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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Baardrw
c2ea4e6121
* Fixes potential bug if unaided yaw becomes nan during execution: if unaided yaw becomes nan during execution the yaw correction would jumpt to 0 causing a large jump in yaw the change removes this jump by holding the current yaw correction instead * Remove Python extra paths from settings.json Removed Python extra paths from VS Code settings.
126 lines
4.5 KiB
C++
126 lines
4.5 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 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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#include "StickYaw.hpp"
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#include <px4_platform_common/defines.h>
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using matrix::wrap_pi;
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StickYaw::StickYaw(ModuleParams *parent) :
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ModuleParams(parent)
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{}
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void StickYaw::reset(const float yaw, const float unaided_yaw)
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{
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if (PX4_ISFINITE(unaided_yaw)) {
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_yaw_error_lpf.reset(wrap_pi(yaw - unaided_yaw));
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}
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}
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void StickYaw::ekfResetHandler(const float delta_yaw)
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{
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_yaw_error_lpf.reset(wrap_pi(_yaw_error_lpf.getState() + delta_yaw));
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_yaw_error_ref = wrap_pi(_yaw_error_ref + delta_yaw);
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}
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void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, const float stick_yaw,
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const float yaw, const float deltatime, const float unaided_yaw)
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{
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const float yaw_correction_prev = _yaw_correction;
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const bool reset_setpoint = updateYawCorrection(yaw, unaided_yaw, deltatime);
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if (reset_setpoint) {
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yaw_setpoint = NAN;
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}
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_yawspeed_filter.setParameters(deltatime, _param_mpc_man_y_tau.get());
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const float yawspeed_scale = math::min(math::radians(_param_mpc_man_y_max.get()), _yawspeed_constraint);
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yawspeed_setpoint = _yawspeed_filter.update(stick_yaw * yawspeed_scale);
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yaw_setpoint = updateYawLock(yaw, yawspeed_setpoint, yaw_setpoint, yaw_correction_prev);
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}
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bool StickYaw::updateYawCorrection(const float yaw, const float unaided_yaw, const float deltatime)
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{
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if (!PX4_ISFINITE(unaided_yaw)) {
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// If unaided yaw is not available we leave yaw_correction_ unchanged
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// Meaning yaw_setpoint - yaw_correction_prev + _yaw_correction = yaw_setpoint
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return false;
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}
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// Detect the convergence phase of the yaw estimate by monitoring its relative
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// distance from an unaided yaw source.
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const float yaw_error = wrap_pi(yaw - unaided_yaw);
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// Run it through a high-pass filter to detect transients
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const float yaw_error_hpf = wrap_pi(yaw_error - _yaw_error_lpf.getState());
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_yaw_error_lpf.update(yaw_error, deltatime);
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const bool was_converging = _yaw_estimate_converging;
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_yaw_estimate_converging = fabsf(yaw_error_hpf) > _kYawErrorChangeThreshold;
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bool reset_setpoint = false;
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if (!_yaw_estimate_converging) {
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_yaw_error_ref = yaw_error;
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if (was_converging) {
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// Force a reset of the locking mechanism
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reset_setpoint = true;
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}
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}
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_yaw_correction = wrap_pi(yaw_error - _yaw_error_ref);
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return reset_setpoint;
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}
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float StickYaw::updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint,
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const float yaw_correction_prev) const
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{
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// Yaw-lock depends on desired yawspeed input. If not locked, yaw_sp is set to NAN.
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if (fabsf(yawspeed_setpoint) > FLT_EPSILON) {
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// no fixed heading when rotating around yaw by stick
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return NAN;
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} else {
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// slow down and hold the current heading when no more rotation commanded
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if (!PX4_ISFINITE(yaw_setpoint)) {
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return yaw;
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} else {
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return wrap_pi(yaw_setpoint - yaw_correction_prev + _yaw_correction);
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}
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}
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}
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