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Solve wing vibration of the 25kg rotating wing drone (#3311)

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* configurable filter frequency rates
* adjust filter freq tested in CZ 70 deg skew

---------

Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
This commit is contained in:
NoahWe
2024-06-14 16:43:42 +02:00
committed by GitHub
parent a988756bde
commit 2517b1721e
4 changed files with 18 additions and 3 deletions
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conf/airframes/tudelft/rot_wing_25kg.xml
+3 -3
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@@ -446,9 +446,9 @@
<!-- Filters -->
<define name="FILTER_RATES_SECOND_ORDER" value="FALSE" />
<define name="FILT_CUTOFF_P" value="5.0"/>
<define name="FILT_CUTOFF_Q" value="5.0"/>
<define name="FILT_CUTOFF_R" value="5.0"/>
<define name="FILT_CUTOFF_P" value="3.0"/>
<define name="FILT_CUTOFF_Q" value="3.0"/>
<define name="FILT_CUTOFF_R" value="3.0"/>
<define name="FILT_CUTOFF" value="2.0"/>
<define name="ESTIMATION_FILT_CUTOFF" value="2.0"/>
<define name="FILTER_YAW_RATE" value="TRUE"/>
conf/modules/stabilization_indi.xml
+1
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@@ -62,6 +62,7 @@
<dl_setting var="indi_gains.rate.r" min="0.1" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
<dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
<dl_setting var="stablization_indi_yaw_dist_limit" min="0" step=".01" max="10.0" shortname="lim_yaw_spec_moment" param="STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT"/>
<dl_setting MAX="50." MIN="1." STEP="0.1" VAR="stabilization_indi_filter_freq" shortname="filt_freq" module="stabilization/stabilization_indi" handler="update_filt_freq"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+12
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@@ -217,6 +217,8 @@ float rate_vect_prev[3] = {0., 0., 0.};
float q_filt = 0.0;
float r_filt = 0.0;
float stabilization_indi_filter_freq = 20.0; //Hz, for setting handler
// variables needed for estimation
float g1g2_trans_mult[INDI_OUTPUTS][INDI_OUTPUTS];
float g1g2inv[INDI_OUTPUTS][INDI_OUTPUTS];
@@ -441,6 +443,16 @@ void stabilization_indi_enter(void)
float_vect_zero(ddu_estimation, INDI_NUM_ACT);
}
void stabilization_indi_update_filt_freq(float freq)
{
stabilization_indi_filter_freq = freq;
float tau = 1.0 / (2.0 * M_PI * freq);
float sample_time = 1.0 / PERIODIC_FREQUENCY;
init_first_order_low_pass(&rates_filt_fo[0], tau, sample_time, stateGetBodyRates_f()->p);
init_first_order_low_pass(&rates_filt_fo[1], tau, sample_time, stateGetBodyRates_f()->q);
init_first_order_low_pass(&rates_filt_fo[2], tau, sample_time, stateGetBodyRates_f()->r);
}
/**
* Function that resets the filters to zeros
*/
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
+2
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@@ -59,12 +59,14 @@ struct Indi_gains {
extern float stablization_indi_yaw_dist_limit;
extern struct Indi_gains indi_gains;
extern float stabilization_indi_filter_freq; //for setting handler
extern void stabilization_indi_init(void);
extern void stabilization_indi_enter(void);
extern void stabilization_indi_rate_run(bool in_flight, struct StabilizationSetpoint *rate_sp, struct ThrustSetpoint *thrust, int32_t *cmd);
extern void stabilization_indi_attitude_run(bool in_flight, struct StabilizationSetpoint *att_sp, struct ThrustSetpoint *thrust, int32_t *cmd);
extern void stabilization_indi_set_wls_settings(void);
extern void stabilization_indi_update_filt_freq(float freq); // setting handler
#endif /* STABILIZATION_INDI */