mirror of
https://github.com/ArduPilot/ardupilot.git
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4df61b941f
mixing these up has caused confusion in the past. "estimate" could also be confused as to mean "synthetic", when it will often come from a sensor.
268 lines
9.4 KiB
C++
268 lines
9.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Code by Jon Challinger
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// Modified by Paul Riseborough
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//
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#include <AP_HAL/AP_HAL.h>
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#include "AP_RollController.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_RollController::var_info[] = {
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// @Param: 2SRV_TCONST
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// @DisplayName: Roll Time Constant
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// @Description: Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.
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// @Range: 0.4 1.0
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// @Units: s
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// @Increment: 0.1
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// @User: Advanced
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AP_GROUPINFO("2SRV_TCONST", 0, AP_RollController, gains.tau, 0.5f),
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// index 1 to 3 reserved for old PID values
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// @Param: 2SRV_RMAX
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// @DisplayName: Maximum Roll Rate
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// @Description: This sets the maximum roll rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables this limit.
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// @Range: 0 180
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// @Units: deg/s
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("2SRV_RMAX", 4, AP_RollController, gains.rmax_pos, 0),
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// index 5, 6 reserved for old IMAX, FF
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// @Param: _RATE_P
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// @DisplayName: Roll axis rate controller P gain
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// @Description: Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
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// @Range: 0.08 0.35
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// @Increment: 0.005
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// @User: Standard
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// @Param: _RATE_I
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// @DisplayName: Roll axis rate controller I gain
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
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// @Range: 0.01 0.6
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// @Increment: 0.01
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// @User: Standard
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// @Param: _RATE_IMAX
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// @DisplayName: Roll axis rate controller I gain maximum
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
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// @Range: 0 1
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// @Increment: 0.01
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// @User: Standard
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// @Param: _RATE_D
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// @DisplayName: Roll axis rate controller D gain
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
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// @Range: 0.001 0.03
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// @Increment: 0.001
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// @User: Standard
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// @Param: _RATE_FF
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// @DisplayName: Roll axis rate controller feed forward
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// @Description: Roll axis rate controller feed forward
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// @Range: 0 3.0
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// @Increment: 0.001
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// @User: Standard
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// @Param: _RATE_FLTT
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// @DisplayName: Roll axis rate controller target frequency in Hz
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// @Description: Roll axis rate controller target frequency in Hz
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// @Range: 2 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_FLTE
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// @DisplayName: Roll axis rate controller error frequency in Hz
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// @Description: Roll axis rate controller error frequency in Hz
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// @Range: 2 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_FLTD
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// @DisplayName: Roll axis rate controller derivative frequency in Hz
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// @Description: Roll axis rate controller derivative frequency in Hz
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// @Range: 0 50
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: _RATE_SMAX
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// @DisplayName: Roll slew rate limit
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
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// @Range: 0 200
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// @Increment: 0.5
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// @User: Advanced
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// @Param: _RATE_PDMX
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// @DisplayName: Roll axis rate controller PD sum maximum
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// @Description: Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
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// @Range: 0 1
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// @Increment: 0.01
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// @Param: _RATE_D_FF
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// @DisplayName: Roll Derivative FeedForward Gain
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// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
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// @Range: 0 0.03
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// @Increment: 0.001
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// @User: Advanced
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// @Param: _RATE_NTF
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// @DisplayName: Roll Target notch filter index
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// @Description: Roll Target notch filter index
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// @Range: 1 8
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// @User: Advanced
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// @Param: _RATE_NEF
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// @DisplayName: Roll Error notch filter index
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// @Description: Roll Error notch filter index
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// @Range: 1 8
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// @User: Advanced
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AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_RollController, AC_PID),
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AP_GROUPEND
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};
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// constructor
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AP_RollController::AP_RollController(const AP_FixedWing &parms)
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: AP_FW_Controller(parms,
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AC_PID::Defaults{
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.p = 0.08,
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.i = 0.15,
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.d = 0.0,
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.ff = 0.345,
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.imax = 0.666,
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.filt_T_hz = 3.0,
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.filt_E_hz = 0.0,
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.filt_D_hz = 12.0,
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.srmax = 150.0,
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.srtau = 1.0
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},
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AP_AutoTune::ATType::AUTOTUNE_ROLL)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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float AP_RollController::get_measured_rate() const
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{
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return AP::ahrs().get_gyro().x;
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}
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float AP_RollController::get_airspeed() const
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{
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float aspeed;
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if (!AP::ahrs().airspeed_EAS(aspeed)) {
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// If no airspeed available use 0
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aspeed = 0.0;
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}
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return aspeed;
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}
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bool AP_RollController::is_underspeed(const float aspeed) const
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{
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return aspeed <= float(aparm.airspeed_min);
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}
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/*
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Function returns an equivalent aileron deflection in centi-degrees in the range from -4500 to 4500
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A positive demand is up
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Inputs are:
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1) demanded bank angle in centi-degrees
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2) control gain scaler = scaling_speed / aspeed
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3) boolean which is true when stabilise mode is active
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4) minimum FBW airspeed (metres/sec)
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*/
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float AP_RollController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode)
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{
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if (gains.tau < 0.05f) {
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gains.tau.set(0.05f);
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}
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// Calculate the desired roll rate (deg/sec) from the angle error
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angle_err_deg = angle_err * 0.01;
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float desired_rate = angle_err_deg/ gains.tau;
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/*
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prevent indecision in the roll controller when target roll is
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close to 180 degrees from the current roll
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*/
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const float indecision_threshold_deg = 160;
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const float last_desired_rate = _pid_info.target;
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const float abs_angle_err_deg = fabsf(angle_err_deg);
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if (abs_angle_err_deg > indecision_threshold_deg &&
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angle_err_deg <= 180) {
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if (desired_rate * last_desired_rate < 0) {
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desired_rate = -desired_rate;
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// increase the desired rate in proportion to the extra
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// angle we are requesting
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const float new_angle_err_deg = abs_angle_err_deg + (180 - abs_angle_err_deg)*2;
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desired_rate *= new_angle_err_deg / abs_angle_err_deg;
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}
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}
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if (!in_recovery) {
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// Limit the demanded roll rate. When we are in a VTOL
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// recovery we don't apply the limit
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if (gains.rmax_pos && desired_rate < -gains.rmax_pos) {
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desired_rate = - gains.rmax_pos;
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} else if (gains.rmax_pos && desired_rate > gains.rmax_pos) {
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desired_rate = gains.rmax_pos;
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}
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}
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// the in_recovery flag is single loop only
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in_recovery = false;
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return _get_rate_out(desired_rate, scaler, disable_integrator, get_airspeed(), ground_mode);
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}
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/*
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convert from old to new PIDs
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this is a temporary conversion function during development
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*/
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void AP_RollController::convert_pid()
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{
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AP_Float &ff = rate_pid.ff();
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if (ff.configured()) {
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return;
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}
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float old_ff=0, old_p=1.0, old_i=0.3, old_d=0.08;
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int16_t old_imax=3000;
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bool have_old = AP_Param::get_param_by_index(this, 1, AP_PARAM_FLOAT, &old_p);
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have_old |= AP_Param::get_param_by_index(this, 3, AP_PARAM_FLOAT, &old_i);
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have_old |= AP_Param::get_param_by_index(this, 2, AP_PARAM_FLOAT, &old_d);
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have_old |= AP_Param::get_param_by_index(this, 6, AP_PARAM_FLOAT, &old_ff);
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have_old |= AP_Param::get_param_by_index(this, 5, AP_PARAM_INT16, &old_imax);
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if (!have_old) {
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// none of the old gains were set
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return;
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}
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const float kp_ff = MAX((old_p - old_i * gains.tau) * gains.tau - old_d, 0);
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rate_pid.ff().set_and_save(old_ff + kp_ff);
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rate_pid.kI().set_and_save_ifchanged(old_i * gains.tau);
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rate_pid.kP().set_and_save_ifchanged(old_d);
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rate_pid.kD().set_and_save_ifchanged(0);
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rate_pid.kIMAX().set_and_save_ifchanged(old_imax/4500.0);
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}
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