mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 11:40:35 +08:00
Silvan Fuhrer
118 lines
3.6 KiB
C++
118 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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 ecl_controller.h
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* Definition of base class for other controllers
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*
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* Acknowledgements:
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*
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* The control design is based on a design
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* by Paul Riseborough and Andrew Tridgell, 2013,
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* which in turn is based on initial work of
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* Jonathan Challinger, 2012.
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <px4_log.h>
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struct ECL_ControlData {
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float roll;
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float pitch;
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float yaw;
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float body_x_rate;
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float body_y_rate;
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float body_z_rate;
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float roll_setpoint;
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float pitch_setpoint;
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float yaw_setpoint;
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float euler_roll_rate_setpoint;
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float euler_pitch_rate_setpoint;
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float euler_yaw_rate_setpoint;
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float airspeed_min;
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float airspeed_max;
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float airspeed;
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float groundspeed;
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float groundspeed_scaler;
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};
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class ECL_Controller
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{
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public:
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ECL_Controller();
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virtual ~ECL_Controller() = default;
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/**
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* @brief Calculates both euler and body rate setpoints. Has different implementations for all body axes.
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*
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* @param dt Time step [s]
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* @param ctrl_data Various control inputs (attitude, body rates, attitdue stepoints, euler rate setpoints, current speeed)
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* @return Body rate setpoint [rad/s]
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*/
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virtual float control_attitude(const float dt, const ECL_ControlData &ctl_data) = 0;
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/* Setters */
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void set_time_constant(float time_constant);
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void set_k_p(float k_p);
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void set_k_i(float k_i);
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void set_k_ff(float k_ff);
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void set_integrator_max(float max);
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void set_max_rate(float max_rate);
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/* Getters */
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float get_euler_rate_setpoint();
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float get_body_rate_setpoint();
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float get_integrator();
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void reset_integrator();
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protected:
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uint64_t _last_run;
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float _tc;
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float _k_p;
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float _k_i;
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float _k_ff;
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float _integrator_max;
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float _max_rate;
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float _last_output;
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float _integrator;
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float _euler_rate_setpoint;
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float _body_rate_setpoint;
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float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
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};
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