diff --git a/attitude_fw/ecl_controller.h b/attitude_fw/ecl_controller.h index ac1ac88d04..fed7d1d8fb 100644 --- a/attitude_fw/ecl_controller.h +++ b/attitude_fw/ecl_controller.h @@ -75,6 +75,8 @@ struct ECL_ControlData { float airspeed_max; float airspeed; float scaler; + float groundspeed; + float groundspeed_scaler; bool lock_integrator; }; diff --git a/attitude_fw/ecl_wheel_controller.cpp b/attitude_fw/ecl_wheel_controller.cpp new file mode 100644 index 0000000000..7e34ff2a61 --- /dev/null +++ b/attitude_fw/ecl_wheel_controller.cpp @@ -0,0 +1,153 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_wheel_controller.cpp + * Implementation of a simple PID wheel controller for heading tracking. + * + * Authors and acknowledgements in header. + */ + +#include "ecl_wheel_controller.h" +#include +#include +#include +#include +#include +#include +#include + +ECL_WheelController::ECL_WheelController() : + ECL_Controller("wheel") +{ +} + +ECL_WheelController::~ECL_WheelController() +{ +} + +float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(ctl_data.yaw_rate) && + PX4_ISFINITE(ctl_data.groundspeed) && + PX4_ISFINITE(ctl_data.groundspeed_scaler))) { + perf_count(_nonfinite_input_perf); + return math::constrain(_last_output, -1.0f, 1.0f); + } + + /* get the usual dt estimate */ + uint64_t dt_micros = ecl_elapsed_time(&_last_run); + _last_run = ecl_absolute_time(); + float dt = (float)dt_micros * 1e-6f; + + /* lock integral for long intervals */ + bool lock_integrator = ctl_data.lock_integrator; + + if (dt_micros > 500000) { + lock_integrator = true; + } + + /* input conditioning */ + float min_speed = 1.0f; + + /* Calculate body angular rate error */ + _rate_error = _rate_setpoint - ctl_data.yaw_rate; //body angular rate error + + if (!lock_integrator && _k_i > 0.0f && ctl_data.groundspeed > min_speed) { + + float id = _rate_error * dt * ctl_data.groundspeed_scaler; + + /* + * anti-windup: do not allow integrator to increase if actuator is at limit + */ + if (_last_output < -1.0f) { + /* only allow motion to center: increase value */ + id = math::max(id, 0.0f); + + } else if (_last_output > 1.0f) { + /* only allow motion to center: decrease value */ + id = math::min(id, 0.0f); + } + + _integrator += id; + } + + /* integrator limit */ + //xxx: until start detection is available: integral part in control signal is limited here + float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max); + + /* Apply PI rate controller and store non-limited output */ + _last_output = _rate_setpoint * _k_ff * ctl_data.groundspeed_scaler + + _rate_error * _k_p * ctl_data.groundspeed_scaler * ctl_data.groundspeed_scaler + + integrator_constrained; + /*warnx("wheel: _last_output: %.4f, _integrator: %.4f, scaler %.4f", + (double)_last_output, (double)_integrator, (double)ctl_data.groundspeed_scaler);*/ + + + return math::constrain(_last_output, -1.0f, 1.0f); +} + + +float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_data) +{ + /* Do not calculate control signal with bad inputs */ + if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) && + PX4_ISFINITE(ctl_data.yaw))) { + perf_count(_nonfinite_input_perf); + warnx("not controlling wheel"); + return _rate_setpoint; + } + + /* Calculate the error */ + float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw; + /* shortest angle (wrap around) */ + yaw_error = (float)fmod((float)fmod((yaw_error + M_PI_F), M_TWOPI_F) + M_TWOPI_F, M_TWOPI_F) - M_PI_F; + /*warnx("yaw_error: %.4f", (double)yaw_error);*/ + + /* Apply P controller: rate setpoint from current error and time constant */ + _rate_setpoint = yaw_error / _tc; + + /* limit the rate */ + if (_max_rate > 0.01f) { + if (_rate_setpoint > 0.0f) { + _rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint; + + } else { + _rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint; + } + + } + + return _rate_setpoint; +} diff --git a/attitude_fw/ecl_wheel_controller.h b/attitude_fw/ecl_wheel_controller.h new file mode 100644 index 0000000000..f153a8f8f1 --- /dev/null +++ b/attitude_fw/ecl_wheel_controller.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_wheel_controller.h + * Definition of a simple orthogonal coordinated turn yaw PID controller. + * + * @author Lorenz Meier + * @author Thomas Gubler + * @author Andreas Antener + * + * Acknowledgements: + * + * The control design is based on a design + * by Paul Riseborough and Andrew Tridgell, 2013, + * which in turn is based on initial work of + * Jonathan Challinger, 2012. + */ +#ifndef ECL_HEADING_CONTROLLER_H +#define ECL_HEADING_CONTROLLER_H + +#include +#include + +#include "ecl_controller.h" + +class __EXPORT ECL_WheelController : + public ECL_Controller +{ +public: + ECL_WheelController(); + + ~ECL_WheelController(); + + float control_attitude(const struct ECL_ControlData &ctl_data); + + float control_bodyrate(const struct ECL_ControlData &ctl_data); +}; + +#endif // ECL_HEADING_CONTROLLER_H diff --git a/attitude_fw/ecl_yaw_controller.h b/attitude_fw/ecl_yaw_controller.h index 81d8210549..511b5fd36f 100644 --- a/attitude_fw/ecl_yaw_controller.h +++ b/attitude_fw/ecl_yaw_controller.h @@ -76,14 +76,15 @@ public: _coordinated_method = coordinated_method; } -protected: - float _coordinated_min_speed; - enum { COORD_METHOD_OPEN = 0, - COORD_METHOD_CLOSEACC = 1, + COORD_METHOD_CLOSEACC = 1 }; +protected: + float _coordinated_min_speed; + float _max_rate; + int32_t _coordinated_method; float control_bodyrate_impl(const struct ECL_ControlData &ctl_data);