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create new multicopter rate controller module (mc_rate_control) split out of mc_att_control
This commit is contained in:
Daniel Agar
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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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px4_add_library(RateControl
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RateControl.cpp
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)
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target_include_directories(RateControl
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}
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)
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target_link_libraries(RateControl PRIVATE mathlib)
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px4_add_unit_gtest(SRC RateControlTest.cpp LINKLIBS RateControl)
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@@ -0,0 +1,133 @@
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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 RateControl.cpp
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*/
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#include <RateControl.hpp>
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#include <px4_platform_common/defines.h>
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using namespace matrix;
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void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
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{
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_gain_p = P;
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_gain_i = I;
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_gain_d = D;
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}
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void RateControl::setDTermCutoff(const float loop_rate, const float cutoff, const bool force)
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{
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// only do expensive filter update if the cutoff changed
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if (force || fabsf(_lp_filters_d.get_cutoff_freq() - cutoff) > 0.01f) {
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_lp_filters_d.set_cutoff_frequency(loop_rate, cutoff);
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_lp_filters_d.reset(_rate_prev);
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}
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}
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void RateControl::setSaturationStatus(const MultirotorMixer::saturation_status &status)
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{
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_mixer_saturation_positive[0] = status.flags.roll_pos;
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_mixer_saturation_positive[1] = status.flags.pitch_pos;
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_mixer_saturation_positive[2] = status.flags.yaw_pos;
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_mixer_saturation_negative[0] = status.flags.roll_neg;
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_mixer_saturation_negative[1] = status.flags.pitch_neg;
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_mixer_saturation_negative[2] = status.flags.yaw_neg;
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}
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Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const float dt, const bool landed)
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{
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// angular rates error
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Vector3f rate_error = rate_sp - rate;
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// prepare D-term based on low-pass filtered rates
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const Vector3f rate_filtered(_lp_filters_d.apply(rate));
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Vector3f rate_d;
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if (dt > FLT_EPSILON) {
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rate_d = (rate_filtered - _rate_prev_filtered) / dt;
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}
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// PID control with feed forward
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const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(rate_d) + _gain_ff.emult(rate_sp);
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_rate_prev = rate;
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_rate_prev_filtered = rate_filtered;
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// update integral only if we are not landed
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if (!landed) {
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updateIntegral(rate_error, dt);
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}
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return torque;
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}
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void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
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{
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for (int i = 0; i < 3; i++) {
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// prevent further positive control saturation
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if (_mixer_saturation_positive[i]) {
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rate_error(i) = math::min(rate_error(i), 0.f);
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}
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// prevent further negative control saturation
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if (_mixer_saturation_negative[i]) {
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rate_error(i) = math::max(rate_error(i), 0.f);
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}
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// I term factor: reduce the I gain with increasing rate error.
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// This counteracts a non-linear effect where the integral builds up quickly upon a large setpoint
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// change (noticeable in a bounce-back effect after a flip).
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// The formula leads to a gradual decrease w/o steps, while only affecting the cases where it should:
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// with the parameter set to 400 degrees, up to 100 deg rate error, i_factor is almost 1 (having no effect),
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// and up to 200 deg error leads to <25% reduction of I.
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float i_factor = rate_error(i) / math::radians(400.f);
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i_factor = math::max(0.0f, 1.f - i_factor * i_factor);
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// Perform the integration using a first order method
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float rate_i = _rate_int(i) + i_factor * _gain_i(i) * rate_error(i) * dt;
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// do not propagate the result if out of range or invalid
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if (PX4_ISFINITE(rate_i)) {
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_rate_int(i) = math::constrain(rate_i, -_lim_int(i), _lim_int(i));
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}
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}
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}
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void RateControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
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{
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rate_ctrl_status.rollspeed_integ = _rate_int(0);
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rate_ctrl_status.pitchspeed_integ = _rate_int(1);
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rate_ctrl_status.yawspeed_integ = _rate_int(2);
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}
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@@ -0,0 +1,128 @@
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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.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* 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
|
||||
* 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
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* 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,
|
||||
* 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
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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 RateControl.hpp
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*
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* PID 3 axis angular rate / angular velocity control.
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
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#include <lib/mixer/mixer.h>
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#include <uORB/topics/rate_ctrl_status.h>
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class RateControl
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{
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public:
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RateControl() = default;
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~RateControl() = default;
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/**
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* Set the rate control gains
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* @param P 3D vector of proportional gains for body x,y,z axis
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* @param I 3D vector of integral gains
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* @param D 3D vector of derivative gains
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*/
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void setGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D);
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/**
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* Set the mximum absolute value of the integrator for all axes
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* @param integrator_limit limit value for all axes x, y, z
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*/
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void setIntegratorLimit(const matrix::Vector3f &integrator_limit) { _lim_int = integrator_limit; };
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/**
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* Set update frequency and low-pass filter cutoff that is applied to the derivative term
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* @param loop_rate [Hz] rate with which update function is called
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* @param cutoff [Hz] cutoff frequency for the low-pass filter on the dervative term
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* @param force flag to force an expensive update even if the cutoff didn't change
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*/
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void setDTermCutoff(const float loop_rate, const float cutoff, const bool force);
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/**
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* Set direct rate to torque feed forward gain
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* @see _gain_ff
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* @param FF 3D vector of feed forward gains for body x,y,z axis
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*/
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void setFeedForwardGain(const matrix::Vector3f &FF) { _gain_ff = FF; };
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/**
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* Set saturation status
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* @param status message from mixer reporting about saturation
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*/
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void setSaturationStatus(const MultirotorMixer::saturation_status &status);
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/**
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* Run one control loop cycle calculation
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* @param rate estimation of the current vehicle angular rate
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* @param rate_sp desired vehicle angular rate setpoint
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* @param dt desired vehicle angular rate setpoint
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* @return [-1,1] normalized torque vector to apply to the vehicle
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*/
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matrix::Vector3f update(const matrix::Vector3f &rate, const matrix::Vector3f &rate_sp, const float dt,
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const bool landed);
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/**
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* Set the integral term to 0 to prevent windup
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* @see _rate_int
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*/
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void resetIntegral() { _rate_int.zero(); }
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/**
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* Get status message of controller for logging/debugging
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* @param rate_ctrl_status status message to fill with internal states
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*/
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void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status);
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private:
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void updateIntegral(matrix::Vector3f &rate_error, const float dt);
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// Gains
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matrix::Vector3f _gain_p; ///< rate control proportional gain for all axes x, y, z
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matrix::Vector3f _gain_i; ///< rate control integral gain
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matrix::Vector3f _gain_d; ///< rate control derivative gain
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matrix::Vector3f _lim_int; ///< integrator term maximum absolute value
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matrix::Vector3f _gain_ff; ///< direct rate to torque feed forward gain only useful for helicopters
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// States
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matrix::Vector3f _rate_prev; ///< angular rates of previous update
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matrix::Vector3f _rate_prev_filtered; ///< low-pass filtered angular rates of previous update
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matrix::Vector3f _rate_int; ///< integral term of the rate controller
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math::LowPassFilter2pVector3f _lp_filters_d{0.f, 0.f}; ///< low-pass filters for D-term (roll, pitch & yaw)
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bool _mixer_saturation_positive[3] {};
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bool _mixer_saturation_negative[3] {};
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};
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@@ -0,0 +1,44 @@
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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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#include <gtest/gtest.h>
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#include <RateControl.hpp>
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using namespace matrix;
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TEST(RateControlTest, AllZeroCase)
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{
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RateControl rate_control;
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Vector3f torque = rate_control.update(Vector3f(), Vector3f(), 0.f, false);
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EXPECT_EQ(torque, Vector3f());
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}
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