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fw att control: bugfixes for integrator

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This commit is contained in:
Thomas Gubler
2013-10-24 17:47:22 +02:00
parent b9ef3636f5
commit 8f74aab468
6 changed files with 48 additions and 29 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+4 -7
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@@ -116,8 +116,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = dt_micros / 1000000;
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
/* lock integral for long intervals */
if (dt_micros > 500000)
@@ -142,11 +141,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
_rate_error = _bodyrate_setpoint - pitch_bodyrate;
float ilimit_scaled = 0.0f;
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * k_i_rate * dt * scaler;
float id = _rate_error * dt;
/*
* anti-windup: do not allow integrator to increase into the
@@ -164,9 +161,9 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_roll_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+7 -6
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@@ -45,6 +45,7 @@
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
ECL_RollController::ECL_RollController() :
_last_run(0),
@@ -85,7 +86,7 @@ float ECL_RollController::control_bodyrate(float pitch,
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc;
@@ -108,11 +109,9 @@ float ECL_RollController::control_bodyrate(float pitch,
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
float ilimit_scaled = 0.0f;
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * k_i_rate * dt * scaler;
float id = _rate_error * dt;
/*
* anti-windup: do not allow integrator to increase into the
@@ -130,9 +129,11 @@ float ECL_RollController::control_bodyrate(float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+20 -10
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@@ -44,6 +44,7 @@
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
ECL_YawController::ECL_YawController() :
_last_run(0),
@@ -53,7 +54,8 @@ ECL_YawController::ECL_YawController() :
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f),
_max_deflection_rad(math::radians(45.0f))
_max_deflection_rad(math::radians(45.0f)),
_coordinated(1.0f)
{
@@ -63,11 +65,18 @@ float ECL_YawController::control_attitude(float roll, float pitch,
float speed_body_u, float speed_body_w,
float roll_rate_setpoint, float pitch_rate_setpoint)
{
// static int counter = 0;
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_rate_setpoint = 0.0f;
float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
if(denumerator != 0.0f) { //XXX: floating point comparison
_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
if (_coordinated > 0.1) {
float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
if(denumerator != 0.0f) { //XXX: floating point comparison
_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
}
// if(counter % 20 == 0) {
// warnx("denumerator: %.4f, speed_body_u: %.4f, speed_body_w: %.4f, cosf(roll): %.4f, cosf(pitch): %.4f, sinf(pitch): %.4f", (double)denumerator, (double)speed_body_u, (double)speed_body_w, (double)cosf(roll), (double)cosf(pitch), (double)sinf(pitch));
// }
}
/* limit the rate */ //XXX: move to body angluar rates
@@ -76,6 +85,9 @@ float ECL_YawController::control_attitude(float roll, float pitch,
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
}
// counter++;
return _rate_setpoint;
}
@@ -87,7 +99,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc;
@@ -110,11 +122,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
float ilimit_scaled = 0.0f;
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * k_i_rate * dt * scaler;
float id = _rate_error * dt;
/*
* anti-windup: do not allow integrator to increase into the
@@ -132,9 +142,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
}
/* integrator limit */
_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler;
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+4
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@@ -85,6 +85,9 @@ public:
void set_k_roll_ff(float roll_ff) {
_roll_ff = roll_ff;
}
void set_coordinated(float coordinated) {
_coordinated = coordinated;
}
float get_rate_error() {
@@ -115,6 +118,7 @@ private:
float _rate_setpoint;
float _bodyrate_setpoint;
float _max_deflection_rad;
float _coordinated;
};