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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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8b9900cce3
- MPC_VEL_LP: new velocity first order low pass filter (off by default) - MPC_VEL_NF_FRQ/MPC_VEL_NF_BW: new velocity notch filter (off by default) - MPC_VELD_LP: existing velocity derivative low pass filter, but I've dropped the remaining controllib usage
304 lines
7.9 KiB
C++
304 lines
7.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017-2022 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 Functions.hpp
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*
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* collection of rather simple mathematical functions that get used over and over again
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*/
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#pragma once
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#include "Limits.hpp"
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#include <px4_platform_common/defines.h>
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#include <matrix/matrix/math.hpp>
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namespace math
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{
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// Type-safe signum function with zero treated as positive
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template<typename T>
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int signNoZero(T val)
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{
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return (T(0) <= val) - (val < T(0));
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}
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/**
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* Sign function based on a boolean
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*
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* @param[in] positive Truth value to take the sign from
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* @return 1 if positive is true, -1 if positive is false
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*/
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inline int signFromBool(bool positive)
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{
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return positive ? 1 : -1;
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}
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template<typename T>
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T sq(T val)
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{
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return val * val;
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}
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/*
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* So called exponential curve function implementation.
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* It is essentially a linear combination between a linear and a cubic function.
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* @param value [-1,1] input value to function
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* @param e [0,1] function parameter to set ratio between linear and cubic shape
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* 0 - pure linear function
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* 1 - pure cubic function
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* @return result of function output
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*/
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template<typename T>
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const T expo(const T &value, const T &e)
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{
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T x = constrain(value, (T) - 1, (T) 1);
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T ec = constrain(e, (T) 0, (T) 1);
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return (1 - ec) * x + ec * x * x * x;
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}
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/*
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* So called SuperExpo function implementation.
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* It is a 1/(1-x) function to further shape the rc input curve intuitively.
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* I enhanced it compared to other implementations to keep the scale between [-1,1].
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* @param value [-1,1] input value to function
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* @param e [0,1] function parameter to set ratio between linear and cubic shape (see expo)
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* @param g [0,1) function parameter to set SuperExpo shape
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* 0 - pure expo function
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* 0.99 - very strong bent curve, stays zero until maximum stick input
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* @return result of function output
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*/
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template<typename T>
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const T superexpo(const T &value, const T &e, const T &g)
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{
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T x = constrain(value, (T) - 1, (T) 1);
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T gc = constrain(g, (T) 0, (T) 0.99);
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return expo(x, e) * (1 - gc) / (1 - fabsf(x) * gc);
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}
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/*
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* Deadzone function being linear and continuous outside of the deadzone
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* 1 ------
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* /
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* --
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* /
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* -1 ------
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* -1 -dz +dz 1
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* @param value [-1,1] input value to function
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* @param dz [0,1) ratio between deazone and complete span
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* 0 - no deadzone, linear -1 to 1
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* 0.5 - deadzone is half of the span [-0.5,0.5]
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* 0.99 - almost entire span is deadzone
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*/
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template<typename T>
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const T deadzone(const T &value, const T &dz)
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{
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T x = constrain(value, (T) - 1, (T) 1);
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T dzc = constrain(dz, (T) 0, (T) 0.99);
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// Rescale the input such that we get a piecewise linear function that will be continuous with applied deadzone
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T out = (x - matrix::sign(x) * dzc) / (1 - dzc);
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// apply the deadzone (values zero around the middle)
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return out * (fabsf(x) > dzc);
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}
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template<typename T>
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const T expo_deadzone(const T &value, const T &e, const T &dz)
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{
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return expo(deadzone(value, dz), e);
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}
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/*
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* Constant, linear, constant function with the two corner points as parameters
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* y_high -------
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* /
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* /
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* /
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* y_low -------
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* x_low x_high
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*/
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template<typename T>
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const T interpolate(const T &value, const T &x_low, const T &x_high, const T &y_low, const T &y_high)
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{
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if (value <= x_low) {
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return y_low;
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} else if (value > x_high) {
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return y_high;
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} else {
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/* linear function between the two points */
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T a = (y_high - y_low) / (x_high - x_low);
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T b = y_low - (a * x_low);
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return (a * value) + b;
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}
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}
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/*
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* Constant, piecewise linear, constant function with 1/N size intervalls and N corner points as parameters
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* y[N-1] -------
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* /
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* /
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* y[1] /
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* /
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* /
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* /
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* y[0] -------
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* 0 1/(N-1) 2/(N-1) ... 1
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*/
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template<typename T, size_t N>
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const T interpolateN(const T &value, const T(&y)[N])
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{
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size_t index = constrain((int)(value * (N - 1)), 0, (int)(N - 2));
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return interpolate(value, (T)index / (T)(N - 1), (T)(index + 1) / (T)(N - 1), y[index], y[index + 1]);
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}
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/*
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* Constant, piecewise linear, constant function with N corner points as parameters
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* y[N-1] -------
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* /
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* /
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* y[1] /
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* /
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* /
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* /
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* y[0] -------
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* x[0] x[1] ... x[N-1]
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* Note: x[N] corner coordinates have to be sorted in ascending order
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*/
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template<typename T, size_t N>
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const T interpolateNXY(const T &value, const T(&x)[N], const T(&y)[N])
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{
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size_t index = 0;
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while ((value > x[index + 1]) && (index < (N - 2))) {
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index++;
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}
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return interpolate(value, x[index], x[index + 1], y[index], y[index + 1]);
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}
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/*
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* Squareroot, linear function with fixed corner point at intersection (1,1)
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* /
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* linear /
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* /
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* 1 /
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* /
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* sqrt |
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* |
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* 0 -------
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* 0 1
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*/
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template<typename T>
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const T sqrt_linear(const T &value)
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{
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if (value < static_cast<T>(0)) {
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return static_cast<T>(0);
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} else if (value < static_cast<T>(1)) {
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return sqrtf(value);
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} else {
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return value;
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}
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}
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/*
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* Linear interpolation between 2 points a, and b.
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* s=0 return a
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* s=1 returns b
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* Any value for s is valid.
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*/
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template<typename T>
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const T lerp(const T &a, const T &b, const T &s)
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{
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return (static_cast<T>(1) - s) * a + s * b;
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}
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template<typename T>
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constexpr T negate(T value)
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{
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static_assert(sizeof(T) > 2, "implement for T");
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return -value;
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}
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template<>
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constexpr int16_t negate<int16_t>(int16_t value)
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{
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if (value == INT16_MAX) {
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return INT16_MIN;
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} else if (value == INT16_MIN) {
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return INT16_MAX;
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}
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return -value;
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}
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/*
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* This function calculates the Hamming weight, i.e. counts the number of bits that are set
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* in a given integer.
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*/
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template<typename T>
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int countSetBits(T n)
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{
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int count = 0;
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while (n) {
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count += n & 1;
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n >>= 1;
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}
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return count;
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}
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inline bool isFinite(const float &value)
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{
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return PX4_ISFINITE(value);
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}
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inline bool isFinite(const matrix::Vector2f &value)
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{
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return value.isAllFinite();
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}
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inline bool isFinite(const matrix::Vector3f &value)
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{
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return value.isAllFinite();
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}
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} /* namespace math */
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