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Lorenz Meier
@@ -0,0 +1,140 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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||||
* @file ecl_controller.cpp
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||||
* Definition of base class for other controllers
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*
|
||||
* Acknowledgements:
|
||||
*
|
||||
* The control design is based on a design
|
||||
* by Paul Riseborough and Andrew Tridgell, 2013,
|
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* which in turn is based on initial work of
|
||||
* Jonathan Challinger, 2012.
|
||||
*/
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#include "ecl_controller.h"
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#include <stdio.h>
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#include <mathlib/mathlib.h>
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ECL_Controller::ECL_Controller(const char *name) :
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_last_run(0),
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_tc(0.1f),
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_k_p(0.0f),
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||||
_k_i(0.0f),
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||||
_k_ff(0.0f),
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_integrator_max(0.0f),
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_max_rate(0.0f),
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_last_output(0.0f),
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_integrator(0.0f),
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_rate_error(0.0f),
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_rate_setpoint(0.0f),
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_bodyrate_setpoint(0.0f),
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_perf_name()
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{
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/* Init performance counter */
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snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
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_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
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}
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ECL_Controller::~ECL_Controller()
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{
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perf_free(_nonfinite_input_perf);
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}
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void ECL_Controller::reset_integrator()
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{
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_integrator = 0.0f;
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}
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void ECL_Controller::set_time_constant(float time_constant)
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{
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if (time_constant > 0.1f && time_constant < 3.0f) {
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_tc = time_constant;
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}
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}
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void ECL_Controller::set_k_p(float k_p)
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{
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_k_p = k_p;
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}
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void ECL_Controller::set_k_i(float k_i)
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{
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_k_i = k_i;
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}
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void ECL_Controller::set_k_ff(float k_ff)
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{
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_k_ff = k_ff;
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}
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void ECL_Controller::set_integrator_max(float max)
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{
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_integrator_max = max;
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}
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void ECL_Controller::set_max_rate(float max_rate)
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{
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_max_rate = max_rate;
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}
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float ECL_Controller::get_rate_error()
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{
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return _rate_error;
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}
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float ECL_Controller::get_desired_rate()
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{
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return _rate_setpoint;
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}
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float ECL_Controller::get_desired_bodyrate()
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{
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return _bodyrate_setpoint;
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}
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float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float maxspeed) {
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float airspeed_result = airspeed;
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if (!PX4_ISFINITE(airspeed)) {
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/* airspeed is NaN, +- INF or not available, pick center of band */
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airspeed_result = 0.5f * (minspeed + maxspeed);
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} else if (airspeed < minspeed) {
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airspeed_result = minspeed;
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}
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return airspeed_result;
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}
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@@ -0,0 +1,123 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_controller.h
|
||||
* Definition of base class for other controllers
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*
|
||||
* Acknowledgements:
|
||||
*
|
||||
* The control design is based on a design
|
||||
* by Paul Riseborough and Andrew Tridgell, 2013,
|
||||
* which in turn is based on initial work of
|
||||
* Jonathan Challinger, 2012.
|
||||
*/
|
||||
|
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include <systemlib/perf_counter.h>
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struct ECL_ControlData {
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float roll;
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float pitch;
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float yaw;
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float roll_rate;
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float pitch_rate;
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float yaw_rate;
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float speed_body_u;
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float speed_body_v;
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float speed_body_w;
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float acc_body_x;
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float acc_body_y;
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float acc_body_z;
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float roll_setpoint;
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float pitch_setpoint;
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float yaw_setpoint;
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float roll_rate_setpoint;
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float pitch_rate_setpoint;
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float yaw_rate_setpoint;
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float airspeed_min;
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float airspeed_max;
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float airspeed;
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float scaler;
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bool lock_integrator;
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};
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class __EXPORT ECL_Controller
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{
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public:
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ECL_Controller(const char *name);
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~ECL_Controller();
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virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
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virtual float control_bodyrate(const struct ECL_ControlData &ctl_data) = 0;
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/* Setters */
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void set_time_constant(float time_constant);
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void set_k_p(float k_p);
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void set_k_i(float k_i);
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void set_k_ff(float k_ff);
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void set_integrator_max(float max);
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void set_max_rate(float max_rate);
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/* Getters */
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float get_rate_error();
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float get_desired_rate();
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float get_desired_bodyrate();
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void reset_integrator();
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protected:
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uint64_t _last_run;
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float _tc;
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float _k_p;
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float _k_i;
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float _k_ff;
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float _integrator_max;
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float _max_rate;
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float _last_output;
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float _integrator;
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float _rate_error;
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float _rate_setpoint;
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float _bodyrate_setpoint;
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perf_counter_t _nonfinite_input_perf;
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static const uint8_t _perf_name_max = 40;
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char _perf_name[_perf_name_max];
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float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
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};
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||||
@@ -0,0 +1,198 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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* @file ecl_pitch_controller.cpp
|
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* Implementation of a simple orthogonal pitch PID controller.
|
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*
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||||
* Authors and acknowledgements in header.
|
||||
*/
|
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|
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#include "ecl_pitch_controller.h"
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#include <math.h>
|
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#include <stdint.h>
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#include <float.h>
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#include <geo/geo.h>
|
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#include <ecl/ecl.h>
|
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#include <mathlib/mathlib.h>
|
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#include <systemlib/err.h>
|
||||
|
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ECL_PitchController::ECL_PitchController() :
|
||||
ECL_Controller("pitch"),
|
||||
_max_rate_neg(0.0f),
|
||||
_roll_ff(0.0f)
|
||||
{
|
||||
}
|
||||
|
||||
ECL_PitchController::~ECL_PitchController()
|
||||
{
|
||||
}
|
||||
|
||||
float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.pitch_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.roll) &&
|
||||
PX4_ISFINITE(ctl_data.pitch) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
warnx("not controlling pitch");
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
/* Calculate the error */
|
||||
float pitch_error = ctl_data.pitch_setpoint - ctl_data.pitch;
|
||||
|
||||
/* Apply P controller: rate setpoint from current error and time constant */
|
||||
_rate_setpoint = pitch_error / _tc;
|
||||
|
||||
/* limit the rate */
|
||||
if (_max_rate > 0.01f && _max_rate_neg > 0.01f) {
|
||||
if (_rate_setpoint > 0.0f) {
|
||||
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
|
||||
|
||||
} else {
|
||||
_rate_setpoint = (_rate_setpoint < -_max_rate_neg) ? -_max_rate_neg : _rate_setpoint;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.roll) &&
|
||||
PX4_ISFINITE(ctl_data.pitch) &&
|
||||
PX4_ISFINITE(ctl_data.pitch_rate) &&
|
||||
PX4_ISFINITE(ctl_data.yaw_rate) &&
|
||||
PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_min) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_max) &&
|
||||
PX4_ISFINITE(ctl_data.scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
/* get the usual dt estimate */
|
||||
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
|
||||
_last_run = ecl_absolute_time();
|
||||
float dt = (float)dt_micros * 1e-6f;
|
||||
|
||||
/* lock integral for long intervals */
|
||||
bool lock_integrator = ctl_data.lock_integrator;
|
||||
|
||||
if (dt_micros > 500000) {
|
||||
lock_integrator = true;
|
||||
}
|
||||
|
||||
/* Transform setpoint to body angular rates (jacobian) */
|
||||
_bodyrate_setpoint = cosf(ctl_data.roll) * _rate_setpoint +
|
||||
cosf(ctl_data.pitch) * sinf(ctl_data.roll) * ctl_data.yaw_rate_setpoint;
|
||||
|
||||
/* apply turning offset to desired bodyrate setpoint*/
|
||||
/* flying inverted (wings upside down)*/
|
||||
bool inverted = false;
|
||||
float constrained_roll;
|
||||
/* roll is used as feedforward term and inverted flight needs to be considered */
|
||||
if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
|
||||
/* not inverted, but numerically still potentially close to infinity */
|
||||
constrained_roll = math::constrain(ctl_data.roll, math::radians(-80.0f), math::radians(80.0f));
|
||||
|
||||
} else {
|
||||
/* inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity */
|
||||
inverted = true;
|
||||
/* note: the ranges are extended by 10 deg here to avoid numeric resolution effects */
|
||||
if (ctl_data.roll > 0.0f) {
|
||||
/* right hemisphere */
|
||||
constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f));
|
||||
|
||||
} else {
|
||||
/* left hemisphere */
|
||||
constrained_roll = math::constrain(ctl_data.roll, math::radians(-100.0f), math::radians(-180.0f));
|
||||
}
|
||||
}
|
||||
|
||||
/* input conditioning */
|
||||
float airspeed = constrain_airspeed(ctl_data.airspeed, ctl_data.airspeed_min, ctl_data.airspeed_max);
|
||||
|
||||
/* Calculate desired body fixed y-axis angular rate needed to compensate for roll angle.
|
||||
For reference see Automatic Control of Aircraft and Missiles by John H. Blakelock, pg. 175
|
||||
Availible on google books 8/11/2015:
|
||||
https://books.google.com/books?id=ubcczZUDCsMC&pg=PA175#v=onepage&q&f=false*/
|
||||
float body_fixed_turn_offset = (fabsf((CONSTANTS_ONE_G / airspeed) *
|
||||
tanf(constrained_roll) * sinf(constrained_roll)));
|
||||
|
||||
if (inverted) {
|
||||
body_fixed_turn_offset = -body_fixed_turn_offset;
|
||||
}
|
||||
|
||||
/* Finally add the turn offset to your bodyrate setpoint*/
|
||||
_bodyrate_setpoint += body_fixed_turn_offset;
|
||||
|
||||
|
||||
_rate_error = _bodyrate_setpoint - ctl_data.pitch_rate;
|
||||
|
||||
if (!lock_integrator && _k_i > 0.0f) {
|
||||
|
||||
float id = _rate_error * dt * ctl_data.scaler;
|
||||
|
||||
/*
|
||||
* anti-windup: do not allow integrator to increase if actuator is at limit
|
||||
*/
|
||||
if (_last_output < -1.0f) {
|
||||
/* only allow motion to center: increase value */
|
||||
id = math::max(id, 0.0f);
|
||||
|
||||
} else if (_last_output > 1.0f) {
|
||||
/* only allow motion to center: decrease value */
|
||||
id = math::min(id, 0.0f);
|
||||
}
|
||||
|
||||
_integrator += id;
|
||||
}
|
||||
|
||||
/* integrator limit */
|
||||
//xxx: until start detection is available: integral part in control signal is limited here
|
||||
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
|
||||
|
||||
/* Apply PI rate controller and store non-limited output */
|
||||
_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
|
||||
_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
|
||||
+ integrator_constrained; //scaler is proportional to 1/airspeed
|
||||
// warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
|
||||
// warnx("roll: _last_output %.4f", (double)_last_output);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_pitch_controller.h
|
||||
* Definition of a simple orthogonal pitch PID controller.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*
|
||||
* Acknowledgements:
|
||||
*
|
||||
* The control design is based on a design
|
||||
* by Paul Riseborough and Andrew Tridgell, 2013,
|
||||
* which in turn is based on initial work of
|
||||
* Jonathan Challinger, 2012.
|
||||
*/
|
||||
|
||||
#ifndef ECL_PITCH_CONTROLLER_H
|
||||
#define ECL_PITCH_CONTROLLER_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "ecl_controller.h"
|
||||
|
||||
class __EXPORT ECL_PitchController :
|
||||
public ECL_Controller
|
||||
{
|
||||
public:
|
||||
ECL_PitchController();
|
||||
|
||||
~ECL_PitchController();
|
||||
|
||||
float control_attitude(const struct ECL_ControlData &ctl_data);
|
||||
float control_bodyrate(const struct ECL_ControlData &ctl_data);
|
||||
|
||||
/* Additional Setters */
|
||||
void set_max_rate_pos(float max_rate_pos)
|
||||
{
|
||||
_max_rate = max_rate_pos;
|
||||
}
|
||||
|
||||
void set_max_rate_neg(float max_rate_neg)
|
||||
{
|
||||
_max_rate_neg = max_rate_neg;
|
||||
}
|
||||
|
||||
void set_roll_ff(float roll_ff)
|
||||
{
|
||||
_roll_ff = roll_ff;
|
||||
}
|
||||
|
||||
protected:
|
||||
float _max_rate_neg;
|
||||
float _roll_ff;
|
||||
};
|
||||
|
||||
#endif // ECL_PITCH_CONTROLLER_H
|
||||
@@ -0,0 +1,146 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_roll_controller.cpp
|
||||
* Implementation of a simple orthogonal roll PID controller.
|
||||
*
|
||||
* Authors and acknowledgements in header.
|
||||
*/
|
||||
|
||||
#include <ecl/ecl.h>
|
||||
#include "ecl_roll_controller.h"
|
||||
#include <stdint.h>
|
||||
#include <float.h>
|
||||
#include <geo/geo.h>
|
||||
#include <ecl/ecl.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
ECL_RollController::ECL_RollController() :
|
||||
ECL_Controller("roll")
|
||||
{
|
||||
}
|
||||
|
||||
ECL_RollController::~ECL_RollController()
|
||||
{
|
||||
}
|
||||
|
||||
float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.roll_setpoint) && PX4_ISFINITE(ctl_data.roll))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
/* Calculate error */
|
||||
float roll_error = ctl_data.roll_setpoint - ctl_data.roll;
|
||||
|
||||
/* Apply P controller */
|
||||
_rate_setpoint = roll_error / _tc;
|
||||
|
||||
/* limit the rate */ //XXX: move to body angluar rates
|
||||
|
||||
if (_max_rate > 0.01f) {
|
||||
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
|
||||
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
|
||||
}
|
||||
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.pitch) &&
|
||||
PX4_ISFINITE(ctl_data.roll_rate) &&
|
||||
PX4_ISFINITE(ctl_data.yaw_rate) &&
|
||||
PX4_ISFINITE(ctl_data.yaw_rate_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_min) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_max) &&
|
||||
PX4_ISFINITE(ctl_data.scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
/* get the usual dt estimate */
|
||||
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
|
||||
_last_run = ecl_absolute_time();
|
||||
float dt = (float)dt_micros * 1e-6f;
|
||||
|
||||
/* lock integral for long intervals */
|
||||
bool lock_integrator = ctl_data.lock_integrator;
|
||||
|
||||
if (dt_micros > 500000) {
|
||||
lock_integrator = true;
|
||||
}
|
||||
|
||||
/* Transform setpoint to body angular rates (jacobian) */
|
||||
_bodyrate_setpoint = _rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;
|
||||
|
||||
/* Calculate body angular rate error */
|
||||
_rate_error = _bodyrate_setpoint - ctl_data.roll_rate; //body angular rate error
|
||||
|
||||
if (!lock_integrator && _k_i > 0.0f) {
|
||||
|
||||
float id = _rate_error * dt * ctl_data.scaler;
|
||||
|
||||
/*
|
||||
* anti-windup: do not allow integrator to increase if actuator is at limit
|
||||
*/
|
||||
if (_last_output < -1.0f) {
|
||||
/* only allow motion to center: increase value */
|
||||
id = math::max(id, 0.0f);
|
||||
|
||||
} else if (_last_output > 1.0f) {
|
||||
/* only allow motion to center: decrease value */
|
||||
id = math::min(id, 0.0f);
|
||||
}
|
||||
|
||||
_integrator += id;
|
||||
}
|
||||
|
||||
/* integrator limit */
|
||||
//xxx: until start detection is available: integral part in control signal is limited here
|
||||
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
|
||||
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
|
||||
|
||||
/* Apply PI rate controller and store non-limited output */
|
||||
_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
|
||||
_rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
|
||||
+ integrator_constrained; //scaler is proportional to 1/airspeed
|
||||
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
@@ -0,0 +1,69 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_roll_controller.h
|
||||
* Definition of a simple orthogonal roll PID controller.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*
|
||||
* Acknowledgements:
|
||||
*
|
||||
* The control design is based on a design
|
||||
* by Paul Riseborough and Andrew Tridgell, 2013,
|
||||
* which in turn is based on initial work of
|
||||
* Jonathan Challinger, 2012.
|
||||
*/
|
||||
|
||||
#ifndef ECL_ROLL_CONTROLLER_H
|
||||
#define ECL_ROLL_CONTROLLER_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "ecl_controller.h"
|
||||
|
||||
class __EXPORT ECL_RollController :
|
||||
public ECL_Controller
|
||||
{
|
||||
public:
|
||||
ECL_RollController();
|
||||
|
||||
~ECL_RollController();
|
||||
|
||||
float control_attitude(const struct ECL_ControlData &ctl_data);
|
||||
float control_bodyrate(const struct ECL_ControlData &ctl_data);
|
||||
};
|
||||
|
||||
#endif // ECL_ROLL_CONTROLLER_H
|
||||
@@ -0,0 +1,240 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_yaw_controller.cpp
|
||||
* Implementation of a simple orthogonal coordinated turn yaw PID controller.
|
||||
*
|
||||
* Authors and acknowledgements in header.
|
||||
*/
|
||||
|
||||
#include "ecl_yaw_controller.h"
|
||||
#include <stdint.h>
|
||||
#include <float.h>
|
||||
#include <geo/geo.h>
|
||||
#include <ecl/ecl.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <ecl/ecl.h>
|
||||
|
||||
ECL_YawController::ECL_YawController() :
|
||||
ECL_Controller("yaw"),
|
||||
_coordinated_min_speed(1.0f),
|
||||
_coordinated_method(0)
|
||||
{
|
||||
}
|
||||
|
||||
ECL_YawController::~ECL_YawController()
|
||||
{
|
||||
}
|
||||
|
||||
float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
switch (_coordinated_method) {
|
||||
case COORD_METHOD_OPEN:
|
||||
return control_attitude_impl_openloop(ctl_data);
|
||||
|
||||
case COORD_METHOD_CLOSEACC:
|
||||
return control_attitude_impl_accclosedloop(ctl_data);
|
||||
|
||||
default:
|
||||
static hrt_abstime last_print = 0;
|
||||
|
||||
if (ecl_elapsed_time(&last_print) > 5e6) {
|
||||
warnx("invalid param setting FW_YCO_METHOD");
|
||||
last_print = ecl_absolute_time();
|
||||
}
|
||||
}
|
||||
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
switch (_coordinated_method) {
|
||||
case COORD_METHOD_OPEN:
|
||||
case COORD_METHOD_CLOSEACC:
|
||||
return control_bodyrate_impl(ctl_data);
|
||||
|
||||
default:
|
||||
static hrt_abstime last_print = 0;
|
||||
|
||||
if (ecl_elapsed_time(&last_print) > 5e6) {
|
||||
warnx("invalid param setting FW_YCO_METHOD");
|
||||
last_print = ecl_absolute_time();
|
||||
}
|
||||
}
|
||||
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
float ECL_YawController::control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.roll) &&
|
||||
PX4_ISFINITE(ctl_data.pitch) &&
|
||||
PX4_ISFINITE(ctl_data.speed_body_u) &&
|
||||
PX4_ISFINITE(ctl_data.speed_body_v) &&
|
||||
PX4_ISFINITE(ctl_data.speed_body_w) &&
|
||||
PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
// static int counter = 0;
|
||||
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
|
||||
_rate_setpoint = 0.0f;
|
||||
|
||||
if (sqrtf(ctl_data.speed_body_u * ctl_data.speed_body_u + ctl_data.speed_body_v * ctl_data.speed_body_v +
|
||||
ctl_data.speed_body_w * ctl_data.speed_body_w) > _coordinated_min_speed) {
|
||||
float denumerator = (ctl_data.speed_body_u * cosf(ctl_data.roll) * cosf(ctl_data.pitch) +
|
||||
ctl_data.speed_body_w * sinf(ctl_data.pitch));
|
||||
|
||||
if (fabsf(denumerator) > FLT_EPSILON) {
|
||||
_rate_setpoint = (ctl_data.speed_body_w * ctl_data.roll_rate_setpoint +
|
||||
9.81f * sinf(ctl_data.roll) * cosf(ctl_data.pitch) +
|
||||
ctl_data.speed_body_u * ctl_data.pitch_rate_setpoint * sinf(ctl_data.roll)) /
|
||||
denumerator;
|
||||
|
||||
// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
|
||||
}
|
||||
|
||||
// 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
|
||||
|
||||
if (_max_rate > 0.01f) {
|
||||
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
|
||||
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
|
||||
}
|
||||
|
||||
|
||||
// counter++;
|
||||
|
||||
if (!PX4_ISFINITE(_rate_setpoint)) {
|
||||
warnx("yaw rate sepoint not finite");
|
||||
_rate_setpoint = 0.0f;
|
||||
}
|
||||
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.pitch_rate) &&
|
||||
PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
|
||||
PX4_ISFINITE(ctl_data.scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
/* get the usual dt estimate */
|
||||
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
|
||||
_last_run = ecl_absolute_time();
|
||||
float dt = (float)dt_micros * 1e-6f;
|
||||
|
||||
/* lock integral for long intervals */
|
||||
bool lock_integrator = ctl_data.lock_integrator;
|
||||
|
||||
if (dt_micros > 500000) {
|
||||
lock_integrator = true;
|
||||
}
|
||||
|
||||
/* input conditioning */
|
||||
float airspeed = ctl_data.airspeed;
|
||||
|
||||
if (!PX4_ISFINITE(airspeed)) {
|
||||
/* airspeed is NaN, +- INF or not available, pick center of band */
|
||||
airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
|
||||
|
||||
} else if (airspeed < ctl_data.airspeed_min) {
|
||||
airspeed = ctl_data.airspeed_min;
|
||||
}
|
||||
|
||||
|
||||
/* Transform setpoint to body angular rates (jacobian) */
|
||||
_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
|
||||
cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint;
|
||||
|
||||
/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
|
||||
if (_coordinated_method == COORD_METHOD_CLOSEACC) {
|
||||
//XXX: filtering of acceleration?
|
||||
_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
|
||||
}
|
||||
|
||||
/* Calculate body angular rate error */
|
||||
_rate_error = _bodyrate_setpoint - ctl_data.yaw_rate; //body angular rate error
|
||||
|
||||
if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
|
||||
|
||||
float id = _rate_error * dt;
|
||||
|
||||
/*
|
||||
* anti-windup: do not allow integrator to increase if actuator is at limit
|
||||
*/
|
||||
if (_last_output < -1.0f) {
|
||||
/* only allow motion to center: increase value */
|
||||
id = math::max(id, 0.0f);
|
||||
|
||||
} else if (_last_output > 1.0f) {
|
||||
/* only allow motion to center: decrease value */
|
||||
id = math::min(id, 0.0f);
|
||||
}
|
||||
|
||||
_integrator += id;
|
||||
}
|
||||
|
||||
/* integrator limit */
|
||||
//xxx: until start detection is available: integral part in control signal is limited here
|
||||
float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
|
||||
|
||||
/* Apply PI rate controller and store non-limited output */
|
||||
_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler *
|
||||
ctl_data.scaler; //scaler is proportional to 1/airspeed
|
||||
//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
|
||||
|
||||
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data)
|
||||
{
|
||||
/* dont set a rate setpoint */
|
||||
return 0.0f;
|
||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_yaw_controller.h
|
||||
* Definition of a simple orthogonal coordinated turn yaw PID controller.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*
|
||||
* Acknowledgements:
|
||||
*
|
||||
* The control design is based on a design
|
||||
* by Paul Riseborough and Andrew Tridgell, 2013,
|
||||
* which in turn is based on initial work of
|
||||
* Jonathan Challinger, 2012.
|
||||
*/
|
||||
#ifndef ECL_YAW_CONTROLLER_H
|
||||
#define ECL_YAW_CONTROLLER_H
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "ecl_controller.h"
|
||||
|
||||
class __EXPORT ECL_YawController :
|
||||
public ECL_Controller
|
||||
{
|
||||
public:
|
||||
ECL_YawController();
|
||||
|
||||
~ECL_YawController();
|
||||
|
||||
float control_attitude(const struct ECL_ControlData &ctl_data);
|
||||
|
||||
float control_bodyrate(const struct ECL_ControlData &ctl_data);
|
||||
|
||||
/* Additional setters */
|
||||
void set_coordinated_min_speed(float coordinated_min_speed)
|
||||
{
|
||||
_coordinated_min_speed = coordinated_min_speed;
|
||||
}
|
||||
|
||||
void set_coordinated_method(int32_t coordinated_method)
|
||||
{
|
||||
_coordinated_method = coordinated_method;
|
||||
}
|
||||
|
||||
protected:
|
||||
float _coordinated_min_speed;
|
||||
|
||||
enum {
|
||||
COORD_METHOD_OPEN = 0,
|
||||
COORD_METHOD_CLOSEACC = 1,
|
||||
};
|
||||
|
||||
int32_t _coordinated_method;
|
||||
|
||||
float control_bodyrate_impl(const struct ECL_ControlData &ctl_data);
|
||||
|
||||
float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);
|
||||
|
||||
float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
|
||||
|
||||
};
|
||||
|
||||
#endif // ECL_YAW_CONTROLLER_H
|
||||
Reference in New Issue
Block a user