Initial import

2026-05-13 17:37:34 +08:00 · 2015-10-26 16:06:30 +01:00
parent 86fb72d3a3
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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_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);
+}
+