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92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 DobControl.cpp
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*/
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#include "DobControl.hpp"
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#include <px4_platform_common/defines.h>
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using namespace matrix;
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void DobControl::setGains(const Vector3f &tau)
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{
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_gain_tau = tau;
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}
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void DobControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
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const Vector<bool, 3> &saturation_negative)
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{
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_control_allocator_saturation_positive = saturation_positive;
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_control_allocator_saturation_negative = saturation_negative;
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}
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Vector3f DobControl::update(const Vector3f &rate,
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const Vector3f actuator_sp, const float dt, const bool landed)
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{
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// angular rates error
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Vector3f diff = differentiator(rate, dt);
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matrix::Vector3f integ_input = actuator_sp - diff;
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// update integral only if we are not landed
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if (!landed) {
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updateIntegral(integ_input, dt);
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}
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const matrix::Vector3f torque = integ_input + _input_rate;
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return torque;
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}
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Vector3f DobControl::differentiator(const matrix::Vector3f &input, const float dt)
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{
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Vector3f output = (1 - _c0) * _prev_output + (_c0 / dt) * (input - _prev_input);
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_prev_input = input;
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_prev_output = output;
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return output;
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}
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void DobControl::updateIntegral(Vector3f &integ_input, const float dt)
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{
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_input_rate = _input_rate + _gain_tau.emult(integ_input);
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}
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void DobControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
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{
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rate_ctrl_status.rollspeed_integ = _input_rate(0);
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rate_ctrl_status.pitchspeed_integ = _input_rate(1);
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rate_ctrl_status.yawspeed_integ = _input_rate(2);
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}
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