mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
f2877ce585
This commit makes the fw attitude controller take share the rate controller as a library with the mc_rate_control module
112 lines
4.2 KiB
C++
112 lines
4.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file RateControl.cpp
|
|
*/
|
|
|
|
#include "rate_control.hpp"
|
|
#include <px4_platform_common/defines.h>
|
|
|
|
using namespace matrix;
|
|
|
|
void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
|
|
{
|
|
_gain_p = P;
|
|
_gain_i = I;
|
|
_gain_d = D;
|
|
}
|
|
|
|
void RateControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
|
|
const Vector<bool, 3> &saturation_negative)
|
|
{
|
|
_control_allocator_saturation_positive = saturation_positive;
|
|
_control_allocator_saturation_negative = saturation_negative;
|
|
}
|
|
|
|
Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel,
|
|
const float dt, const bool landed)
|
|
{
|
|
// angular rates error
|
|
Vector3f rate_error = rate_sp - rate;
|
|
|
|
// PID control with feed forward
|
|
const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
|
|
|
|
// update integral only if we are not landed
|
|
if (!landed) {
|
|
updateIntegral(rate_error, dt);
|
|
}
|
|
|
|
return torque;
|
|
}
|
|
|
|
void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
|
|
{
|
|
for (int i = 0; i < 3; i++) {
|
|
// prevent further positive control saturation
|
|
if (_control_allocator_saturation_positive(i)) {
|
|
rate_error(i) = math::min(rate_error(i), 0.f);
|
|
}
|
|
|
|
// prevent further negative control saturation
|
|
if (_control_allocator_saturation_negative(i)) {
|
|
rate_error(i) = math::max(rate_error(i), 0.f);
|
|
}
|
|
|
|
// I term factor: reduce the I gain with increasing rate error.
|
|
// This counteracts a non-linear effect where the integral builds up quickly upon a large setpoint
|
|
// change (noticeable in a bounce-back effect after a flip).
|
|
// The formula leads to a gradual decrease w/o steps, while only affecting the cases where it should:
|
|
// with the parameter set to 400 degrees, up to 100 deg rate error, i_factor is almost 1 (having no effect),
|
|
// and up to 200 deg error leads to <25% reduction of I.
|
|
float i_factor = rate_error(i) / math::radians(400.f);
|
|
i_factor = math::max(0.0f, 1.f - i_factor * i_factor);
|
|
|
|
// Perform the integration using a first order method
|
|
float rate_i = _rate_int(i) + i_factor * _gain_i(i) * rate_error(i) * dt;
|
|
|
|
// do not propagate the result if out of range or invalid
|
|
if (PX4_ISFINITE(rate_i)) {
|
|
_rate_int(i) = math::constrain(rate_i, -_lim_int(i), _lim_int(i));
|
|
}
|
|
}
|
|
}
|
|
|
|
void RateControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
|
|
{
|
|
rate_ctrl_status.rollspeed_integ = _rate_int(0);
|
|
rate_ctrl_status.pitchspeed_integ = _rate_int(1);
|
|
rate_ctrl_status.yawspeed_integ = _rate_int(2);
|
|
}
|