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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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2600946172
add RunwayControl messge to pass wheel steering controls to wheel controller Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff Signed-off-by: Silvan Fuhrer <silvan@auterion.com> msg/RateCtrlStatus: remove unused wheel_rate_integ field The wheel rate controller is not run in the moduels that are now running the MC/FW rate controllers, so thsi field canot be filled. Signed-off-by: Silvan Fuhrer <silvan@auterion.com> wheel rate controller: use speed scaler quadratically on integrator Signed-off-by: Silvan Fuhrer <silvan@auterion.com> wheel yaw controller: use a time constant of 0.1 Signed-off-by: Silvan Fuhrer <silvan@auterion.com> FW Attitude Controller: lock heading setpoint for wheels to initial heading Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
107 lines
3.8 KiB
C++
107 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2023 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 ECL 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 fw_wheel_controller.cpp
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* Implementation of a simple PID wheel controller for heading tracking.
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*/
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#include "fw_wheel_controller.h"
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#include <float.h>
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#include <lib/geo/geo.h>
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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using matrix::wrap_pi;
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float WheelController::control_bodyrate(float dt, float body_z_rate, float groundspeed, float groundspeed_scaler)
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{
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/* Do not calculate control signal with bad inputs */
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if (!(PX4_ISFINITE(body_z_rate) &&
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PX4_ISFINITE(groundspeed) &&
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PX4_ISFINITE(groundspeed_scaler))) {
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return math::constrain(_last_output, -1.f, 1.f);
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}
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const float rate_error = _body_rate_setpoint - body_z_rate;
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if (_k_i > 0.f && groundspeed > 1.f) { // only start integrating when above 1m/s
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float id = rate_error * dt * groundspeed_scaler * groundspeed_scaler;
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if (_last_output < -1.f) {
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/* only allow motion to center: increase value */
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id = math::max(id, 0.f);
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} else if (_last_output > 1.f) {
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/* only allow motion to center: decrease value */
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id = math::min(id, 0.f);
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}
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_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
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}
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/* Apply PI rate controller and store non-limited output */
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_last_output = _body_rate_setpoint * _k_ff * groundspeed_scaler +
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groundspeed_scaler * groundspeed_scaler * (rate_error * _k_p) + _integrator;
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return math::constrain(_last_output, -1.f, 1.f);
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}
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float WheelController::control_attitude(float yaw_setpoint, float yaw)
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{
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/* Do not calculate control signal with bad inputs */
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if (!(PX4_ISFINITE(yaw_setpoint) &&
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PX4_ISFINITE(yaw))) {
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return _body_rate_setpoint;
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}
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const float yaw_error = wrap_pi(yaw_setpoint - yaw);
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_body_rate_setpoint = yaw_error / _tc; // assume 0 pitch and roll angle, thus jacobian is simply identity matrix
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if (_max_rate > 0.01f) {
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if (_body_rate_setpoint > 0.f) {
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_body_rate_setpoint = (_body_rate_setpoint > _max_rate) ? _max_rate : _body_rate_setpoint;
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} else {
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_body_rate_setpoint = (_body_rate_setpoint < -_max_rate) ? -_max_rate : _body_rate_setpoint;
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}
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}
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return _body_rate_setpoint;
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}
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