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240 lines
8.3 KiB
240 lines
8.3 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2013 Estimation and Control Library (ECL). 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 ECL 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 ecl_yaw_controller.cpp |
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* Implementation of a simple orthogonal coordinated turn yaw PID controller. |
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* |
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* Authors and acknowledgements in header. |
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*/ |
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#include "ecl_yaw_controller.h" |
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#include <stdint.h> |
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#include <float.h> |
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#include <geo/geo.h> |
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#include <ecl/ecl.h> |
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#include <mathlib/mathlib.h> |
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#include <systemlib/err.h> |
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#include <ecl/ecl.h> |
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ECL_YawController::ECL_YawController() : |
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ECL_Controller("yaw"), |
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_coordinated_min_speed(1.0f), |
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_coordinated_method(0) |
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{ |
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} |
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ECL_YawController::~ECL_YawController() |
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{ |
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} |
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float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data) |
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{ |
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switch (_coordinated_method) { |
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case COORD_METHOD_OPEN: |
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return control_attitude_impl_openloop(ctl_data); |
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case COORD_METHOD_CLOSEACC: |
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return control_attitude_impl_accclosedloop(ctl_data); |
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default: |
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static hrt_abstime last_print = 0; |
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if (ecl_elapsed_time(&last_print) > 5e6) { |
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warnx("invalid param setting FW_YCO_METHOD"); |
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last_print = ecl_absolute_time(); |
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} |
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} |
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return _rate_setpoint; |
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} |
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float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data) |
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{ |
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switch (_coordinated_method) { |
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case COORD_METHOD_OPEN: |
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case COORD_METHOD_CLOSEACC: |
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return control_bodyrate_impl(ctl_data); |
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default: |
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static hrt_abstime last_print = 0; |
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if (ecl_elapsed_time(&last_print) > 5e6) { |
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warnx("invalid param setting FW_YCO_METHOD"); |
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last_print = ecl_absolute_time(); |
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} |
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} |
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return math::constrain(_last_output, -1.0f, 1.0f); |
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} |
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float ECL_YawController::control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data) |
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{ |
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/* Do not calculate control signal with bad inputs */ |
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if (!(PX4_ISFINITE(ctl_data.roll) && |
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PX4_ISFINITE(ctl_data.pitch) && |
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PX4_ISFINITE(ctl_data.speed_body_u) && |
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PX4_ISFINITE(ctl_data.speed_body_v) && |
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PX4_ISFINITE(ctl_data.speed_body_w) && |
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PX4_ISFINITE(ctl_data.roll_rate_setpoint) && |
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PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) { |
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perf_count(_nonfinite_input_perf); |
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return _rate_setpoint; |
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} |
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// static int counter = 0; |
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/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */ |
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_rate_setpoint = 0.0f; |
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if (sqrtf(ctl_data.speed_body_u * ctl_data.speed_body_u + ctl_data.speed_body_v * ctl_data.speed_body_v + |
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ctl_data.speed_body_w * ctl_data.speed_body_w) > _coordinated_min_speed) { |
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float denumerator = (ctl_data.speed_body_u * cosf(ctl_data.roll) * cosf(ctl_data.pitch) + |
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ctl_data.speed_body_w * sinf(ctl_data.pitch)); |
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if (fabsf(denumerator) > FLT_EPSILON) { |
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_rate_setpoint = (ctl_data.speed_body_w * ctl_data.roll_rate_setpoint + |
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9.81f * sinf(ctl_data.roll) * cosf(ctl_data.pitch) + |
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ctl_data.speed_body_u * ctl_data.pitch_rate_setpoint * sinf(ctl_data.roll)) / |
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denumerator; |
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// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint); |
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} |
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// if(counter % 20 == 0) { |
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// warnx("denumerator: %.4f, speed_body_u: %.4f, speed_body_w: %.4f, cosf(roll): %.4f, cosf(pitch): %.4f, sinf(pitch): %.4f", (double)denumerator, (double)speed_body_u, (double)speed_body_w, (double)cosf(roll), (double)cosf(pitch), (double)sinf(pitch)); |
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// } |
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} |
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/* limit the rate */ //XXX: move to body angluar rates |
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if (_max_rate > 0.01f) { |
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_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint; |
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_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint; |
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} |
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// counter++; |
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if (!PX4_ISFINITE(_rate_setpoint)) { |
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warnx("yaw rate sepoint not finite"); |
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_rate_setpoint = 0.0f; |
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} |
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return _rate_setpoint; |
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} |
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float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl_data) |
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{ |
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/* Do not calculate control signal with bad inputs */ |
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if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.pitch_rate) && |
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PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) && |
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PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) && |
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PX4_ISFINITE(ctl_data.scaler))) { |
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perf_count(_nonfinite_input_perf); |
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return math::constrain(_last_output, -1.0f, 1.0f); |
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} |
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/* get the usual dt estimate */ |
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uint64_t dt_micros = ecl_elapsed_time(&_last_run); |
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_last_run = ecl_absolute_time(); |
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float dt = (float)dt_micros * 1e-6f; |
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/* lock integral for long intervals */ |
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bool lock_integrator = ctl_data.lock_integrator; |
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if (dt_micros > 500000) { |
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lock_integrator = true; |
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} |
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/* input conditioning */ |
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float airspeed = ctl_data.airspeed; |
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if (!PX4_ISFINITE(airspeed)) { |
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/* airspeed is NaN, +- INF or not available, pick center of band */ |
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airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max); |
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} else if (airspeed < ctl_data.airspeed_min) { |
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airspeed = ctl_data.airspeed_min; |
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} |
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/* Transform setpoint to body angular rates (jacobian) */ |
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_bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint + |
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cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint; |
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/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */ |
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if (_coordinated_method == COORD_METHOD_CLOSEACC) { |
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//XXX: filtering of acceleration? |
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_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch))); |
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} |
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/* Calculate body angular rate error */ |
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_rate_error = _bodyrate_setpoint - ctl_data.yaw_rate; //body angular rate error |
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if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) { |
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float id = _rate_error * dt; |
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/* |
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* anti-windup: do not allow integrator to increase if actuator is at limit |
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*/ |
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if (_last_output < -1.0f) { |
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/* only allow motion to center: increase value */ |
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id = math::max(id, 0.0f); |
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} else if (_last_output > 1.0f) { |
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/* only allow motion to center: decrease value */ |
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id = math::min(id, 0.0f); |
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} |
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_integrator += id; |
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} |
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/* integrator limit */ |
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//xxx: until start detection is available: integral part in control signal is limited here |
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float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max); |
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/* Apply PI rate controller and store non-limited output */ |
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_last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler * |
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ctl_data.scaler; //scaler is proportional to 1/airspeed |
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//warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p); |
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return math::constrain(_last_output, -1.0f, 1.0f); |
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} |
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float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data) |
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{ |
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/* dont set a rate setpoint */ |
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return 0.0f; |
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}
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