extracted heading controller

src/lib/ecl/attitude_fw/ecl_heading_controller.cpp

@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ *   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_yaw_controller.cpp
+ * Implementation of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * Authors and acknowledgements in header.
+ */
+
+#include "ecl_heading_controller.h"
+#include <stdint.h>
+#include <float.h>
+#include <geo/geo.h>
+#include <ecl/ecl.h>
+#include <mathlib/mathlib.h>
+#include <systemlib/err.h>
+#include <ecl/ecl.h>
+
+ECL_HeadingController::ECL_HeadingController() :
+    ECL_Controller("heading")
+{
+}
+
+ECL_HeadingController::~ECL_HeadingController()
+{
+}
+
+float ECL_HeadingController::control_bodyrate(const struct ECL_ControlData &ctl_data)
+{
+    /* Do not calculate control signal with bad inputs */
+    if (!(PX4_ISFINITE(ctl_data.roll) && PX4_ISFINITE(ctl_data.pitch) && PX4_ISFINITE(ctl_data.pitch_rate) &&
+          PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
+          PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
+          PX4_ISFINITE(ctl_data.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 airspeed = ctl_data.airspeed;
+
+    if (!PX4_ISFINITE(airspeed)) {
+        /* airspeed is NaN, +- INF or not available, pick center of band */
+        airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max);
+
+    } else if (airspeed < ctl_data.airspeed_min) {
+        airspeed = ctl_data.airspeed_min;
+    }
+
+
+    /* Transform setpoint to body angular rates (jacobian) */
+    _bodyrate_setpoint = -sinf(ctl_data.roll) * ctl_data.pitch_rate_setpoint +
+                 cosf(ctl_data.roll) * cosf(ctl_data.pitch) * _rate_setpoint;
+
+    /* Calculate body angular rate error */
+    _rate_error = _bodyrate_setpoint - ctl_data.yaw_rate; //body angular rate error
+
+    if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) {
+
+        float id = _rate_error * dt;
+
+        /*
+         * 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 = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * ctl_data.scaler *
+               ctl_data.scaler;  //scaler is proportional to 1/airspeed
+    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);
+
+
+    return math::constrain(_last_output, -1.0f, 1.0f);
+}
+
+
+float ECL_HeadingController::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) &&
+          PX4_ISFINITE(ctl_data.airspeed))) {
+        perf_count(_nonfinite_input_perf);
+        warnx("not controlling yaw");
+        return _rate_setpoint;
+    }
+
+    /* Calculate the error */
+    float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw;
+
+    /*  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;
+}

src/lib/ecl/attitude_fw/ecl_heading_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_yaw_controller.h
+ * Definition of a simple orthogonal coordinated turn yaw PID controller.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Andreas Antener <andreas@uaventure.com>
+ *
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include "ecl_controller.h"
+
+class __EXPORT ECL_HeadingController :
+    public ECL_Controller
+{
+public:
+    ECL_HeadingController();
+
+    ~ECL_HeadingController();
+
+    float control_attitude(const struct ECL_ControlData &ctl_data);
+
+    float control_bodyrate(const struct ECL_ControlData &ctl_data);
+};
+
+#endif // ECL_HEADING_CONTROLLER_H

src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp

@@ -67,9 +67,6 @@ float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data
 	case COORD_METHOD_CLOSEACC:
 		return control_attitude_impl_accclosedloop(ctl_data);
 
-	case COORD_METHOD_HEADING:
-		return control_heading(ctl_data);
-
 	default:
 		static hrt_abstime last_print = 0;
 
@@ -241,34 +238,3 @@ float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_Co
 	/* dont set a rate setpoint */
 	return 0.0f;
 }
-
-float ECL_YawController::control_heading(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) &&
-	      PX4_ISFINITE(ctl_data.airspeed))) {
-		perf_count(_nonfinite_input_perf);
-		warnx("not controlling yaw");
-		return _rate_setpoint;
-	}
-
-	/* Calculate the error */
-	float yaw_error = ctl_data.yaw_setpoint - ctl_data.yaw;
-
-	/*  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;
-}

src/lib/ecl/attitude_fw/ecl_yaw_controller.h

@@ -78,8 +78,7 @@ public:
 
 	enum {
 		COORD_METHOD_OPEN = 0,
-		COORD_METHOD_CLOSEACC = 1,
-		COORD_METHOD_HEADING = 2
+		COORD_METHOD_CLOSEACC = 1
 	};
 
 protected:
@@ -94,8 +93,6 @@ protected:
 
 	float control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data);
 
-	float control_heading(const struct ECL_ControlData &ctl_data);
-
 };
 
 #endif // ECL_YAW_CONTROLLER_H

src/lib/runway_takeoff/RunwayTakeoff.cpp

@@ -105,7 +105,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
 	case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
 		if (airspeed > _airspeed_min.get() * _min_airspeed_scaling) {
 			_state = RunwayTakeoffState::TAKEOFF;
-			mavlink_log_info(mavlink_fd, "#audio: Takeoff airspeed reached");
+			mavlink_log_info(mavlink_fd, "#Takeoff airspeed reached");
 		}
 
 		break;
@@ -113,7 +113,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
 	case RunwayTakeoffState::TAKEOFF:
 		if (alt_agl > math::max(_runway_takeoff_nav_alt.get(), _climbout_diff.get())) {
 			_state = RunwayTakeoffState::FLY;
-			mavlink_log_info(mavlink_fd, "#audio: Navigating to waypoint");
+			mavlink_log_info(mavlink_fd, "#Navigating to waypoint");
 		}
 
 		break;