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102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file system_identification.cpp
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*
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* @author Mathieu Bresciani <mathieu@auterion.com>
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*/
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#include "system_identification.hpp"
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void SystemIdentification::reset(const matrix::Vector<float, 5> &id_state_init)
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{
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_rls.reset(id_state_init);
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_u_lpf.reset(0.f);
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_u_lpf.reset(0.f);
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_u_hpf = 0.f;
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_y_hpf = 0.f;
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_u_prev = 0.f;
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_y_prev = 0.f;
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_fitness_lpf.reset(10.f);
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_are_filters_initialized = false;
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}
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void SystemIdentification::update(float u, float y)
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{
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updateFilters(u, y);
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update();
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}
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void SystemIdentification::update()
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{
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_rls.update(_u_hpf, _y_hpf);
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updateFitness();
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}
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void SystemIdentification::updateFilters(float u, float y)
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{
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if (!_are_filters_initialized) {
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_u_lpf.reset(u);
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_y_lpf.reset(y);
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_u_hpf = 0.f;
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_y_hpf = 0.f;
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_u_prev = u;
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_y_prev = y;
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_are_filters_initialized = true;
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return;
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}
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const float u_lpf = _u_lpf.apply(u);
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const float y_lpf = _y_lpf.apply(y);
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_u_hpf = _alpha_hpf * _u_hpf + _alpha_hpf * (u_lpf - _u_prev);
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_y_hpf = _alpha_hpf * _y_hpf + _alpha_hpf * (y_lpf - _y_prev);
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_u_prev = u_lpf;
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_y_prev = y_lpf;
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}
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void SystemIdentification::updateFitness()
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{
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const matrix::Vector<float, 5> &diff = _rls.getDiffEstimate();
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float sum = 0.f;
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for (size_t i = 0; i < 5; i++) {
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sum += diff(i);
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}
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if (_dt > FLT_EPSILON) {
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_fitness_lpf.update(sum / _dt);
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}
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}
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