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d47f9f155a
CA: fix saturation computation Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix MCRateControl: use control_allocator_status to get saturation info
120 lines
4.4 KiB
C++
120 lines
4.4 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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* 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file RateControl.hpp
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*
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* PID 3 axis angular rate / angular velocity control.
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
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#include <uORB/topics/rate_ctrl_status.h>
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class RateControl
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{
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public:
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RateControl() = default;
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~RateControl() = default;
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/**
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* Set the rate control gains
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* @param P 3D vector of proportional gains for body x,y,z axis
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* @param I 3D vector of integral gains
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* @param D 3D vector of derivative gains
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*/
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void setGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D);
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/**
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* Set the mximum absolute value of the integrator for all axes
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* @param integrator_limit limit value for all axes x, y, z
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*/
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void setIntegratorLimit(const matrix::Vector3f &integrator_limit) { _lim_int = integrator_limit; };
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/**
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* Set direct rate to torque feed forward gain
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* @see _gain_ff
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* @param FF 3D vector of feed forward gains for body x,y,z axis
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*/
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void setFeedForwardGain(const matrix::Vector3f &FF) { _gain_ff = FF; };
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/**
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* Set saturation status
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* @param control saturation vector from control allocator
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*/
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void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
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const matrix::Vector<bool, 3> &saturation_negative);
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/**
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* Run one control loop cycle calculation
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* @param rate estimation of the current vehicle angular rate
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* @param rate_sp desired vehicle angular rate setpoint
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* @param dt desired vehicle angular rate setpoint
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* @return [-1,1] normalized torque vector to apply to the vehicle
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*/
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matrix::Vector3f update(const matrix::Vector3f &rate, const matrix::Vector3f &rate_sp,
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const matrix::Vector3f &angular_accel, const float dt, const bool landed);
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/**
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* Set the integral term to 0 to prevent windup
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* @see _rate_int
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*/
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void resetIntegral() { _rate_int.zero(); }
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/**
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* Get status message of controller for logging/debugging
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* @param rate_ctrl_status status message to fill with internal states
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*/
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void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status);
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private:
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void updateIntegral(matrix::Vector3f &rate_error, const float dt);
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// Gains
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matrix::Vector3f _gain_p; ///< rate control proportional gain for all axes x, y, z
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matrix::Vector3f _gain_i; ///< rate control integral gain
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matrix::Vector3f _gain_d; ///< rate control derivative gain
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matrix::Vector3f _lim_int; ///< integrator term maximum absolute value
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matrix::Vector3f _gain_ff; ///< direct rate to torque feed forward gain only useful for helicopters
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// States
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matrix::Vector3f _rate_int; ///< integral term of the rate controller
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// Feedback from control allocation
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matrix::Vector<bool, 3> _control_allocator_saturation_negative;
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matrix::Vector<bool, 3> _control_allocator_saturation_positive;
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};
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