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updated control gains

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This commit is contained in:
Marvin Harms
2022-07-08 11:11:52 +02:00
parent c287c56f8d
commit b01e864271
5 changed files with 25 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+8 -2
View File
@@ -387,6 +387,12 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
case 5:
strcpy(filename,"trajectory5.csv");
break;
case 6:
strcpy(filename,"trajectory6.csv");
break;
case 7:
strcpy(filename,"trajectory7.csv");
break;
default:
strcpy(filename,"trajectory0.csv");
@@ -403,8 +409,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
// =======================================================================
bool error = false;
//char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
//char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
//PX4_ERR(home_dir);
strcat(home_dir,filename);
FILE* fp = fopen(home_dir, "r");
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+8 -8
View File
@@ -179,7 +179,7 @@ PARAM_DEFINE_FLOAT(DS_C_D2, 1.984f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_AOA_OFFSET, 0.03f);
PARAM_DEFINE_FLOAT(DS_AOA_OFFSET, 0.07f);
/**
* stall speed of the aircraft
@@ -243,7 +243,7 @@ PARAM_DEFINE_FLOAT(DS_LIN_K_Z, 1.0f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_LIN_C_X, 0.75f);
PARAM_DEFINE_FLOAT(DS_LIN_C_X, 1.0f);
/**
* normalized damping coefficient of position PD-controller (body y-direction)
@@ -255,7 +255,7 @@ PARAM_DEFINE_FLOAT(DS_LIN_C_X, 0.75f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_LIN_C_Y, 0.75f);
PARAM_DEFINE_FLOAT(DS_LIN_C_Y, 1.0f);
/**
* normalized damping coefficient of position PD-controller (body z-direction)
@@ -267,7 +267,7 @@ PARAM_DEFINE_FLOAT(DS_LIN_C_Y, 0.75f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_LIN_C_Z, 0.75f);
PARAM_DEFINE_FLOAT(DS_LIN_C_Z, 1.0f);
/**
* acceleration feedback gain of position PD-controller (body x-direction)
@@ -351,7 +351,7 @@ PARAM_DEFINE_FLOAT(DS_ROT_K_YAW, 0.5f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ROT_C_ROLL, 0.75f);
PARAM_DEFINE_FLOAT(DS_ROT_C_ROLL, 1.0f);
/**
* normalized damping coefficient of attitude PD-controller (body pitch-direction)
@@ -363,7 +363,7 @@ PARAM_DEFINE_FLOAT(DS_ROT_C_ROLL, 0.75f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ROT_C_PITCH, 0.75f);
PARAM_DEFINE_FLOAT(DS_ROT_C_PITCH, 1.0f);
/**
* normalized damping coefficient of rudder (turn coordination)
@@ -375,7 +375,7 @@ PARAM_DEFINE_FLOAT(DS_ROT_C_PITCH, 0.75f);
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ROT_C_YAW, 0.75f);
PARAM_DEFINE_FLOAT(DS_ROT_C_YAW, 1.0f);
// =============================
@@ -503,7 +503,7 @@ PARAM_DEFINE_FLOAT(DS_ORIGIN_ALT, 537.0f);
*
* @unit
* @min 0
* @max 5
* @max 7
* @decimal 1
* @increment 1
* @group FW DYN SOAR Control
src/modules/fw_dyn_soar_control/trajectories/trajectory5.csv
+3 -3
View File
@@ -1,3 +1,3 @@
-0.000,-781.421,2772.262,-4735.693,4209.317,-722.559,-2959.369,3288.484,-35.365,-3247.738,2983.669,648.617,-4130.364,4685.063,-2752.697,777.818
-24.999,-1273.790,6034.068,-14026.338,20140.020,-17540.834,4937.462,10289.891,-17012.188,10076.654,5264.646,-17851.061,20348.947,-14126.020,6064.982,-1278.551
100.000,390.704,-1386.141,2367.764,-2104.665,361.193,1479.710,-1644.136,17.612,1623.877,-1491.804,-324.685,2065.244,-2342.660,1376.409,-388.912
-0.000,-1562.842,5544.525,-9471.385,8418.635,-1445.117,-5918.738,6576.968,-70.730,-6495.476,5967.338,1297.233,-8260.729,9370.125,-5505.393,1555.636
-49.998,-2547.580,12068.136,-28052.677,40280.039,-35081.668,9874.924,20579.781,-34024.375,20153.309,10529.293,-35702.122,40697.894,-28252.039,12129.965,-2557.102
100.000,468.846,-1663.367,2841.334,-2525.597,433.449,1775.647,-1972.984,21.149,1948.651,-1790.171,-389.547,2478.280,-2811.167,1651.679,-466.694
1 -0.000 -781.421 -1562.842 2772.262 5544.525 -4735.693 -9471.385 4209.317 8418.635 -722.559 -1445.117 -2959.369 -5918.738 3288.484 6576.968 -35.365 -70.730 -3247.738 -6495.476 2983.669 5967.338 648.617 1297.233 -4130.364 -8260.729 4685.063 9370.125 -2752.697 -5505.393 777.818 1555.636
2 -24.999 -49.998 -1273.790 -2547.580 6034.068 12068.136 -14026.338 -28052.677 20140.020 40280.039 -17540.834 -35081.668 4937.462 9874.924 10289.891 20579.781 -17012.188 -34024.375 10076.654 20153.309 5264.646 10529.293 -17851.061 -35702.122 20348.947 40697.894 -14126.020 -28252.039 6064.982 12129.965 -1278.551 -2557.102
3 100.000 390.704 468.846 -1386.141 -1663.367 2367.764 2841.334 -2104.665 -2525.597 361.193 433.449 1479.710 1775.647 -1644.136 -1972.984 17.612 21.149 1623.877 1948.651 -1491.804 -1790.171 -324.685 -389.547 2065.244 2478.280 -2342.660 -2811.167 1376.409 1651.679 -388.912 -466.694
src/modules/fw_dyn_soar_control/trajectories/trajectory6.csv
+3
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@@ -0,0 +1,3 @@
-0.000,-1250.274,4435.620,-7577.108,6734.908,-1156.094,-4734.990,5261.574,-56.584,-5196.381,4773.871,1037.787,-6608.583,7496.100,-4404.315,1244.509
-39.998,-2038.064,9654.509,-22442.141,32224.031,-28065.334,7899.939,16463.825,-27219.500,16122.647,8423.434,-28561.698,32558.315,-22601.632,9703.972,-2045.682
100.000,375.075,-1330.695,2273.050,-2020.479,346.741,1420.523,-1578.366,16.905,1558.923,-1432.131,-311.713,1982.637,-2248.959,1321.355,-373.356
1 -0.000 -1250.274 4435.620 -7577.108 6734.908 -1156.094 -4734.990 5261.574 -56.584 -5196.381 4773.871 1037.787 -6608.583 7496.100 -4404.315 1244.509
2 -39.998 -2038.064 9654.509 -22442.141 32224.031 -28065.334 7899.939 16463.825 -27219.500 16122.647 8423.434 -28561.698 32558.315 -22601.632 9703.972 -2045.682
3 100.000 375.075 -1330.695 2273.050 -2020.479 346.741 1420.523 -1578.366 16.905 1558.923 -1432.131 -311.713 1982.637 -2248.959 1321.355 -373.356
src/modules/fw_dyn_soar_control/trajectories/trajectory7.csv
+3
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@@ -0,0 +1,3 @@
-0.000,-937.705,3326.715,-5682.831,5051.181,-867.070,-3551.243,3946.181,-42.438,-3897.285,3580.403,778.340,-4956.437,5622.075,-3303.236,933.382
-29.999,-1528.548,7240.882,-16831.606,24168.024,-21049.001,5924.954,12347.869,-20414.625,12091.985,6317.576,-21421.273,24418.737,-16951.224,7277.979,-1534.261
100.000,281.305,-998.024,1704.767,-1515.360,260.034,1065.399,-1183.748,12.661,1169.194,-1074.090,-233.879,1486.993,-1686.751,991.032,-280.017
1 -0.000 -937.705 3326.715 -5682.831 5051.181 -867.070 -3551.243 3946.181 -42.438 -3897.285 3580.403 778.340 -4956.437 5622.075 -3303.236 933.382
2 -29.999 -1528.548 7240.882 -16831.606 24168.024 -21049.001 5924.954 12347.869 -20414.625 12091.985 6317.576 -21421.273 24418.737 -16951.224 7277.979 -1534.261
3 100.000 281.305 -998.024 1704.767 -1515.360 260.034 1065.399 -1183.748 12.661 1169.194 -1074.090 -233.879 1486.993 -1686.751 991.032 -280.017