Copy over rate control

Adhoc fix for linking rate controller
2026-11-11 20:21:36 +08:00 · 2022-07-04 10:59:15 +02:00
parent 55eed0e125
commit a63cd2f8a8
6 changed files with 325 additions and 0 deletions
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. 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 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
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file RateControl.hpp
+ *
+ * PID 3 axis angular rate / angular velocity control.
+ */
+
+#pragma once
+
+#include <matrix/matrix/math.hpp>
+
+#include <mathlib/mathlib.h>
+#include <uORB/topics/rate_ctrl_status.h>
+
+class RateControl
+{
+public:
+	RateControl() = default;
+	~RateControl() = default;
+
+	/**
+	 * Set the rate control gains
+	 * @param P 3D vector of proportional gains for body x,y,z axis
+	 * @param I 3D vector of integral gains
+	 * @param D 3D vector of derivative gains
+	 */
+	void setGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D);
+
+	/**
+	 * Set the mximum absolute value of the integrator for all axes
+	 * @param integrator_limit limit value for all axes x, y, z
+	 */
+	void setIntegratorLimit(const matrix::Vector3f &integrator_limit) { _lim_int = integrator_limit; };
+
+	/**
+	 * Set direct rate to torque feed forward gain
+	 * @see _gain_ff
+	 * @param FF 3D vector of feed forward gains for body x,y,z axis
+	 */
+	void setFeedForwardGain(const matrix::Vector3f &FF) { _gain_ff = FF; };
+
+	/**
+	 * Set saturation status
+	 * @param control saturation vector from control allocator
+	 */
+	void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
+				 const matrix::Vector<bool, 3> &saturation_negative);
+
+	/**
+	 * Run one control loop cycle calculation
+	 * @param rate estimation of the current vehicle angular rate
+	 * @param rate_sp desired vehicle angular rate setpoint
+	 * @param dt desired vehicle angular rate setpoint
+	 * @return [-1,1] normalized torque vector to apply to the vehicle
+	 */
+	matrix::Vector3f update(const matrix::Vector3f &rate, const matrix::Vector3f &rate_sp,
+				const matrix::Vector3f &angular_accel, const float dt, const bool landed);
+
+	/**
+	 * Set the integral term to 0 to prevent windup
+	 * @see _rate_int
+	 */
+	void resetIntegral() { _rate_int.zero(); }
+
+	/**
+	 * Get status message of controller for logging/debugging
+	 * @param rate_ctrl_status status message to fill with internal states
+	 */
+	void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status);
+
+private:
+	void updateIntegral(matrix::Vector3f &rate_error, const float dt);
+
+	// Gains
+	matrix::Vector3f _gain_p; ///< rate control proportional gain for all axes x, y, z
+	matrix::Vector3f _gain_i; ///< rate control integral gain
+	matrix::Vector3f _gain_d; ///< rate control derivative gain
+	matrix::Vector3f _lim_int; ///< integrator term maximum absolute value
+	matrix::Vector3f _gain_ff; ///< direct rate to torque feed forward gain only useful for helicopters
+
+	// States
+	matrix::Vector3f _rate_int; ///< integral term of the rate controller
+
+	// Feedback from control allocation
+	matrix::Vector<bool, 3> _control_allocator_saturation_negative;
+	matrix::Vector<bool, 3> _control_allocator_saturation_positive;
+};