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130 lines
4.2 KiB
C++
130 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ecl_roll_controller.cpp
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* Implementation of a simple orthogonal roll PID controller.
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*
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* Authors and acknowledgements in header.
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*/
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#include "../ecl.h"
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#include "ecl_roll_controller.h"
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#include <stdint.h>
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#include <float.h>
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#include <geo/geo.h>
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#include <ecl/ecl.h>
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#include <mathlib/mathlib.h>
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ECL_RollController::ECL_RollController() :
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_last_run(0),
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_tc(0.1f),
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_last_output(0.0f),
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_integrator(0.0f),
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_rate_error(0.0f),
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_rate_setpoint(0.0f),
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_max_deflection_rad(math::radians(45.0f))
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{
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}
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float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate,
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float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float airspeed)
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{
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/* get the usual dt estimate */
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uint64_t dt_micros = ecl_elapsed_time(&_last_run);
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_last_run = ecl_absolute_time();
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float dt = (float)dt_micros * 1e-6f;
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/* lock integral for long intervals */
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if (dt_micros > 500000)
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lock_integrator = true;
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float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
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float k_i_rate = _k_i * _tc;
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/* input conditioning */
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if (!isfinite(airspeed)) {
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/* airspeed is NaN, +- INF or not available, pick center of band */
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airspeed = 0.5f * (airspeed_min + airspeed_max);
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} else if (airspeed < airspeed_min) {
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airspeed = airspeed_min;
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}
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float roll_error = roll_setpoint - roll;
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_rate_setpoint = roll_error / _tc;
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/* limit the rate */
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if (_max_rate > 0.01f) {
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_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
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_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
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}
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_rate_error = _rate_setpoint - roll_rate;
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float ilimit_scaled = _integrator_max * scaler;
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if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
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float id = _rate_error * k_i_rate * dt * scaler;
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/*
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* anti-windup: do not allow integrator to increase into the
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* wrong direction if actuator is at limit
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*/
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if (_last_output < -_max_deflection_rad) {
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/* only allow motion to center: increase value */
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id = math::max(id, 0.0f);
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} else if (_last_output > _max_deflection_rad) {
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/* only allow motion to center: decrease value */
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id = math::min(id, 0.0f);
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}
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_integrator += id;
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}
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/* integrator limit */
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_integrator = math::constrain(_integrator, -ilimit_scaled, ilimit_scaled);
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/* store non-limited output */
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_last_output = ((_rate_error * _k_d * scaler) + _integrator + (_rate_setpoint * k_ff)) * scaler;
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return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
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}
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void ECL_RollController::reset_integrator()
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{
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_integrator = 0.0f;
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}
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