Copy over rate control

Adhoc fix for linking rate controller

src/modules/fw_att_control/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+add_subdirectory(RateControl)
+
 px4_add_module(
 	MODULE modules__fw_att_control
 	MAIN fw_att_control
@@ -44,5 +47,6 @@ px4_add_module(
 		ecl_yaw_controller.cpp
 	DEPENDS
 		px4_work_queue
+		RateControl2
 		SlewRate
 	)

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -31,6 +31,10 @@
  *
  ****************************************************************************/
 
+#pragma once
+
+#include <RateControl.hpp>
+
 #include <drivers/drv_hrt.h>
 #include "ecl_pitch_controller.h"
 #include "ecl_roll_controller.h"
@@ -233,6 +237,7 @@ private:
 	ECL_PitchController		_pitch_ctrl;
 	ECL_YawController		_yaw_ctrl;
 	ECL_WheelController		_wheel_ctrl;
+	RateControl _rate_control; ///< class for rate control calculations
 
 	/**
 	 * @brief Update flap control setting

src/modules/fw_att_control/RateControl/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_library(RateControl2
+	RateControl.cpp
+	RateControl.hpp
+)
+target_compile_options(RateControl2 PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(RateControl2 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(RateControl2 PRIVATE mathlib)
+
+px4_add_unit_gtest(SRC RateControlTest.cpp LINKLIBS RateControl2)

src/modules/fw_att_control/RateControl/RateControl.cpp

@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ */
+
+#include <RateControl.hpp>
+#include <px4_platform_common/defines.h>
+
+using namespace matrix;
+
+void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
+{
+	_gain_p = P;
+	_gain_i = I;
+	_gain_d = D;
+}
+
+void RateControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
+				      const Vector<bool, 3> &saturation_negative)
+{
+	_control_allocator_saturation_positive = saturation_positive;
+	_control_allocator_saturation_negative = saturation_negative;
+}
+
+Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel,
+			     const float dt, const bool landed)
+{
+	// angular rates error
+	Vector3f rate_error = rate_sp - rate;
+
+	// PID control with feed forward
+	const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
+
+	// update integral only if we are not landed
+	if (!landed) {
+		updateIntegral(rate_error, dt);
+	}
+
+	return torque;
+}
+
+void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
+{
+	for (int i = 0; i < 3; i++) {
+		// prevent further positive control saturation
+		if (_control_allocator_saturation_positive(i)) {
+			rate_error(i) = math::min(rate_error(i), 0.f);
+		}
+
+		// prevent further negative control saturation
+		if (_control_allocator_saturation_negative(i)) {
+			rate_error(i) = math::max(rate_error(i), 0.f);
+		}
+
+		// I term factor: reduce the I gain with increasing rate error.
+		// This counteracts a non-linear effect where the integral builds up quickly upon a large setpoint
+		// change (noticeable in a bounce-back effect after a flip).
+		// The formula leads to a gradual decrease w/o steps, while only affecting the cases where it should:
+		// with the parameter set to 400 degrees, up to 100 deg rate error, i_factor is almost 1 (having no effect),
+		// and up to 200 deg error leads to <25% reduction of I.
+		float i_factor = rate_error(i) / math::radians(400.f);
+		i_factor = math::max(0.0f, 1.f - i_factor * i_factor);
+
+		// Perform the integration using a first order method
+		float rate_i = _rate_int(i) + i_factor * _gain_i(i) * rate_error(i) * dt;
+
+		// do not propagate the result if out of range or invalid
+		if (PX4_ISFINITE(rate_i)) {
+			_rate_int(i) = math::constrain(rate_i, -_lim_int(i), _lim_int(i));
+		}
+	}
+}
+
+void RateControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
+{
+	rate_ctrl_status.rollspeed_integ = _rate_int(0);
+	rate_ctrl_status.pitchspeed_integ = _rate_int(1);
+	rate_ctrl_status.yawspeed_integ = _rate_int(2);
+}

src/modules/fw_att_control/RateControl/RateControl.hpp

@@ -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;
+};

src/modules/fw_att_control/RateControl/RateControlTest.cpp

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <RateControl.hpp>
+
+using namespace matrix;
+
+TEST(RateControlTest, AllZeroCase)
+{
+	RateControl rate_control;
+	Vector3f torque = rate_control.update(Vector3f(), Vector3f(), Vector3f(), 0.f, false);
+	EXPECT_EQ(torque, Vector3f());
+}