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wip, clean up pid in fw att

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Thomas Gubler
2013-10-24 18:07:33 +02:00
parent ccc6dd73a0
commit feb75f08cb
3 changed files with 24 additions and 21 deletions
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src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+8 -7
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@@ -122,8 +122,8 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000) if (dt_micros > 500000)
lock_integrator = true; lock_integrator = true;
float k_roll_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); // float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc; float k_ff = 0;
/* input conditioning */ /* input conditioning */
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
@@ -141,13 +141,12 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
_rate_error = _bodyrate_setpoint - pitch_bodyrate; _rate_error = _bodyrate_setpoint - pitch_bodyrate;
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) { if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt; float id = _rate_error * dt;
/* /*
* anti-windup: do not allow integrator to increase into the * anti-windup: do not allow integrator to increase if actuator is at limit
* wrong direction if actuator is at limit
*/ */
if (_last_output < -_max_deflection_rad) { if (_last_output < -_max_deflection_rad) {
/* only allow motion to center: increase value */ /* only allow motion to center: increase value */
@@ -162,8 +161,10 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* integrator limit */ /* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_roll_ff)) * scaler; /* Apply PI rate controller and store non-limited output */
//xxx: naming of gain variables (k_d <--> k_p)
_last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
} }
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+7 -7
View File
@@ -92,8 +92,8 @@ float ECL_RollController::control_bodyrate(float pitch,
if (dt_micros > 500000) if (dt_micros > 500000)
lock_integrator = true; lock_integrator = true;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); // float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc; float k_ff = 0; //xxx: param
/* input conditioning */ /* input conditioning */
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
@@ -113,13 +113,12 @@ float ECL_RollController::control_bodyrate(float pitch,
/* Calculate body angular rate error */ /* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error _rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) { if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt; float id = _rate_error * dt;
/* /*
* anti-windup: do not allow integrator to increase into the * anti-windup: do not allow integrator to increase if actuator is at limit
* wrong direction if actuator is at limit
*/ */
if (_last_output < -_max_deflection_rad) { if (_last_output < -_max_deflection_rad) {
/* only allow motion to center: increase value */ /* only allow motion to center: increase value */
@@ -136,8 +135,9 @@ float ECL_RollController::control_bodyrate(float pitch,
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
/* store non-limited output */ /* Apply PI rate controller and store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler; //xxx: naming of gain variables
_last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
} }
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+9 -7
View File
@@ -106,8 +106,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
lock_integrator = true; lock_integrator = true;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); // float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc; float k_ff = 0;
/* input conditioning */ /* input conditioning */
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
@@ -127,13 +128,12 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* Calculate body angular rate error */ /* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error _rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) { if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt; float id = _rate_error * dt;
/* /*
* anti-windup: do not allow integrator to increase into the * anti-windup: do not allow integrator to increase if actuator is at limit
* wrong direction if actuator is at limit
*/ */
if (_last_output < -_max_deflection_rad) { if (_last_output < -_max_deflection_rad) {
/* only allow motion to center: increase value */ /* only allow motion to center: increase value */
@@ -148,8 +148,10 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* integrator limit */ /* integrator limit */
_integrator = math::constrain(_integrator, -_integrator_max, _integrator_max); _integrator = math::constrain(_integrator, -_integrator_max, _integrator_max);
/* store non-limited output */
_last_output = ((_rate_error * _k_d * scaler) + _integrator * k_i_rate * scaler + (_rate_setpoint * k_ff)) * scaler; /* Apply PI rate controller and store non-limited output */
//xxx: naming of gain variables (k_d <--> k_p)
_last_output = (_rate_error * _k_d + _integrator * _k_i * _rate_setpoint * k_ff) * scaler * scaler; //scaler^2 is proportional to 1/airspeed^2
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad); return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
} }