,6 @@ MulticopterAttitudeControl::parameters_updated()
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_rate_ff(1) = _pitch_rate_ff.get();
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/* yaw gains */
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_attitude_p(2) = _yaw_p.get();
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_rate_p(2) = _yaw_rate_p.get();
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_rate_i(2) = _yaw_rate_i.get();
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_rate_int_lim(2) = _yaw_rate_integ_lim.get();
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@@ -542,75 +541,15 @@ MulticopterAttitudeControl::control_attitude()
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// physical thrust axis is the negative of body z axis
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_thrust_sp = -_v_att_sp.thrust_body[2];
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/* prepare yaw weight from the ratio between roll/pitch and yaw gains */
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Vector3f attitude_gain = _attitude_p;
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const float roll_pitch_gain = (attitude_gain(0) + attitude_gain(1)) / 2.f;
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const float yaw_w = math::constrain(attitude_gain(2) / roll_pitch_gain, 0.f, 1.f);
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attitude_gain(2) = roll_pitch_gain;
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/* get estimated and desired vehicle attitude */
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Quatf q(_v_att.q);
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Quatf qd(_v_att_sp.q_d);
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/* ensure input quaternions are exactly normalized because acosf(1.00001) == NaN */
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q.normalize();
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qd.normalize();
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/* calculate reduced desired attitude neglecting vehicle's yaw to prioritize roll and pitch */
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Vector3f e_z = q.dcm_z();
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Vector3f e_z_d = qd.dcm_z();
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Quatf qd_red(e_z, e_z_d);
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if (abs(qd_red(1)) > (1.f - 1e-5f) || abs(qd_red(2)) > (1.f - 1e-5f)) {
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/* In the infinitesimal corner case where the vehicle and thrust have the completely opposite direction,
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* full attitude control anyways generates no yaw input and directly takes the combination of
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* roll and pitch leading to the correct desired yaw. Ignoring this case would still be totally safe and stable. */
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qd_red = qd;
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if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
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!_v_control_mode.flag_control_manual_enabled) {
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_attitude_control.setRateLimit(_auto_rate_max);
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} else {
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/* transform rotation from current to desired thrust vector into a world frame reduced desired attitude */
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qd_red *= q;
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_attitude_control.setRateLimit(_mc_rate_max);
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}
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/* mix full and reduced desired attitude */
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Quatf q_mix = qd_red.inversed() * qd;
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q_mix *= math::signNoZero(q_mix(0));
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/* catch numerical problems with the domain of acosf and asinf */
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q_mix(0) = math::constrain(q_mix(0), -1.f, 1.f);
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q_mix(3) = math::constrain(q_mix(3), -1.f, 1.f);
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qd = qd_red * Quatf(cosf(yaw_w * acosf(q_mix(0))), 0, 0, sinf(yaw_w * asinf(q_mix(3))));
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/* quaternion attitude control law, qe is rotation from q to qd */
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Quatf qe = q.inversed() * qd;
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/* using sin(alpha/2) scaled rotation axis as attitude error (see quaternion definition by axis angle)
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* also taking care of the antipodal unit quaternion ambiguity */
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Vector3f eq = 2.f * math::signNoZero(qe(0)) * qe.imag();
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/* calculate angular rates setpoint */
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_rates_sp = eq.emult(attitude_gain);
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/* Feed forward the yaw setpoint rate.
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* yaw_sp_move_rate is the feed forward commanded rotation around the world z-axis,
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* but we need to apply it in the body frame (because _rates_sp is expressed in the body frame).
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* Therefore we infer the world z-axis (expressed in the body frame) by taking the last column of R.transposed (== q.inversed)
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* and multiply it by the yaw setpoint rate (yaw_sp_move_rate).
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* This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
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* such that it can be added to the rates setpoint.
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*/
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_rates_sp += q.inversed().dcm_z() * _v_att_sp.yaw_sp_move_rate;
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/* limit rates */
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for (int i = 0; i < 3; i++) {
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if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
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!_v_control_mode.flag_control_manual_enabled) {
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_rates_sp(i) = math::constrain(_rates_sp(i), -_auto_rate_max(i), _auto_rate_max(i));
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} else {
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_rates_sp(i) = math::constrain(_rates_sp(i), -_mc_rate_max(i), _mc_rate_max(i));
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}
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}
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_rates_sp = _attitude_control.update(Quatf(_v_att.q), Quatf(_v_att_sp.q_d), _v_att_sp.yaw_sp_move_rate);
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}
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/*
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