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Use common rate control library

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Increase ground speed trim
Use rate control for pos control
Controls
This commit is contained in:
Jaeyoung Lim
2022-08-20 17:35:53 +02:00
parent 535dabe00d
commit fe8dd05624
8 changed files with 23 additions and 314 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+1 -1
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@@ -13,7 +13,7 @@ param set-default GND_SPEED_I 8
param set-default GND_SPEED_IMAX 0.125
param set-default GND_SPEED_P 2
param set-default GND_SPEED_THR_SC 1
param set-default GND_SPEED_TRIM 1
param set-default GND_SPEED_TRIM 3
param set-default GND_THR_CRUISE 0.85
param set-default GND_THR_MAX 1
param set-default GND_THR_MIN 0
src/modules/rover_pos_control/CMakeLists.txt
+1 -3
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@@ -31,8 +31,6 @@
#
############################################################################
add_subdirectory(RoverRateControl)
px4_add_module(
MODULE modules__rover_pos_control
MAIN rover_pos_control
@@ -40,7 +38,7 @@ px4_add_module(
RoverPositionControl.cpp
RoverPositionControl.hpp
DEPENDS
RoverRateControl
RateControl
l1
pid
)
src/modules/rover_pos_control/RoverPositionControl.cpp
+16 -8
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@@ -318,14 +318,20 @@ RoverPositionControl::control_position(const matrix::Vector2d &current_position,
prev_wp(1));
_gnd_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed_2d);
_act_controls.control[actuator_controls_s::INDEX_THROTTLE] = mission_throttle;
///WIP: Convert Lateral acceleration demand to rate control reference
float min_speed{1.0};
matrix::Vector2f saturated_speed_2d = (ground_speed_2d.norm() < min_speed) ? ground_speed_2d :
ground_speed_2d.normalized() * min_speed;
float desired_r = ground_speed_2d.norm_squared() / math::abs_t(_gnd_control.nav_lateral_acceleration_demand());
float desired_theta = (0.5f * M_PI_F) - atan2f(desired_r, _param_wheel_base.get());
float control_effort = (desired_theta / _param_max_turn_angle.get()) * sign(
_gnd_control.nav_lateral_acceleration_demand());
control_effort = math::constrain(control_effort, -1.0f, 1.0f);
_act_controls.control[actuator_controls_s::INDEX_YAW] = control_effort;
float desired_yaw_rate = _gnd_control.nav_lateral_acceleration_demand() / saturated_speed_2d.norm();
_rates_sp.roll = 0.0;
_rates_sp.pitch = 0.0;
_rates_sp.yaw = desired_yaw_rate;
_rates_sp.thrust_body[0] = math::constrain(mission_throttle, 0.0f, 1.0f);
_rates_sp.timestamp = hrt_absolute_time();
_rates_sp_pub.publish(_rates_sp);
control_rates(_vehicle_rates, _vehicle_angular_acceleration, _local_pos, _rates_sp);
}
}
break;
@@ -433,6 +439,8 @@ RoverPositionControl::control_rates(const vehicle_angular_velocity_s &rates, con
dt = hrt_elapsed_time(&_control_rates_last_called) * 1e-6f;
}
_control_rates_last_called = hrt_absolute_time();
const matrix::Vector3f current_velocity(local_pos.vx, local_pos.vy, local_pos.vz);
const matrix::Vector3f vehicle_rates(rates.xyz[0], rates.xyz[1], rates.xyz[2]);
const matrix::Vector3f rates_setpoint(rates_sp.roll, rates_sp.pitch, rates_sp.yaw);
@@ -472,7 +480,7 @@ RoverPositionControl::Run()
/* update parameters from storage */
parameters_update();
if (!is_finite(_steering_input)) {
if (!PX4_ISFINITE(_steering_input)) {
_steering_input = 0.0;
}
src/modules/rover_pos_control/RoverPositionControl.hpp
+5 -2
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@@ -41,7 +41,6 @@
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include <RoverRateControl.hpp>
#include <float.h>
#include <drivers/drv_hrt.h>
@@ -50,6 +49,7 @@
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/pid.h>
#include <lib/rate_control/rate_control.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
@@ -134,6 +134,9 @@ private:
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
vehicle_angular_acceleration_s _vehicle_angular_acceleration{};
vehicle_angular_velocity_s _vehicle_rates{};
trajectory_setpoint_s _trajectory_setpoint{};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
@@ -157,7 +160,7 @@ private:
uint8_t _pos_reset_counter{0}; // captures the number of times the estimator has reset the horizontal position
ECL_L1_Pos_Controller _gnd_control;
RoverRateControl _rate_control;
RateControl _rate_control;
float _steering_input{0.0};
enum UGV_POSCTRL_MODE {
src/modules/rover_pos_control/RoverRateControl/CMakeLists.txt
-42
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@@ -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(RoverRateControl
RoverRateControl.cpp
RoverRateControl.hpp
)
target_compile_options(RoverRateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_include_directories(RoverRateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(RoverRateControl PRIVATE mathlib)
px4_add_unit_gtest(SRC RoverRateControlTest.cpp LINKLIBS RoverRateControl)
src/modules/rover_pos_control/RoverRateControl/RoverRateControl.cpp
-104
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@@ -1,104 +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 RoverRateControl.cpp
*/
#include <RoverRateControl.hpp>
#include <px4_platform_common/defines.h>
using namespace matrix;
void RoverRateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
{
_gain_p = P;
_gain_i = I;
_gain_d = D;
}
Vector3f RoverRateControl::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 RoverRateControl::updateIntegral(Vector3f &rate_error, const float dt)
{
for (int i = 0; i < 3; i++) {
// prevent further positive control saturation
if (_mixer_saturation_positive[i]) {
rate_error(i) = math::min(rate_error(i), 0.f);
}
// prevent further negative control saturation
if (_mixer_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 RoverRateControl::getRoverRateControlStatus(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);
}
src/modules/rover_pos_control/RoverRateControl/RoverRateControl.hpp
-110
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@@ -1,110 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2019-2021 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 RoverRateControl.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 RoverRateControl
{
public:
RoverRateControl() = default;
~RoverRateControl() = 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; };
/**
* 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 getRoverRateControlStatus(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
bool _mixer_saturation_positive[3] {};
bool _mixer_saturation_negative[3] {};
};
src/modules/rover_pos_control/RoverRateControl/RoverRateControlTest.cpp
-44
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@@ -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 <RoverRateControl.hpp>
using namespace matrix;
TEST(RoverRateControlTest, AllZeroCase)
{
RoverRateControl rate_control;
Vector3f torque = rate_control.update(Vector3f(), Vector3f(), Vector3f(), 0.f, false);
EXPECT_EQ(torque, Vector3f());
}