mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 13:43:33 +08:00
Replace rate controller with RateControlLibrary
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
This commit is contained in:
Jaeyoung-Lim
committed by
Silvan Fuhrer
Silvan Fuhrer
parent
44a18acd51
commit
f2877ce585
@@ -31,8 +31,6 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(RateControl)
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__mc_rate_control
|
||||
MAIN mc_rate_control
|
||||
|
||||
@@ -33,8 +33,7 @@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <RateControl.hpp>
|
||||
|
||||
#include <lib/rate_control/rate_control.hpp>
|
||||
#include <lib/matrix/matrix/math.hpp>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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(RateControl
|
||||
RateControl.cpp
|
||||
RateControl.hpp
|
||||
)
|
||||
target_compile_options(RateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
|
||||
target_include_directories(RateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
target_link_libraries(RateControl PRIVATE mathlib)
|
||||
|
||||
px4_add_unit_gtest(SRC RateControlTest.cpp LINKLIBS RateControl)
|
||||
@@ -1,111 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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);
|
||||
}
|
||||
@@ -1,119 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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;
|
||||
};
|
||||
@@ -1,44 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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());
|
||||
}
|
||||
Reference in New Issue
Block a user