mirror of
https://github.com/paparazzi/paparazzi.git
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Test for a new vertical control
This commit is contained in:
Gautier Hattenberger
@@ -0,0 +1,62 @@
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<!DOCTYPE settings SYSTEM "settings.dtd">
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<!-- A conf to use to tune a new A/C -->
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<settings>
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<dl_settings>
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<dl_settings NAME="control">
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<dl_settings NAME="attitude">
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<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="fw_h_ctl"/>
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<dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
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<dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
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<dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
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<dl_setting MAX="1." MIN="0." STEP="0.01" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="fw_h_ctl_a"/>
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<dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
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<dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg" alt_unit_coef="0.0174533"/>
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</dl_settings>
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<dl_settings name="alt">
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<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
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</dl_settings>
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<dl_settings name="climb">
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="fw_v_ctl" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
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<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
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<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
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<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="fw_v_ctl_n"/>
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<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
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<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
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<dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
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<dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
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<dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
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<dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
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</dl_settings>
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<dl_settings name="nav">
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<dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
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<dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
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<dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
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<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
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<dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
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<dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
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<dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
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<dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
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<dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
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<dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
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<dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
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<dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
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<dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
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<dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
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<dl_setting MAX="0.3" MIN="0" STEP="0.01" VAR="cte_igain"/>
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<dl_setting MAX="20" MIN="0" STEP="1" VAR="cte_max"/>
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</dl_settings>
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</dl_settings>
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</dl_settings>
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</settings>
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@@ -0,0 +1,292 @@
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/*
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* $Id: $
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*
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* Copyright (C) 2010 ENAC
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*
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* This file is part of paparazzi.
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*
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* paparazzi 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 2, or (at your option)
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* any later version.
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*
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* paparazzi 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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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/**
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* \file v_ctl_ctl_n
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* \brief Vertical control for fixed wing vehicles.
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*
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*/
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#include "fw_v_ctl.h"
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#include "fw_v_ctl_n.h"
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#include "estimator.h"
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#include "nav.h"
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#include "airframe.h"
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#include "autopilot.h"
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/* mode */
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uint8_t v_ctl_mode;
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/* outer loop */
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float v_ctl_altitude_setpoint;
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float v_ctl_altitude_pre_climb;
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float v_ctl_altitude_pgain;
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float v_ctl_altitude_error;
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/* inner loop */
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float v_ctl_climb_setpoint;
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uint8_t v_ctl_climb_mode;
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uint8_t v_ctl_auto_throttle_submode;
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/* "auto throttle" inner loop parameters */
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float v_ctl_auto_throttle_cruise_throttle;
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float v_ctl_auto_throttle_nominal_cruise_throttle;
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float v_ctl_auto_throttle_climb_throttle_increment;
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float v_ctl_auto_throttle_pgain;
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float v_ctl_auto_throttle_igain;
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float v_ctl_auto_throttle_dgain;
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float v_ctl_auto_throttle_sum_err;
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#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR 150
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float v_ctl_auto_throttle_pitch_of_vz_pgain;
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float v_ctl_auto_throttle_pitch_of_vz_dgain;
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#ifndef V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN
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#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN 0.
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#endif
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/* "auto pitch" inner loop parameters */
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float v_ctl_auto_pitch_pgain;
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float v_ctl_auto_pitch_dgain;
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float v_ctl_auto_pitch_igain;
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float v_ctl_auto_pitch_sum_err;
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#define V_CTL_AUTO_PITCH_MAX_SUM_ERR 100
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float controlled_throttle;
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pprz_t v_ctl_throttle_setpoint;
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pprz_t v_ctl_throttle_slewed;
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// Set higher than 2*V_CTL_ALTITUDE_MAX_CLIMB to disable
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#define V_CTL_AUTO_CLIMB_LIMIT 0.5/4.0 // m/s/s
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uint8_t v_ctl_speed_mode;
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#ifdef USE_AIRSPEED
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float v_ctl_auto_airspeed_setpoint;
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float v_ctl_auto_airspeed_controlled;
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float v_ctl_auto_airspeed_pgain;
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float v_ctl_auto_airspeed_igain;
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float v_ctl_auto_airspeed_sum_err;
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float v_ctl_auto_groundspeed_setpoint;
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float v_ctl_auto_groundspeed_pgain;
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float v_ctl_auto_groundspeed_igain;
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float v_ctl_auto_groundspeed_sum_err;
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#define V_CTL_AUTO_AIRSPEED_MAX_SUM_ERR 200
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#define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
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#endif
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void v_ctl_init( void ) {
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/* mode */
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v_ctl_mode = V_CTL_MODE_MANUAL;
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v_ctl_speed_mode = V_CTL_SPEED_THROTTLE;
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/* outer loop */
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v_ctl_altitude_setpoint = 0.;
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v_ctl_altitude_pre_climb = 0.;
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v_ctl_altitude_pgain = V_CTL_ALTITUDE_PGAIN;
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v_ctl_altitude_error = 0.;
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/* inner loops */
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v_ctl_climb_setpoint = 0.;
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v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE;
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v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_STANDARD;
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/* "auto throttle" inner loop parameters */
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v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
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v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
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v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
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v_ctl_auto_throttle_pgain = V_CTL_AUTO_THROTTLE_PGAIN;
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v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;
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v_ctl_auto_throttle_dgain = 0.;
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v_ctl_auto_throttle_sum_err = 0.;
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v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
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v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
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/* "auto pitch" inner loop parameters */
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v_ctl_auto_pitch_pgain = V_CTL_AUTO_PITCH_PGAIN;
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v_ctl_auto_pitch_dgain = V_CTL_AUTO_PITCH_DGAIN;
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v_ctl_auto_pitch_igain = V_CTL_AUTO_PITCH_IGAIN;
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v_ctl_auto_pitch_sum_err = 0.;
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#ifdef USE_AIRSPEED
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v_ctl_auto_airspeed_setpoint = V_CTL_AUTO_AIRSPEED_SETPOINT;
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v_ctl_auto_airspeed_controlled = V_CTL_AUTO_AIRSPEED_SETPOINT;
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v_ctl_auto_airspeed_pgain = V_CTL_AUTO_AIRSPEED_PGAIN;
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v_ctl_auto_airspeed_igain = V_CTL_AUTO_AIRSPEED_IGAIN;
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v_ctl_auto_airspeed_sum_err = 0.;
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v_ctl_auto_groundspeed_setpoint = V_CTL_AUTO_GROUNDSPEED_SETPOINT;
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v_ctl_auto_groundspeed_pgain = V_CTL_AUTO_GROUNDSPEED_PGAIN;
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v_ctl_auto_groundspeed_igain = V_CTL_AUTO_GROUNDSPEED_IGAIN;
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v_ctl_auto_groundspeed_sum_err = 0.;
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#endif
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controlled_throttle = 0.;
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v_ctl_throttle_setpoint = 0;
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}
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/**
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* outer loop
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* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
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*/
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// Don't use lead controller unless you know what you're doing
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#define LEAD_CTRL_TAU 0.8
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#define LEAD_CTRL_A 1.
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#define LEAD_CTRL_Te (1./60.)
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void v_ctl_altitude_loop( void ) {
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static float v_ctl_climb_setpoint_last = 0.;
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//static float last_lead_input = 0.;
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// Altitude error
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v_ctl_altitude_error = estimator_z - v_ctl_altitude_setpoint;
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v_ctl_climb_setpoint = v_ctl_altitude_pgain * v_ctl_altitude_error + v_ctl_altitude_pre_climb;
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// Lead controller
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//v_ctl_climb_setpoint = ((LEAD_CTRL_TAU*LEAD_CTRL_A + LEAD_CTRL_Te)*climb_sp + LEAD_CTRL_TAU*(v_ctl_climb_setpoint - LEAD_CTRL_A*last_lead_input)) / (LEAD_CTRL_TAU + LEAD_CTRL_Te);
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//last_lead_input = pitch_sp;
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// Limit rate of change of climb setpoint
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float diff_climb = v_ctl_climb_setpoint - v_ctl_climb_setpoint_last;
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BoundAbs(diff_climb, V_CTL_AUTO_CLIMB_LIMIT);
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v_ctl_climb_setpoint = v_ctl_climb_setpoint_last + diff_climb;
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// Limit climb setpoint
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BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
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v_ctl_climb_setpoint_last = v_ctl_climb_setpoint;
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}
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static inline void v_ctl_set_pitch ( void ) {
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static float last_err = 0.;
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// Compute errors
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float err = estimator_z_dot - v_ctl_climb_setpoint;
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float d_err = err - last_err;
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last_err = err;
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v_ctl_auto_pitch_sum_err += err*(1./60.);
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BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR);
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// PI loop + feedforward ctl
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nav_pitch = nav_pitch
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+ v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
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+ v_ctl_auto_pitch_pgain * err
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+ v_ctl_auto_pitch_dgain * d_err
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+ v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
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}
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static inline void v_ctl_set_throttle( void ) {
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static float last_err = 0.;
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// Compute errors
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float err = estimator_z_dot - v_ctl_climb_setpoint;
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float d_err = err - last_err;
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last_err = err;
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v_ctl_auto_throttle_sum_err += err*(1./60.);
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BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR);
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// PID loop + feedforward ctl
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controlled_throttle = v_ctl_auto_throttle_cruise_throttle
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+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
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+ v_ctl_auto_throttle_pgain * err
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+ v_ctl_auto_throttle_dgain * d_err
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+ v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err;
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}
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#ifdef USE_AIRSPEED
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static inline void v_ctl_set_airspeed( void ) {
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// Bound airspeed setpoint
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Bound(v_ctl_auto_airspeed_setpoint, V_CTL_AIRSPEED_MIN, V_CTL_AIRSPEED_MAX);
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// Airspeed control loop (input: airspeed controlled, output: throttle controlled)
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float err_airspeed = v_ctl_auto_airspeed_setpoint - estimator_airspeed;
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v_ctl_auto_airspeed_sum_err += err_airspeed;
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BoundAbs(v_ctl_auto_airspeed_sum_err, V_CTL_AUTO_AIRSPEED_MAX_SUM_ERR);
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controlled_throttle = v_ctl_auto_throttle_cruise_throttle
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+ v_ctl_auto_airspeed_pgain * err_airspeed
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+ v_ctl_auto_airspeed_igain * v_ctl_auto_airspeed_sum_err;
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}
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static inline void v_ctl_set_groundspeed( void ) {
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// Ground speed control loop (input: groundspeed error, output: airspeed controlled)
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float err_groundspeed = v_ctl_auto_groundspeed_setpoint - estimator_hspeed_mod;
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v_ctl_auto_groundspeed_sum_err += err_groundspeed;
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BoundAbs(v_ctl_auto_groundspeed_sum_err, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR);
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v_ctl_auto_airspeed_setpoint = err_groundspeed * v_ctl_auto_groundspeed_pgain + v_ctl_auto_groundspeed_sum_err * v_ctl_auto_groundspeed_igain;
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}
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#endif
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void v_ctl_climb_loop ( void ) {
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// Set pitch
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v_ctl_set_pitch();
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Bound(nav_pitch, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
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// Set throttle
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switch (v_ctl_speed_mode) {
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case V_CTL_SPEED_THROTTLE:
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v_ctl_set_throttle();
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break;
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#ifdef USE_AIRSPEED
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case V_CTL_SPEED_AIRSPEED:
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v_ctl_set_airspeed();
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break;
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case V_CTL_SPEED_GROUNDSPEED:
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v_ctl_set_groundspeed();
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v_ctl_set_airspeed();
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break;
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#endif
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default:
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controlled_throttle = v_ctl_auto_throttle_cruise_throttle; // ???
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break;
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}
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// Set Throttle output
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float f_throttle = controlled_throttle;
|
||||
v_ctl_throttle_setpoint = TRIM_UPPRZ(f_throttle * MAX_PPRZ);
|
||||
|
||||
}
|
||||
|
||||
#ifdef V_CTL_THROTTLE_SLEW_LIMITER
|
||||
#define V_CTL_THROTTLE_SLEW (1./CONTROL_RATE/(V_CTL_THROTTLE_SLEW_LIMITER))
|
||||
#endif
|
||||
|
||||
#ifndef V_CTL_THROTTLE_SLEW
|
||||
#define V_CTL_THROTTLE_SLEW 1.
|
||||
#endif
|
||||
/** \brief Computes slewed throttle from throttle setpoint
|
||||
called at 20Hz
|
||||
*/
|
||||
void v_ctl_throttle_slew( void ) {
|
||||
pprz_t diff_throttle = v_ctl_throttle_setpoint - v_ctl_throttle_slewed;
|
||||
BoundAbs(diff_throttle, TRIM_PPRZ(V_CTL_THROTTLE_SLEW*MAX_PPRZ));
|
||||
v_ctl_throttle_slewed += diff_throttle;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
* $Id: $
|
||||
*
|
||||
* Copyright (C) 2010 ENAC
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
*
|
||||
* fixed wing vertical control
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef FW_V_CTL_N_H
|
||||
#define FW_V_CTL_N_H
|
||||
|
||||
#define V_CTL_SPEED_THROTTLE 0
|
||||
#define V_CTL_SPEED_AIRSPEED 1
|
||||
#define V_CTL_SPEED_GROUNDSPEED 2
|
||||
|
||||
extern float v_ctl_auto_pitch_dgain;
|
||||
|
||||
extern uint8_t v_ctl_speed_mode;
|
||||
|
||||
#ifdef PITCH_TRIM
|
||||
extern float v_ctl_pitch_loiter_trim;
|
||||
extern float v_ctl_pitch_dash_trim;
|
||||
#endif
|
||||
|
||||
#endif /* FW_V_CTL_N_H */
|
||||
Reference in New Issue
Block a user