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speed and accel saturations along the course reference: keep trajectory towards the setpoint position even when speed and/or accel are saturated

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This commit is contained in:
Loic Drumettaz
2013-03-26 09:14:57 +01:00
parent 0bef5c0a6d
commit 29d855ed36
1 changed files with 95 additions and 31 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
+95 -31
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@@ -19,7 +19,7 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
/** @file firmwares/rotorcraft/guidance/guidance_h_ref.h /** @file firmware/rotorcraft/guidance/guidance_h_ref.h
* Reference generation for horizontal guidance. * Reference generation for horizontal guidance.
* *
*/ */
@@ -43,7 +43,7 @@ extern struct Int32Vect2 b2_gh_accel_ref;
#define B2_GH_ACCEL_REF_FRAC 8 #define B2_GH_ACCEL_REF_FRAC 8
/* reference model speed in meters/sec (output) */ /* reference model speed in meters/sec (output) */
/* Q14.17 : accuracy 0.0000076 , range 16384m/s2 */ /* Q14.17 : accuracy 0.0000076 , range 16384m/s */
extern struct Int32Vect2 b2_gh_speed_ref; extern struct Int32Vect2 b2_gh_speed_ref;
#define B2_GH_SPEED_REF_FRAC (B2_GH_ACCEL_REF_FRAC + B2_GH_FREQ_FRAC) #define B2_GH_SPEED_REF_FRAC (B2_GH_ACCEL_REF_FRAC + B2_GH_FREQ_FRAC)
@@ -52,17 +52,20 @@ extern struct Int32Vect2 b2_gh_speed_ref;
extern struct Int64Vect2 b2_gh_pos_ref; extern struct Int64Vect2 b2_gh_pos_ref;
#define B2_GH_POS_REF_FRAC (B2_GH_SPEED_REF_FRAC + B2_GH_FREQ_FRAC) #define B2_GH_POS_REF_FRAC (B2_GH_SPEED_REF_FRAC + B2_GH_FREQ_FRAC)
/* Saturations definition */ /* Accel saturation */
#ifndef GUIDANCE_H_REF_MAX_ACCEL
/* tanf(RadOfDeg(30.))*9.81 = 5.66 */ /* tanf(RadOfDeg(30.))*9.81 = 5.66 */
#define GUIDANCE_H_REF_MAX_ACCEL 5.66 #ifndef GUIDANCE_H_REF_MAX_ACCEL
#define GUIDANCE_H_REF_MAX_ACCEL 5.66
#endif #endif
#define B2_GH_MAX_ACCEL BFP_OF_REAL(GUIDANCE_H_REF_MAX_ACCEL, B2_GH_ACCEL_REF_FRAC) #define B2_GH_MAX_ACCEL BFP_OF_REAL(GUIDANCE_H_REF_MAX_ACCEL, B2_GH_ACCEL_REF_FRAC)
/*Speed saturation*/
#ifndef GUIDANCE_H_REF_MAX_SPEED #ifndef GUIDANCE_H_REF_MAX_SPEED
#define GUIDANCE_H_REF_MAX_SPEED ( 5. ) #define GUIDANCE_H_REF_MAX_SPEED 5.
#endif #endif
#define B2_GH_MAX_SPEED BFP_OF_REAL(GUIDANCE_H_REF_MAX_SPEED, B2_GH_SPEED_REF_FRAC) /*FIX ME :B2_GH_MAX_SPEED must be limited to 2^14 to avoid overflow*/
#define B2_GH_MAX_SPEED_REF_FRAC 7
#define B2_GH_MAX_SPEED BFP_OF_REAL(GUIDANCE_H_REF_MAX_SPEED, B2_GH_MAX_SPEED_REF_FRAC)
/* second order model natural frequency and damping */ /* second order model natural frequency and damping */
#ifndef GUIDANCE_H_REF_OMEGA #ifndef GUIDANCE_H_REF_OMEGA
@@ -88,7 +91,12 @@ static inline void b2_gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp);
struct Int64Vect2 b2_gh_pos_ref; struct Int64Vect2 b2_gh_pos_ref;
struct Int32Vect2 b2_gh_speed_ref; struct Int32Vect2 b2_gh_speed_ref;
struct Int32Vect2 b2_gh_max_speed_ref;
struct Int32Vect2 b2_gh_accel_ref; struct Int32Vect2 b2_gh_accel_ref;
struct Int32Vect2 b2_gh_max_accel_ref;
int32_t route_ref;
int32_t s_route_ref, c_route_ref;
static inline void b2_gh_set_ref(struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel) { static inline void b2_gh_set_ref(struct Int32Vect2 pos, struct Int32Vect2 speed, struct Int32Vect2 accel) {
struct Int64Vect2 new_pos; struct Int64Vect2 new_pos;
@@ -121,36 +129,63 @@ static inline void b2_gh_update_ref_from_pos_sp(struct Int32Vect2 pos_sp) {
INT32_VECT2_RSHIFT(pos, pos, B2_GH_OMEGA_2_FRAC); INT32_VECT2_RSHIFT(pos, pos, B2_GH_OMEGA_2_FRAC);
// sum accel // sum accel
VECT2_SUM(b2_gh_accel_ref, speed, pos); VECT2_SUM(b2_gh_accel_ref, speed, pos);
/* Compute route reference before saturation */
// use metric precision or values are too large
INT32_ATAN2(route_ref,-pos_err.y,-pos_err.x);
/* Compute North and East route components */
PPRZ_ITRIG_SIN(s_route_ref, route_ref);
PPRZ_ITRIG_COS(c_route_ref, route_ref);
c_route_ref=abs(c_route_ref);
s_route_ref=abs(s_route_ref);
/* Compute maximum acceleration*/
b2_gh_max_accel_ref.x= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_ACCEL,c_route_ref,INT32_TRIG_FRAC);
b2_gh_max_accel_ref.y= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_ACCEL,s_route_ref,INT32_TRIG_FRAC);
/* Compute maximum speed*/
b2_gh_max_speed_ref.x= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_SPEED,c_route_ref,INT32_TRIG_FRAC);
b2_gh_max_speed_ref.y= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_SPEED,s_route_ref,INT32_TRIG_FRAC);
/* restore b2_gh_speed_ref range (Q14.17) */
INT32_VECT2_LSHIFT(b2_gh_max_speed_ref, b2_gh_max_speed_ref,B2_GH_SPEED_REF_FRAC - B2_GH_MAX_SPEED_REF_FRAC);
/* Saturate accelerations */ /* Saturate accelerations */
VECT2_STRIM(b2_gh_accel_ref, -B2_GH_MAX_ACCEL, B2_GH_MAX_ACCEL); if (b2_gh_accel_ref.x <= -b2_gh_max_accel_ref.x) {
b2_gh_accel_ref.x = -b2_gh_max_accel_ref.x;
/* Saturate speed and adjust acceleration accordingly */ }
if (b2_gh_speed_ref.x <= -B2_GH_MAX_SPEED) { else if (b2_gh_accel_ref.x >= b2_gh_max_accel_ref.x) {
b2_gh_speed_ref.x = -B2_GH_MAX_SPEED; b2_gh_accel_ref.x = b2_gh_max_accel_ref.x;
}
if (b2_gh_accel_ref.y <= -b2_gh_max_accel_ref.y) {
b2_gh_accel_ref.y = -b2_gh_max_accel_ref.y;
}
else if (b2_gh_accel_ref.y >= b2_gh_max_accel_ref.y) {
b2_gh_accel_ref.y = b2_gh_max_accel_ref.y;
}
/* Saturate speed and adjust acceleration accordingly */
if (b2_gh_speed_ref.x <= -b2_gh_max_speed_ref.x) {
b2_gh_speed_ref.x = -b2_gh_max_speed_ref.x;
if (b2_gh_accel_ref.x < 0) if (b2_gh_accel_ref.x < 0)
b2_gh_accel_ref.x = 0; b2_gh_accel_ref.x = 0;
} }
else if (b2_gh_speed_ref.x >= B2_GH_MAX_SPEED) { else if (b2_gh_speed_ref.x >= b2_gh_max_speed_ref.x) {
b2_gh_speed_ref.x = B2_GH_MAX_SPEED; b2_gh_speed_ref.x = b2_gh_max_speed_ref.x;
if (b2_gh_accel_ref.x > 0) if (b2_gh_accel_ref.x > 0)
b2_gh_accel_ref.x = 0; b2_gh_accel_ref.x = 0;
} }
if (b2_gh_speed_ref.y <= -B2_GH_MAX_SPEED) { if (b2_gh_speed_ref.y <= -b2_gh_max_speed_ref.y) {
b2_gh_speed_ref.y = -B2_GH_MAX_SPEED; b2_gh_speed_ref.y = -b2_gh_max_speed_ref.y;
if (b2_gh_accel_ref.y < 0) if (b2_gh_accel_ref.y < 0)
b2_gh_accel_ref.y = 0; b2_gh_accel_ref.y = 0;
} }
else if (b2_gh_speed_ref.y >= B2_GH_MAX_SPEED) { else if (b2_gh_speed_ref.y >= b2_gh_max_speed_ref.y) {
b2_gh_speed_ref.y = B2_GH_MAX_SPEED; b2_gh_speed_ref.y = b2_gh_max_speed_ref.y;
if (b2_gh_accel_ref.y > 0) if (b2_gh_accel_ref.y > 0)
b2_gh_accel_ref.y = 0; b2_gh_accel_ref.y = 0;
} }
} }
static inline void b2_gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp) { static inline void b2_gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp) {
/* WARNING: SPEED SATURATION UNTESTED */
VECT2_ADD(b2_gh_pos_ref, b2_gh_speed_ref); VECT2_ADD(b2_gh_pos_ref, b2_gh_speed_ref);
VECT2_ADD(b2_gh_speed_ref, b2_gh_accel_ref); VECT2_ADD(b2_gh_speed_ref, b2_gh_accel_ref);
@@ -164,27 +199,56 @@ static inline void b2_gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp) {
VECT2_SMUL(b2_gh_accel_ref, speed_err, -B2_GH_REF_INV_THAU); VECT2_SMUL(b2_gh_accel_ref, speed_err, -B2_GH_REF_INV_THAU);
INT32_VECT2_RSHIFT(b2_gh_accel_ref, b2_gh_accel_ref, B2_GH_REF_INV_THAU_FRAC); INT32_VECT2_RSHIFT(b2_gh_accel_ref, b2_gh_accel_ref, B2_GH_REF_INV_THAU_FRAC);
/* Compute route reference before saturation */
// use metric precision or values are too large
INT32_ATAN2(route_ref,-speed_sp.y,-speed_sp.x);
/* Compute North and East route components */
PPRZ_ITRIG_SIN(s_route_ref, route_ref);
PPRZ_ITRIG_COS(c_route_ref, route_ref);
c_route_ref=abs(c_route_ref);
s_route_ref=abs(s_route_ref);
/* Compute maximum acceleration*/
b2_gh_max_accel_ref.x= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_ACCEL,c_route_ref,INT32_TRIG_FRAC);
b2_gh_max_accel_ref.y= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_ACCEL,s_route_ref,INT32_TRIG_FRAC);
/* Compute maximum speed*/
b2_gh_max_speed_ref.x= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_SPEED,c_route_ref,INT32_TRIG_FRAC);
b2_gh_max_speed_ref.y= INT_MULT_RSHIFT((int32_t)B2_GH_MAX_SPEED,s_route_ref,INT32_TRIG_FRAC);
/* restore b2_gh_speed_ref range (Q14.17) */
INT32_VECT2_LSHIFT(b2_gh_max_speed_ref, b2_gh_max_speed_ref,B2_GH_SPEED_REF_FRAC - B2_GH_MAX_SPEED_REF_FRAC);
/* Saturate accelerations */ /* Saturate accelerations */
VECT2_STRIM(b2_gh_accel_ref, -B2_GH_MAX_ACCEL, B2_GH_MAX_ACCEL); if (b2_gh_accel_ref.x <= -b2_gh_max_accel_ref.x) {
b2_gh_accel_ref.x = -b2_gh_max_accel_ref.x;
}
else if (b2_gh_accel_ref.x >= b2_gh_max_accel_ref.x) {
b2_gh_accel_ref.x = b2_gh_max_accel_ref.x;
}
if (b2_gh_accel_ref.y <= -b2_gh_max_accel_ref.y) {
b2_gh_accel_ref.y = -b2_gh_max_accel_ref.y;
}
else if (b2_gh_accel_ref.y >= b2_gh_max_accel_ref.y) {
b2_gh_accel_ref.y = b2_gh_max_accel_ref.y;
}
/* Saturate speed and adjust acceleration accordingly */ /* Saturate speed and adjust acceleration accordingly */
if (b2_gh_speed_ref.x <= -B2_GH_MAX_SPEED) { if (b2_gh_speed_ref.x <= -b2_gh_max_speed_ref.x) {
b2_gh_speed_ref.x = -B2_GH_MAX_SPEED; b2_gh_speed_ref.x = -b2_gh_max_speed_ref.x;
if (b2_gh_accel_ref.x < 0) if (b2_gh_accel_ref.x < 0)
b2_gh_accel_ref.x = 0; b2_gh_accel_ref.x = 0;
} }
else if (b2_gh_speed_ref.x >= B2_GH_MAX_SPEED) { else if (b2_gh_speed_ref.x >= b2_gh_max_speed_ref.x) {
b2_gh_speed_ref.x = B2_GH_MAX_SPEED; b2_gh_speed_ref.x = b2_gh_max_speed_ref.x;
if (b2_gh_accel_ref.x > 0) if (b2_gh_accel_ref.x > 0)
b2_gh_accel_ref.x = 0; b2_gh_accel_ref.x = 0;
} }
if (b2_gh_speed_ref.y <= -B2_GH_MAX_SPEED) { if (b2_gh_speed_ref.y <= -b2_gh_max_speed_ref.y) {
b2_gh_speed_ref.y = -B2_GH_MAX_SPEED; b2_gh_speed_ref.y = -b2_gh_max_speed_ref.y;
if (b2_gh_accel_ref.y < 0) if (b2_gh_accel_ref.y < 0)
b2_gh_accel_ref.y = 0; b2_gh_accel_ref.y = 0;
} }
else if (b2_gh_speed_ref.y >= B2_GH_MAX_SPEED) { else if (b2_gh_speed_ref.y >= b2_gh_max_speed_ref.y) {
b2_gh_speed_ref.y = B2_GH_MAX_SPEED; b2_gh_speed_ref.y = b2_gh_max_speed_ref.y;
if (b2_gh_accel_ref.y > 0) if (b2_gh_accel_ref.y > 0)
b2_gh_accel_ref.y = 0; b2_gh_accel_ref.y = 0;
} }