AC_AttitudeControl: AC_PosControl: Support error input to kinematic shaper

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -355,10 +355,10 @@ void AC_PosControl::input_pos_xyz(const Vector3p& pos, float pos_offset_z, float
         accel_z_cmss *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _vel_max_up_cms;
     }
 
-    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
+    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error());
 
     // adjust desired altitude if motors have not hit their limits
-    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
+    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
 
     // calculate the horizontal and vertical velocity limits to travel directly to the destination defined by pos
     float vel_max_xy_cms = 0.0f;
@@ -536,7 +536,7 @@ void AC_PosControl::input_accel_xy(const Vector3f& accel)
     // check for ekf xy position reset
     handle_ekf_xy_reset();
 
-    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
+    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error());
     shape_accel_xy(accel, _accel_desired, _jerk_max_xy_cmsss, _dt);
 }
 
@@ -547,12 +547,12 @@ void AC_PosControl::input_accel_xy(const Vector3f& accel)
 ///     The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
 void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel, bool limit_output)
 {
-    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
+    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error());
 
     shape_vel_accel_xy(vel, accel, _vel_desired.xy(), _accel_desired.xy(),
         _accel_max_xy_cmss, _jerk_max_xy_cmsss, _dt, limit_output);
 
-    update_vel_accel_xy(vel, accel, _dt, Vector2f());
+    update_vel_accel_xy(vel, accel, _dt, Vector2f(), Vector2f());
 }
 
 /// input_pos_vel_accel_xy - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
@@ -562,12 +562,12 @@ void AC_PosControl::input_vel_accel_xy(Vector2f& vel, const Vector2f& accel, boo
 ///     The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
 void AC_PosControl::input_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel, bool limit_output)
 {
-    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy());
+    update_pos_vel_accel_xy(_pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(), _dt, _limit_vector.xy(), _p_pos_xy.get_error(), _pid_vel_xy.get_error());
 
     shape_pos_vel_accel_xy(pos, vel, accel, _pos_target.xy(), _vel_desired.xy(), _accel_desired.xy(),
                            _vel_max_xy_cms, _accel_max_xy_cmss, _jerk_max_xy_cmsss, _dt, limit_output);
 
-    update_pos_vel_accel_xy(pos, vel, accel, _dt, Vector2f());
+    update_pos_vel_accel_xy(pos, vel, accel, _dt, Vector2f(), Vector2f(), Vector2f());
 }
 
 /// stop_pos_xy_stabilisation - sets the target to the current position to remove any position corrections from the system
@@ -647,7 +647,7 @@ void AC_PosControl::update_xy_controller()
         _vehicle_horiz_vel.x = _inav.get_velocity().x;
         _vehicle_horiz_vel.y = _inav.get_velocity().y;
     }
-    Vector2f accel_target = _pid_vel_xy.update_all(Vector2f{_vel_target.x, _vel_target.y}, _vehicle_horiz_vel, Vector2f(_limit_vector.x, _limit_vector.y));
+    Vector2f accel_target = _pid_vel_xy.update_all(_vel_target.xy(), _vehicle_horiz_vel, _limit_vector.xy());
     // acceleration to correct for velocity error and scale PID output to compensate for optical flow measurement induced EKF noise
     accel_target *= ekfNavVelGainScaler;
 
@@ -824,7 +824,7 @@ void AC_PosControl::input_accel_z(float accel)
     }
 
     // adjust desired alt if motors have not hit their limits
-    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
+    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
 
     shape_accel(accel, _accel_desired.z, _jerk_max_z_cmsss, _dt);
 }
@@ -850,14 +850,14 @@ void AC_PosControl::input_vel_accel_z(float &vel, float accel, bool ignore_desce
     }
 
     // adjust desired alt if motors have not hit their limits
-    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
+    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
 
     shape_vel_accel(vel, accel,
                     _vel_desired.z, _accel_desired.z,
                     -constrain_float(accel_z_cmss, 0.0f, 750.0f), accel_z_cmss,
                     _jerk_max_z_cmsss, _dt, limit_output);
 
-    update_vel_accel(vel, accel, _dt, 0);
+    update_vel_accel(vel, accel, _dt, 0.0, 0.0);
 }
 
 /// set_pos_target_z_from_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s
@@ -907,7 +907,7 @@ void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, b
     }
 
     // adjust desired altitude if motors have not hit their limits
-    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
+    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
 
     shape_pos_vel_accel(pos, vel, accel,
                         _pos_target.z, _vel_desired.z, _accel_desired.z,
@@ -916,7 +916,7 @@ void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, b
                         _jerk_max_z_cmsss, _dt, limit_output);
 
     postype_t posp = pos;
-    update_pos_vel_accel(posp, vel, accel, _dt, 0);
+    update_pos_vel_accel(posp, vel, accel, _dt, 0.0, 0.0, 0.0);
     pos = posp;
 }
 
@@ -933,7 +933,7 @@ void AC_PosControl::update_pos_offset_z(float pos_offset_z)
 {
 
     postype_t p_offset_z = _pos_offset_z;
-    update_pos_vel_accel(p_offset_z, _vel_offset_z, _accel_offset_z, _dt, MIN(_limit_vector.z, 0.0f));
+    update_pos_vel_accel(p_offset_z, _vel_offset_z, _accel_offset_z, _dt, MIN(_limit_vector.z, 0.0f), _p_pos_z.get_error(), _pid_vel_z.get_error());
     _pos_offset_z = p_offset_z;
 
     // input shape the terrain offset

libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp

@@ -33,7 +33,7 @@ void AC_PosControl_Sub::input_vel_accel_z(float &vel, const float accel, bool fo
     }
 
     // adjust desired alt if motors have not hit their limits
-    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z);
+    update_pos_vel_accel(_pos_target.z, _vel_desired.z, _accel_desired.z, _dt, _limit_vector.z, _p_pos_z.get_error(), _pid_vel_z.get_error());
 
     // prevent altitude target from breeching altitude limits
     if (is_negative(_alt_min) && _alt_min < _alt_max && _alt_max < 100 && _pos_target.z < _alt_min) {
@@ -45,5 +45,5 @@ void AC_PosControl_Sub::input_vel_accel_z(float &vel, const float accel, bool fo
         -accel_z_cms, accel_z_cms,
         _jerk_max_xy_cmsss, _dt, limit_output);
 
-    update_vel_accel(vel, accel, _dt, _limit_vector.z);
+    update_vel_accel(vel, accel, _dt, 0.0, 0.0);
 }