From fb55658c9101869a712e785a59a7096ce360a021 Mon Sep 17 00:00:00 2001 From: lthall Date: Sun, 13 Jul 2014 01:23:19 +0930 Subject: [PATCH] Copter: Acro use same error limit in all three axis --- .../AC_AttitudeControl/AC_AttitudeControl.cpp | 42 +++++++++---------- .../AC_AttitudeControl/AC_AttitudeControl.h | 7 ++-- 2 files changed, 25 insertions(+), 24 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp index d0f6d3332d..53e71dd08f 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp @@ -117,7 +117,7 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle _rate_ef_desired.x = constrain_float(rate_ef_desired, _rate_ef_desired.x-rate_change_limit, _rate_ef_desired.x+rate_change_limit); // update earth-frame roll angle target using desired roll rate - update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error); + update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); // calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away angle_to_target = pitch_angle_ef - _angle_ef_target.y; @@ -131,7 +131,7 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle _rate_ef_desired.y = constrain_float(rate_ef_desired, _rate_ef_desired.y-rate_change_limit, _rate_ef_desired.y+rate_change_limit); // update earth-frame pitch angle target using desired pitch rate - update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error); + update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX); } else { // target roll and pitch to desired input roll and pitch _angle_ef_target.x = roll_angle_ef; @@ -156,12 +156,12 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit); _rate_ef_desired.z += rate_change; // calculate yaw target angle and angle error - update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); + update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); } else { // set yaw feed forward to zero _rate_ef_desired.z = yaw_rate_ef; // calculate yaw target angle and angle error - update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); + update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); } // convert earth-frame angle errors to body-frame angle errors @@ -210,12 +210,12 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw(float roll_angle_ef, fl rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit); _rate_ef_desired.z += rate_change; // calculate yaw target angle and angle error - update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); + update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); } else { // set yaw feed forward to zero _rate_ef_desired.z = yaw_rate_ef; // calculate yaw target angle and angle error - update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); + update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); } // convert earth-frame angle errors to body-frame angle errors @@ -299,9 +299,9 @@ void AC_AttitudeControl::rate_ef_roll_pitch_yaw(float roll_rate_ef, float pitch_ } // update earth frame angle targets and errors - update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error); - update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error); - update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); + update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); + update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX); + update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); // constrain earth-frame angle targets _angle_ef_target.x = constrain_float(_angle_ef_target.x, -_aparm.angle_max, _aparm.angle_max); @@ -334,9 +334,9 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_ frame_conversion_bf_to_ef(_rate_bf_desired, _rate_ef_desired); // update earth frame angle targets and errors - update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error); - update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error); - update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error); + update_ef_roll_angle_and_error(_rate_ef_desired.x, angle_ef_error, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX); + update_ef_pitch_angle_and_error(_rate_ef_desired.y, angle_ef_error, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX); + update_ef_yaw_angle_and_error(_rate_ef_desired.z, angle_ef_error, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX); // convert earth-frame angle errors to body-frame angle errors frame_conversion_ef_to_bf(angle_ef_error, _angle_bf_error); @@ -438,11 +438,11 @@ void AC_AttitudeControl::frame_conversion_bf_to_ef(const Vector3f& bf_vector, Ve // // update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request -void AC_AttitudeControl::update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error) +void AC_AttitudeControl::update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error, float overshoot_max) { // calculate angle error with maximum of +- max angle overshoot angle_ef_error.x = wrap_180_cd(_angle_ef_target.x - _ahrs.roll_sensor); - angle_ef_error.x = constrain_float(angle_ef_error.x, -AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); + angle_ef_error.x = constrain_float(angle_ef_error.x, -overshoot_max, overshoot_max); // update roll angle target to be within max angle overshoot of our roll angle _angle_ef_target.x = angle_ef_error.x + _ahrs.roll_sensor; @@ -453,12 +453,12 @@ void AC_AttitudeControl::update_ef_roll_angle_and_error(float roll_rate_ef, Vect } // update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request -void AC_AttitudeControl::update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error) +void AC_AttitudeControl::update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error, float overshoot_max) { // calculate angle error with maximum of +- max angle overshoot // To-Do: should we do something better as we cross 90 degrees? angle_ef_error.y = wrap_180_cd(_angle_ef_target.y - _ahrs.pitch_sensor); - angle_ef_error.y = constrain_float(angle_ef_error.y, -AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX); + angle_ef_error.y = constrain_float(angle_ef_error.y, -overshoot_max, overshoot_max); // update pitch angle target to be within max angle overshoot of our pitch angle _angle_ef_target.y = angle_ef_error.y + _ahrs.pitch_sensor; @@ -469,11 +469,11 @@ void AC_AttitudeControl::update_ef_pitch_angle_and_error(float pitch_rate_ef, Ve } // update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request -void AC_AttitudeControl::update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error) +void AC_AttitudeControl::update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error, float overshoot_max) { // calculate angle error with maximum of +- max angle overshoot angle_ef_error.z = wrap_180_cd(_angle_ef_target.z - _ahrs.yaw_sensor); - angle_ef_error.z = constrain_float(angle_ef_error.z, -AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); + angle_ef_error.z = constrain_float(angle_ef_error.z, -overshoot_max, overshoot_max); // update yaw angle target to be within max angle overshoot of our current heading _angle_ef_target.z = angle_ef_error.z + _ahrs.yaw_sensor; @@ -491,19 +491,19 @@ void AC_AttitudeControl::integrate_bf_rate_error_to_angle_errors() // roll - calculate body-frame angle error by integrating body-frame rate error _angle_bf_error.x += (_rate_bf_desired.x - (_ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100)) * _dt; // roll - limit maximum error - _angle_bf_error.x = constrain_float(_angle_bf_error.x, -AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX); + _angle_bf_error.x = constrain_float(_angle_bf_error.x, -AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX); // pitch - calculate body-frame angle error by integrating body-frame rate error _angle_bf_error.y += (_rate_bf_desired.y - (_ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100)) * _dt; // pitch - limit maximum error - _angle_bf_error.y = constrain_float(_angle_bf_error.y, -AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX); + _angle_bf_error.y = constrain_float(_angle_bf_error.y, -AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX); // yaw - calculate body-frame angle error by integrating body-frame rate error _angle_bf_error.z += (_rate_bf_desired.z - (_ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100)) * _dt; // yaw - limit maximum error - _angle_bf_error.z = constrain_float(_angle_bf_error.z, -AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX); + _angle_bf_error.z = constrain_float(_angle_bf_error.z, -AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX, AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX); // To-Do: handle case of motors being disarmed or g.rc_3.servo_out == 0 and set error to zero } diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h index c19d4ffacb..ed9da8b1c2 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h @@ -33,6 +33,7 @@ #define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle +#define AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle #define AC_ATTITUDE_100HZ_DT 0.0100f // delta time in seconds for 100hz update rate #define AC_ATTITUDE_400HZ_DT 0.0025f // delta time in seconds for 400hz update rate @@ -171,13 +172,13 @@ protected: } _flags; // update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request - void update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error); + void update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error, float overshoot_max); // update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request - void update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error); + void update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error, float overshoot_max); // update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request - void update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error); + void update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error, float overshoot_max); // integrate_bf_rate_error_to_angle_errors - calculates body frame angle errors // body-frame feed forward rates (centi-degrees / second) taken from _angle_bf_error