From 3d9dd86900fcdc146b501efda2d2bcb0d51b3621 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 28 May 2014 00:12:59 +0200 Subject: [PATCH 1/3] mavlink mission item takeoff: read correct param for minimal pitch --- src/modules/mavlink/mavlink_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 28dd97fca1..bb1ad86ef6 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -415,7 +415,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self) void Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self) { - + Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (inst != self) { @@ -886,7 +886,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item switch (mavlink_mission_item->command) { case MAV_CMD_NAV_TAKEOFF: - mission_item->pitch_min = mavlink_mission_item->param2; + mission_item->pitch_min = mavlink_mission_item->param1; break; default: From 36c938a187e63fa5ec6d72b9ac5628334b23b837 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 28 May 2014 00:14:28 +0200 Subject: [PATCH 2/3] mtecs: support overriding limit parameters --- src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 55 ++++++++++++--- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 67 ++++++++++++++++++- .../fw_pos_control_l1/mtecs/mTecs_blocks.h | 3 +- 3 files changed, 113 insertions(+), 12 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 087e1b4765..d370bf9063 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -79,7 +79,8 @@ mTecs::~mTecs() { } -int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) +int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, + float airspeedSp, tecs_mode mode, LimitOverride limitOverride) { /* check if all input arguments are numbers and abort if not so */ if (!isfinite(flightPathAngle) || !isfinite(altitude) || @@ -105,10 +106,12 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti /* use flightpath angle setpoint for total energy control */ - return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); + return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, + airspeedSp, mode, limitOverride); } -int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) +int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, + float airspeedSp, tecs_mode mode, LimitOverride limitOverride) { /* check if all input arguments are numbers and abort if not so */ if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || @@ -135,10 +138,12 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng /* use longitudinal acceleration setpoint for total energy control */ - return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); + return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, + accelerationLongitudinalSp, mode, limitOverride); } -int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) +int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, + float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride) { /* check if all input arguments are numbers and abort if not so */ if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || @@ -180,8 +185,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); } - /* Check airspeed: if below safe value switch to underspeed mode */ - if (airspeed < _airspeedMin.get()) { + /* Check airspeed: if below safe value switch to underspeed mode (if not in takeoff mode) */ + if (!TECS_MODE_LAND && airspeed < _airspeedMin.get()) { mode = TECS_MODE_UNDERSPEED; } @@ -202,6 +207,16 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch; } + /* Apply overrride given by the limitOverride argument (this is used for limits which are not given by + * parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector + * is running) */ + bool limitApplied = limitOverride.applyOverride(outputLimiterThrottle == NULL ? + _controlTotalEnergy.getOutputLimiter() : + *outputLimiterThrottle, + outputLimiterPitch == NULL ? + _controlEnergyDistribution.getOutputLimiter() : + *outputLimiterPitch); + /* Write part of the status message */ _status.airspeedDerivativeSp = airspeedDerivativeSp; _status.airspeedDerivative = airspeedDerivative; @@ -280,5 +295,29 @@ void mTecs::debug(const char *fmt, ...) { debug_print(fmt, args); } -} /* namespace fwPosctrl */ +bool mTecs::LimitOverride::applyOverride(BlockOutputLimiter &outputLimiterThrottle, + BlockOutputLimiter &outputLimiterPitch) +{ + bool ret = false; + if (overrideThrottleMinEnabled) { + outputLimiterThrottle.setMin(overrideThrottleMin); + ret = true; + } + if (overrideThrottleMaxEnabled) { + outputLimiterThrottle.setMax(overrideThrottleMax); + ret = true; + } + if (overridePitchMinEnabled) { + outputLimiterPitch.setMin(overridePitchMin); + ret = true; + } + if (overridePitchMaxEnabled) { + outputLimiterPitch.setMax(overridePitchMax); + ret = true; + } + + return ret; +} + +} /* namespace fwPosctrl */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 376d396986..1a787df728 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -68,20 +68,81 @@ public: TECS_MODE_LAND_THROTTLELIM } tecs_mode; + + /* A small class which provides helper fucntions to override control output limits which are usually set by + * parameters in special cases + */ + class LimitOverride + { + public: + LimitOverride() : + overrideThrottleMinEnabled(false), + overrideThrottleMaxEnabled(false), + overridePitchMinEnabled(false), + overridePitchMaxEnabled(false) + {}; + + ~LimitOverride() {}; + + /* + * Override the limits of the outputlimiter instances given by the arguments with the limits saved in + * this class (if enabled) + * @return true if the limit was applied + */ + bool applyOverride(BlockOutputLimiter &outputLimiterThrottle, + BlockOutputLimiter &outputLimiterPitch); + + /* Functions to enable or disable the override */ + void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled, + &overrideThrottleMin, value); } + void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); } + void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled, + &overrideThrottleMax, value); } + void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); } + void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled, + &overridePitchMin, value); } + void disablePitchMinOverride() { disable(&overridePitchMinEnabled); } + void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled, + &overridePitchMax, value); } + void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); } + + protected: + bool overrideThrottleMinEnabled; + float overrideThrottleMin; + bool overrideThrottleMaxEnabled; + float overrideThrottleMax; + bool overridePitchMinEnabled; + float overridePitchMin; //in degrees (replaces param values) + bool overridePitchMaxEnabled; + float overridePitchMax; //in degrees (replaces param values) + + /* Enable a specific limit override */ + void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value; + warnx("value %.3f", value); + }; + /* Disable a specific limit override */ + void disable(bool *flag) { *flag = false; }; + + + }; + /* * Control in altitude setpoint and speed mode */ - int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode); + int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, + float airspeedSp, tecs_mode mode, LimitOverride limitOverride); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode */ - int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode); + int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, + float airspeedSp, tecs_mode mode, LimitOverride limitOverride); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) */ - int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode); + int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, + float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride); /* * Reset all integrators diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index a7acd95deb..e4e405227e 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -89,6 +89,8 @@ public: bool isAngularLimit() {return _isAngularLimit ;} float getMin() { return _min.get(); } float getMax() { return _max.get(); } + void setMin(float value) { _min.set(value); } + void setMax(float value) { _max.set(value); } protected: //attributes bool _isAngularLimit; @@ -96,7 +98,6 @@ protected: control::BlockParamFloat _max; }; -typedef /* A combination of feed forward, P and I gain using the output limiter*/ class BlockFFPILimited: public SuperBlock From bfb27ff7bd27e3c89eb0eebc923c9ab7bd7c04fe Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 28 May 2014 00:14:56 +0200 Subject: [PATCH 3/3] fw pos control: set takeoff min pitch for mtecs --- .../fw_pos_control_l1/fw_pos_control_l1_main.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index e3b6eb2611..e43469b707 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1452,13 +1452,22 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ fwPosctrl::mTecs::tecs_mode mode) { if (_mTecs.getEnabled()) { + /* Using mtecs library: prepare arguments for mtecs call */ float flightPathAngle = 0.0f; float ground_speed_length = ground_speed.length(); if (ground_speed_length > FLT_EPSILON) { flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); } - _mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode); + fwPosctrl::mTecs::LimitOverride limitOverride; + if (climbout_mode) { + limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad); + } else { + limitOverride.disablePitchMinOverride(); + } + _mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode, + limitOverride); } else { + /* Using tecs library */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp, _airspeed.indicated_airspeed_m_s, eas2tas, climbout_mode, climbout_pitch_min_rad,