mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 05:10:34 +08:00
Jaeyoung Lim
974446c0e8
* Remove more circular dependencies with ActuatorEffectiveness * Separate vehicle specific actuator effectiveness Keep actuator effectivenss in control allocator * Remove test dependency for now * Group library directories Fix * Change directory names * Rebase fix
86 lines
3.0 KiB
C++
86 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2024 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 "RpmControl.hpp"
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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RpmControl::RpmControl(ModuleParams *parent) : ModuleParams(parent)
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{
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_pid.setOutputLimit(PID_OUTPUT_LIMIT);
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_pid.setIntegralLimit(PID_OUTPUT_LIMIT);
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};
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void RpmControl::setSpoolupProgress(float spoolup_progress)
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{
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_spoolup_progress = spoolup_progress;
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_pid.setSetpoint(_spoolup_progress * _param_ca_heli_rpm_sp.get());
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if (_spoolup_progress < SPOOLUP_PROGRESS_WITH_CONTROLLER_ENGAGED) {
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_pid.resetIntegral();
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}
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}
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float RpmControl::getActuatorCorrection()
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{
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hrt_abstime now = hrt_absolute_time();
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// RPM measurement update
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if (_rpm_sub.updated()) {
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rpm_s rpm{};
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if (_rpm_sub.copy(&rpm)) {
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const float dt = math::min((now - _timestamp_last_measurement) * 1e-6f, 1.f);
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_timestamp_last_measurement = rpm.timestamp;
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const float gain_scale = math::interpolate(_spoolup_progress, .8f, 1.f, 0.f, 1e-3f);
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_pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f);
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_actuator_correction = _pid.update(rpm.rpm_estimate, dt, true);
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_rpm_invalid = rpm.rpm_estimate < 1.f;
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}
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}
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// Timeout
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const bool timeout = now > _timestamp_last_measurement + 1_s;
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if (_rpm_invalid || timeout) {
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_pid.resetIntegral();
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_actuator_correction = 0.f;
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}
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return _actuator_correction;
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}
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