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388 lines
17 KiB
388 lines
17 KiB
#include "AC_AttitudeControl_Multi.h" |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Math/AP_Math.h> |
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// table of user settable parameters |
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const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = { |
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// parameters from parent vehicle |
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AP_NESTEDGROUPINFO(AC_AttitudeControl, 0), |
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// @Param: RAT_RLL_P |
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// @DisplayName: Roll axis rate controller P gain |
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// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output |
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// @Range: 0.01 0.5 |
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// @Increment: 0.005 |
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// @User: Standard |
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// @Param: RAT_RLL_I |
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// @DisplayName: Roll axis rate controller I gain |
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate |
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// @Range: 0.01 2.0 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_RLL_IMAX |
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// @DisplayName: Roll axis rate controller I gain maximum |
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_RLL_D |
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// @DisplayName: Roll axis rate controller D gain |
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate |
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// @Range: 0.0 0.05 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_RLL_FF |
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// @DisplayName: Roll axis rate controller feed forward |
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// @Description: Roll axis rate controller feed forward |
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// @Range: 0 0.5 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_RLL_FLTT |
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// @DisplayName: Roll axis rate controller target frequency in Hz |
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// @Description: Roll axis rate controller target frequency in Hz |
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// @Range: 5 100 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_RLL_FLTE |
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// @DisplayName: Roll axis rate controller error frequency in Hz |
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// @Description: Roll axis rate controller error frequency in Hz |
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// @Range: 0 100 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_RLL_FLTD |
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// @DisplayName: Roll axis rate controller derivative frequency in Hz |
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// @Description: Roll axis rate controller derivative frequency in Hz |
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// @Range: 5 100 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_RLL_SMAX |
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// @DisplayName: Roll slew rate limit |
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. |
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// @Range: 0 200 |
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// @Increment: 0.5 |
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// @User: Advanced |
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AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID), |
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// @Param: RAT_PIT_P |
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// @DisplayName: Pitch axis rate controller P gain |
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// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output |
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// @Range: 0.01 0.50 |
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// @Increment: 0.005 |
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// @User: Standard |
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// @Param: RAT_PIT_I |
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// @DisplayName: Pitch axis rate controller I gain |
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// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate |
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// @Range: 0.01 2.0 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_PIT_IMAX |
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// @DisplayName: Pitch axis rate controller I gain maximum |
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// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_PIT_D |
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// @DisplayName: Pitch axis rate controller D gain |
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// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate |
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// @Range: 0.0 0.05 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_PIT_FF |
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// @DisplayName: Pitch axis rate controller feed forward |
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// @Description: Pitch axis rate controller feed forward |
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// @Range: 0 0.5 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_PIT_FLTT |
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// @DisplayName: Pitch axis rate controller target frequency in Hz |
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// @Description: Pitch axis rate controller target frequency in Hz |
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// @Range: 5 100 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_PIT_FLTE |
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// @DisplayName: Pitch axis rate controller error frequency in Hz |
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// @Description: Pitch axis rate controller error frequency in Hz |
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// @Range: 0 100 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_PIT_FLTD |
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// @DisplayName: Pitch axis rate controller derivative frequency in Hz |
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// @Description: Pitch axis rate controller derivative frequency in Hz |
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// @Range: 5 100 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_PIT_SMAX |
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// @DisplayName: Pitch slew rate limit |
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. |
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// @Range: 0 200 |
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// @Increment: 0.5 |
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// @User: Advanced |
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AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID), |
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// @Param: RAT_YAW_P |
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// @DisplayName: Yaw axis rate controller P gain |
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// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output |
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// @Range: 0.10 2.50 |
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// @Increment: 0.005 |
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// @User: Standard |
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// @Param: RAT_YAW_I |
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// @DisplayName: Yaw axis rate controller I gain |
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// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate |
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// @Range: 0.010 1.0 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_YAW_IMAX |
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// @DisplayName: Yaw axis rate controller I gain maximum |
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// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_YAW_D |
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// @DisplayName: Yaw axis rate controller D gain |
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// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate |
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// @Range: 0.000 0.02 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_YAW_FF |
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// @DisplayName: Yaw axis rate controller feed forward |
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// @Description: Yaw axis rate controller feed forward |
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// @Range: 0 0.5 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_YAW_FLTT |
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// @DisplayName: Yaw axis rate controller target frequency in Hz |
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// @Description: Yaw axis rate controller target frequency in Hz |
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// @Range: 1 50 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_YAW_FLTE |
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// @DisplayName: Yaw axis rate controller error frequency in Hz |
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// @Description: Yaw axis rate controller error frequency in Hz |
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// @Range: 0 20 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_YAW_FLTD |
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// @DisplayName: Yaw axis rate controller derivative frequency in Hz |
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// @Description: Yaw axis rate controller derivative frequency in Hz |
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// @Range: 5 50 |
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// @Increment: 1 |
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// @Units: Hz |
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// @User: Standard |
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// @Param: RAT_YAW_SMAX |
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// @DisplayName: Yaw slew rate limit |
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. |
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// @Range: 0 200 |
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// @Increment: 0.5 |
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// @User: Advanced |
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AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID), |
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// @Param: THR_MIX_MIN |
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// @DisplayName: Throttle Mix Minimum |
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// @Description: Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle) |
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// @Range: 0.1 0.25 |
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// @User: Advanced |
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AP_GROUPINFO("THR_MIX_MIN", 4, AC_AttitudeControl_Multi, _thr_mix_min, AC_ATTITUDE_CONTROL_MIN_DEFAULT), |
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// @Param: THR_MIX_MAX |
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// @DisplayName: Throttle Mix Maximum |
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// @Description: Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle) |
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// @Range: 0.5 0.9 |
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// @User: Advanced |
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AP_GROUPINFO("THR_MIX_MAX", 5, AC_AttitudeControl_Multi, _thr_mix_max, AC_ATTITUDE_CONTROL_MAX_DEFAULT), |
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// @Param: THR_MIX_MAN |
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// @DisplayName: Throttle Mix Manual |
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// @Description: Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle) |
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// @Range: 0.1 0.9 |
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// @User: Advanced |
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AP_GROUPINFO("THR_MIX_MAN", 6, AC_AttitudeControl_Multi, _thr_mix_man, AC_ATTITUDE_CONTROL_MAN_DEFAULT), |
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AP_GROUPEND |
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}; |
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AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) : |
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AC_AttitudeControl(ahrs, aparm, motors, dt), |
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_motors_multi(motors), |
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_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt), |
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_pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt), |
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_pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, AC_ATC_MULTI_RATE_YAW_FILT_HZ, 0.0f, dt) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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// Update Alt_Hold angle maximum |
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void AC_AttitudeControl_Multi::update_althold_lean_angle_max(float throttle_in) |
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{ |
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// calc maximum tilt angle based on throttle |
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float thr_max = _motors_multi.get_throttle_thrust_max(); |
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// divide by zero check |
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if (is_zero(thr_max)) { |
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_althold_lean_angle_max = 0.0f; |
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return; |
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} |
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float althold_lean_angle_max = acosf(constrain_float(throttle_in / (AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f)); |
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_althold_lean_angle_max = _althold_lean_angle_max + (_dt / (_dt + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max); |
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} |
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void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff) |
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{ |
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_throttle_in = throttle_in; |
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update_althold_lean_angle_max(throttle_in); |
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_motors.set_throttle_filter_cutoff(filter_cutoff); |
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if (apply_angle_boost) { |
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// Apply angle boost |
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throttle_in = get_throttle_boosted(throttle_in); |
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} else { |
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// Clear angle_boost for logging purposes |
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_angle_boost = 0.0f; |
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} |
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_motors.set_throttle(throttle_in); |
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_motors.set_throttle_avg_max(get_throttle_avg_max(MAX(throttle_in, _throttle_in))); |
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} |
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void AC_AttitudeControl_Multi::set_throttle_mix_max(float ratio) |
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{ |
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ratio = constrain_float(ratio, 0.0f, 1.0f); |
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_throttle_rpy_mix_desired = (1.0f - ratio) * _thr_mix_min + ratio * _thr_mix_max; |
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} |
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// returns a throttle including compensation for roll/pitch angle |
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// throttle value should be 0 ~ 1 |
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float AC_AttitudeControl_Multi::get_throttle_boosted(float throttle_in) |
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{ |
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if (!_angle_boost_enabled) { |
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_angle_boost = 0; |
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return throttle_in; |
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} |
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// inverted_factor is 1 for tilt angles below 60 degrees |
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// inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees |
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float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll(); |
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float inverted_factor = constrain_float(10.0f * cos_tilt, 0.0f, 1.0f); |
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float cos_tilt_target = cosf(_thrust_angle); |
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float boost_factor = 1.0f / constrain_float(cos_tilt_target, 0.1f, 1.0f); |
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float throttle_out = throttle_in * inverted_factor * boost_factor; |
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_angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f); |
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return throttle_out; |
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} |
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// returns a throttle including compensation for roll/pitch angle |
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// throttle value should be 0 ~ 1 |
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float AC_AttitudeControl_Multi::get_throttle_avg_max(float throttle_in) |
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{ |
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throttle_in = constrain_float(throttle_in, 0.0f, 1.0f); |
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return MAX(throttle_in, throttle_in * MAX(0.0f, 1.0f - _throttle_rpy_mix) + _motors.get_throttle_hover() * _throttle_rpy_mix); |
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} |
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// update_throttle_rpy_mix - slew set_throttle_rpy_mix to requested value |
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void AC_AttitudeControl_Multi::update_throttle_rpy_mix() |
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{ |
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// slew _throttle_rpy_mix to _throttle_rpy_mix_desired |
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if (_throttle_rpy_mix < _throttle_rpy_mix_desired) { |
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// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds) |
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_throttle_rpy_mix += MIN(2.0f * _dt, _throttle_rpy_mix_desired - _throttle_rpy_mix); |
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} else if (_throttle_rpy_mix > _throttle_rpy_mix_desired) { |
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// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds) |
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_throttle_rpy_mix -= MIN(0.5f * _dt, _throttle_rpy_mix - _throttle_rpy_mix_desired); |
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// if the mix is still higher than that being used, reset immediately |
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const float throttle_hover = _motors.get_throttle_hover(); |
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const float throttle_in = _motors.get_throttle(); |
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const float throttle_out = MAX(_motors.get_throttle_out(), throttle_in); |
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float mix_used; |
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// since throttle_out >= throttle_in at this point we don't need to check throttle_in < throttle_hover |
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if (throttle_out < throttle_hover) { |
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mix_used = (throttle_out - throttle_in) / (throttle_hover - throttle_in); |
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} else { |
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mix_used = throttle_out / throttle_hover; |
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} |
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_throttle_rpy_mix = MIN(_throttle_rpy_mix, MAX(mix_used, _throttle_rpy_mix_desired)); |
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} |
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_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX); |
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} |
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void AC_AttitudeControl_Multi::rate_controller_run() |
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{ |
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// move throttle vs attitude mixing towards desired (called from here because this is conveniently called on every iteration) |
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update_throttle_rpy_mix(); |
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_ang_vel_body += _sysid_ang_vel_body; |
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Vector3f gyro_latest = _ahrs.get_gyro_latest(); |
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_motors.set_roll(get_rate_roll_pid().update_all(_ang_vel_body.x, gyro_latest.x, _motors.limit.roll) + _actuator_sysid.x); |
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_motors.set_roll_ff(get_rate_roll_pid().get_ff()); |
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_motors.set_pitch(get_rate_pitch_pid().update_all(_ang_vel_body.y, gyro_latest.y, _motors.limit.pitch) + _actuator_sysid.y); |
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_motors.set_pitch_ff(get_rate_pitch_pid().get_ff()); |
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_motors.set_yaw(get_rate_yaw_pid().update_all(_ang_vel_body.z, gyro_latest.z, _motors.limit.yaw) + _actuator_sysid.z); |
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_motors.set_yaw_ff(get_rate_yaw_pid().get_ff()*_feedforward_scalar); |
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_sysid_ang_vel_body.zero(); |
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_actuator_sysid.zero(); |
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control_monitor_update(); |
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} |
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// sanity check parameters. should be called once before takeoff |
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void AC_AttitudeControl_Multi::parameter_sanity_check() |
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{ |
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// sanity check throttle mix parameters |
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if (_thr_mix_man < 0.1f || _thr_mix_man > AC_ATTITUDE_CONTROL_MAN_LIMIT) { |
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// parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0 |
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// which can be useful for very high powered copters with very low hover throttle |
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_thr_mix_man.set_and_save(constrain_float(_thr_mix_man, 0.1, AC_ATTITUDE_CONTROL_MAN_LIMIT)); |
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} |
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if (_thr_mix_min < 0.1f || _thr_mix_min > AC_ATTITUDE_CONTROL_MIN_LIMIT) { |
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_thr_mix_min.set_and_save(constrain_float(_thr_mix_min, 0.1, AC_ATTITUDE_CONTROL_MIN_LIMIT)); |
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} |
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if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) { |
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// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0 |
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// which can be useful for very high powered copters with very low hover throttle |
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_thr_mix_max.set_and_save(constrain_float(_thr_mix_max, 0.5, AC_ATTITUDE_CONTROL_MAX)); |
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} |
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if (_thr_mix_min > _thr_mix_max) { |
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_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT); |
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_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT); |
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} |
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}
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