mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 18:52:46 +08:00
Merge James's controllib bits into a separate library module.
Add a top-level mathlib header to avoid having to dig around for specific headers.
This commit is contained in:
px4dev
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. 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 PX4 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 fixedwing.cpp
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*
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* Controller library code
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*/
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#include "fixedwing.hpp"
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namespace control
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{
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namespace fixedwing
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{
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BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_rLowPass(this, "R_LP"),
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_rWashout(this, "R_HP"),
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_r2Rdr(this, "R2RDR"),
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_rudder(0)
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{
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}
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BlockYawDamper::~BlockYawDamper() {};
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void BlockYawDamper::update(float rCmd, float r)
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{
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_rudder = _r2Rdr.update(rCmd -
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_rWashout.update(_rLowPass.update(r)));
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}
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BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_yawDamper(this, ""),
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_pLowPass(this, "P_LP"),
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_qLowPass(this, "Q_LP"),
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_p2Ail(this, "P2AIL"),
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_q2Elv(this, "Q2ELV"),
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_aileron(0),
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_elevator(0)
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{
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}
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BlockStabilization::~BlockStabilization() {};
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void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
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float p, float q, float r)
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{
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_aileron = _p2Ail.update(
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pCmd - _pLowPass.update(p));
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_elevator = _q2Elv.update(
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qCmd - _qLowPass.update(q));
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_yawDamper.update(rCmd, r);
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}
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BlockHeadingHold::BlockHeadingHold(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_psi2Phi(this, "PSI2PHI"),
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_phi2P(this, "PHI2P"),
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_phiLimit(this, "PHI_LIM")
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{
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}
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BlockHeadingHold::~BlockHeadingHold() {};
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float BlockHeadingHold::update(float psiCmd, float phi, float psi, float p)
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{
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float psiError = _wrap_pi(psiCmd - psi);
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float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
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return _phi2P.update(phiCmd - phi);
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}
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BlockVelocityHoldBackside::BlockVelocityHoldBackside(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_v2Theta(this, "V2THE"),
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_theta2Q(this, "THE2Q"),
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_theLimit(this, "THE"),
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_vLimit(this, "V")
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{
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}
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BlockVelocityHoldBackside::~BlockVelocityHoldBackside() {};
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float BlockVelocityHoldBackside::update(float vCmd, float v, float theta, float q)
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{
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// negative sign because nose over to increase speed
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float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
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return _theta2Q.update(thetaCmd - theta);
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}
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BlockVelocityHoldFrontside::BlockVelocityHoldFrontside(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_v2Thr(this, "V2THR")
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{
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}
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BlockVelocityHoldFrontside::~BlockVelocityHoldFrontside() {};
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float BlockVelocityHoldFrontside::update(float vCmd, float v)
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{
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return _v2Thr.update(vCmd - v);
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}
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BlockAltitudeHoldBackside::BlockAltitudeHoldBackside(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_h2Thr(this, "H2THR"),
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_throttle(0)
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{
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}
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BlockAltitudeHoldBackside::~BlockAltitudeHoldBackside() {};
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void BlockAltitudeHoldBackside::update(float hCmd, float h)
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{
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_throttle = _h2Thr.update(hCmd - h);
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}
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BlockAltitudeHoldFrontside::BlockAltitudeHoldFrontside(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_h2Theta(this, "H2THE"),
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_theta2Q(this, "THE2Q")
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{
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}
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BlockAltitudeHoldFrontside::~BlockAltitudeHoldFrontside() {};
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float BlockAltitudeHoldFrontside::update(float hCmd, float h, float theta, float q)
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{
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float thetaCmd = _h2Theta.update(hCmd - h);
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return _theta2Q.update(thetaCmd - theta);
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}
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BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
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const char *name,
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BlockStabilization *stabilization) :
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SuperBlock(parent, name),
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_stabilization(stabilization),
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_headingHold(this, ""),
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_velocityHold(this, ""),
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_altitudeHold(this, ""),
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_trimAil(this, "TRIM_AIL"),
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_trimElv(this, "TRIM_ELV"),
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_trimRdr(this, "TRIM_RDR"),
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_trimThr(this, "TRIM_THR")
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{
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}
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BlockBacksideAutopilot::~BlockBacksideAutopilot() {};
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void BlockBacksideAutopilot::update(float hCmd, float vCmd, float rCmd, float psiCmd,
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float h, float v,
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float phi, float theta, float psi,
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float p, float q, float r)
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{
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_altitudeHold.update(hCmd, h);
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_stabilization->update(
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_headingHold.update(psiCmd, phi, psi, p),
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_velocityHold.update(vCmd, v, theta, q),
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rCmd,
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p, q, r);
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}
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BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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_xtYawLimit(this, "XT2YAW"),
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_xt2Yaw(this, "XT2YAW"),
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_psiCmd(0)
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{
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}
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BlockWaypointGuidance::~BlockWaypointGuidance() {};
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void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
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vehicle_attitude_s &att,
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vehicle_global_position_setpoint_s &posCmd,
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vehicle_global_position_setpoint_s &lastPosCmd)
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{
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// heading to waypoint
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float psiTrack = get_bearing_to_next_waypoint(
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(double)pos.lat / (double)1e7d,
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(double)pos.lon / (double)1e7d,
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(double)posCmd.lat / (double)1e7d,
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(double)posCmd.lon / (double)1e7d);
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// cross track
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struct crosstrack_error_s xtrackError;
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get_distance_to_line(&xtrackError,
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(double)pos.lat / (double)1e7d,
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(double)pos.lon / (double)1e7d,
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(double)lastPosCmd.lat / (double)1e7d,
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(double)lastPosCmd.lon / (double)1e7d,
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(double)posCmd.lat / (double)1e7d,
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(double)posCmd.lon / (double)1e7d);
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_psiCmd = _wrap_2pi(psiTrack -
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_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
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}
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BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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// subscriptions
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_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
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_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
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_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
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_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
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_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_setpoint), 20),
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_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
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_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
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_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
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// publications
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_actuators(&getPublications(), ORB_ID(actuator_controls_0))
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{
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}
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BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
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BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
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BlockUorbEnabledAutopilot(parent, name),
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_stabilization(this, ""), // no name needed, already unique
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_backsideAutopilot(this, "", &_stabilization),
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_guide(this, ""),
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_vCmd(this, "V_CMD"),
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_attPoll(),
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_lastPosCmd(),
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_timeStamp(0)
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{
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_attPoll.fd = _att.getHandle();
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_attPoll.events = POLLIN;
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}
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void BlockMultiModeBacksideAutopilot::update()
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{
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// wait for a sensor update, check for exit condition every 100 ms
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if (poll(&_attPoll, 1, 100) < 0) return; // poll error
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uint64_t newTimeStamp = hrt_absolute_time();
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float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
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_timeStamp = newTimeStamp;
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// check for sane values of dt
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// to prevent large control responses
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if (dt > 1.0f || dt < 0) return;
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// set dt for all child blocks
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setDt(dt);
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// store old position command before update if new command sent
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if (_posCmd.updated()) {
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_lastPosCmd = _posCmd.getData();
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}
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// check for new updates
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if (_param_update.updated()) updateParams();
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// get new information from subscriptions
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updateSubscriptions();
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// default all output to zero unless handled by mode
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for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++)
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_actuators.control[i] = 0.0f;
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// handle autopilot modes
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if (_status.state_machine == SYSTEM_STATE_STABILIZED) {
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_stabilization.update(
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_ratesCmd.roll, _ratesCmd.pitch, _ratesCmd.yaw,
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_att.rollspeed, _att.pitchspeed, _att.yawspeed);
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_actuators.control[CH_AIL] = _stabilization.getAileron();
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_actuators.control[CH_ELV] = _stabilization.getElevator();
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_actuators.control[CH_RDR] = _stabilization.getRudder();
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_actuators.control[CH_THR] = _manual.throttle;
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} else if (_status.state_machine == SYSTEM_STATE_AUTO) {
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// update guidance
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_guide.update(_pos, _att, _posCmd, _lastPosCmd);
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// calculate velocity, XXX should be airspeed, but using ground speed for now
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float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
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// commands
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float rCmd = 0;
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_backsideAutopilot.update(
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_posCmd.altitude, _vCmd.get(), rCmd, _guide.getPsiCmd(),
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_pos.alt, v,
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_att.roll, _att.pitch, _att.yaw,
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_att.rollspeed, _att.pitchspeed, _att.yawspeed
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);
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_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
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_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
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_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
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_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
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} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
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_actuators.control[CH_AIL] = _manual.roll;
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_actuators.control[CH_ELV] = _manual.pitch;
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_actuators.control[CH_RDR] = _manual.yaw;
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_actuators.control[CH_THR] = _manual.throttle;
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}
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// update all publications
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updatePublications();
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}
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BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
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{
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// send one last publication when destroyed, setting
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// all output to zero
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for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
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_actuators.control[i] = 0.0f;
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updatePublications();
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}
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} // namespace fixedwing
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} // namespace control
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