mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
00dfc99e08
* Use variance to control publishing for LPE. * Don't stop publishing if we have gps/ baro. * LPE tuning and cleanup. * Added bias saturation to LPE. * Added vector enabled low pass filter block. * Added rk4 integration and pub lowpass to LPE. * Fix std::abs issue on mac/ reset lowpass on state reset. * Don't estimate gyro bias when rotating at high speed att_est_q. * Lowered low pass on position to 5 Hz for LPE. * Streamline state space update for LPE. * Added health flags to est2 log. * Revert to old tuning, more conservative, less faults. * Formatting. * Fix for fault message on LPE. * Added subscription throttling to LPE. * Formatting.
150 lines
3.7 KiB
C++
150 lines
3.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 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 blocks.cpp
|
|
*
|
|
* Controller library code
|
|
*/
|
|
|
|
#include <math.h>
|
|
#include <stdio.h>
|
|
#include <float.h>
|
|
|
|
#include "blocks.hpp"
|
|
|
|
#define ASSERT_CL(T) if (!(T)) { printf("FAIL\n"); return -1; }
|
|
|
|
namespace control
|
|
{
|
|
|
|
float BlockLimit::update(float input)
|
|
{
|
|
if (input > getMax()) {
|
|
input = _max.get();
|
|
|
|
} else if (input < getMin()) {
|
|
input = getMin();
|
|
}
|
|
|
|
return input;
|
|
}
|
|
|
|
float BlockLimitSym::update(float input)
|
|
{
|
|
if (input > getMax()) {
|
|
input = _max.get();
|
|
|
|
} else if (input < -getMax()) {
|
|
input = -getMax();
|
|
}
|
|
|
|
return input;
|
|
}
|
|
|
|
float BlockLowPass::update(float input)
|
|
{
|
|
if (!PX4_ISFINITE(getState())) {
|
|
setState(input);
|
|
}
|
|
|
|
float b = 2 * float(M_PI) * getFCut() * getDt();
|
|
float a = b / (1 + b);
|
|
setState(a * input + (1 - a)*getState());
|
|
return getState();
|
|
}
|
|
|
|
|
|
float BlockHighPass::update(float input)
|
|
{
|
|
float b = 2 * float(M_PI) * getFCut() * getDt();
|
|
float a = 1 / (1 + b);
|
|
setY(a * (getY() + input - getU()));
|
|
setU(input);
|
|
return getY();
|
|
}
|
|
|
|
float BlockLowPass2::update(float input)
|
|
{
|
|
if (!PX4_ISFINITE(getState())) {
|
|
setState(input);
|
|
}
|
|
|
|
if (fabsf(_lp.get_cutoff_freq() - getFCutParam()) > FLT_EPSILON) {
|
|
_lp.set_cutoff_frequency(_fs, getFCutParam());
|
|
}
|
|
|
|
_state = _lp.apply(input);
|
|
return _state;
|
|
}
|
|
|
|
float BlockIntegral::update(float input)
|
|
{
|
|
// trapezoidal integration
|
|
setY(_limit.update(getY() + input * getDt()));
|
|
return getY();
|
|
}
|
|
|
|
float BlockIntegralTrap::update(float input)
|
|
{
|
|
// trapezoidal integration
|
|
setY(_limit.update(getY() +
|
|
(getU() + input) / 2.0f * getDt()));
|
|
setU(input);
|
|
return getY();
|
|
}
|
|
|
|
float BlockDerivative::update(float input)
|
|
{
|
|
float output;
|
|
|
|
if (_initialized) {
|
|
output = _lowPass.update((input - getU()) / getDt());
|
|
|
|
} else {
|
|
// if this is the first call to update
|
|
// we have no valid derivative
|
|
// and so we use the assumption the
|
|
// input value is not changing much,
|
|
// which is the best we can do here.
|
|
_lowPass.update(0.0f);
|
|
output = 0.0f;
|
|
_initialized = true;
|
|
}
|
|
|
|
setU(input);
|
|
return output;
|
|
}
|
|
|
|
} // namespace control
|