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[rotorcraft] v_adapt: limit min/max estimated hover throttle

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The adaptive vertical filter estimates the ratio of vertical acceleration over thrust command.
In effect this will now limit the throttle applied in hover between 20% and 75% of max throttle by default.
This commit is contained in:
Felix Ruess
2013-08-07 22:58:12 +02:00
parent 8efc24099c
commit e9ca4d4f1f
1 changed files with 35 additions and 28 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
+35 -28
View File
@@ -33,7 +33,7 @@
#include "paparazzi.h"
/** Adapt noise factor.
* Smaller values will make the filter to adapter faster.
* Smaller values will make the filter to adapt faster.
* Bigger values (slower adaptation) make the filter more robust to external perturbations.
* Factor should always be >0
*/
@@ -67,6 +67,22 @@
#define GUIDANCE_V_ADAPT_MIN_CMD 0.1
#endif
/** Minimum hover throttle as factor of MAX_PPRZ.
* With the default of 0.2 the nominal hover throttle will
* never go lower than 20%.
*/
#ifndef GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE
#define GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE 0.2
#endif
/** Maximum hover throttle as factor of MAX_PPRZ.
* With the default of 0.75 the nominal hover throttle will
* never go over 75% of max throttle.
*/
#ifndef GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE
#define GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE 0.75
#endif
/** State of the estimator.
* fixed point representation with #GV_ADAPT_X_FRAC
* Q13.18
@@ -109,27 +125,6 @@ int32_t gv_adapt_Xmeas;
#define GV_ADAPT_MEAS_NOISE_HOVER BFP_OF_REAL(GV_ADAPT_MEAS_NOISE_HOVER_F, GV_ADAPT_P_FRAC)
#define GV_ADAPT_MEAS_NOISE_OF_ZD (100.0*GUIDANCE_V_ADAPT_NOISE_FACTOR)
/* Max accel */
#define GV_ADAPT_MAX_ACCEL ACCEL_BFP_OF_REAL(GUIDANCE_V_ADAPT_MAX_ACCEL)
/* Command bounds */
#define GV_ADAPT_MAX_CMD ((int32_t)(GUIDANCE_V_ADAPT_MAX_CMD*MAX_PPRZ))
#define GV_ADAPT_MIN_CMD ((int32_t)(GUIDANCE_V_ADAPT_MIN_CMD*MAX_PPRZ))
/* Output bounds.
* Don't let it climb over a value that would
* give less than zero throttle and don't let it down to zero.
* Worst cases:
* MIN_ACCEL / MAX_THROTTLE
* MAX_ACCEL / MIN_THROTTLE
* ex:
* 9.81*2^18/255 = 10084
* 9.81*2^18/1 = 2571632
*/
// TODO Check this properly
#define GV_ADAPT_MAX_OUT (BFP_OF_REAL(9.81, GV_ADAPT_X_FRAC))
#define GV_ADAPT_MIN_OUT (BFP_OF_REAL(9.81, GV_ADAPT_X_FRAC) / MAX_PPRZ)
static inline void gv_adapt_init(void) {
gv_adapt_X = GV_ADAPT_X0;
@@ -145,10 +140,14 @@ static inline void gv_adapt_init(void) {
*/
static inline void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied, int32_t zd_ref) {
static const int32_t gv_adapt_min_cmd = GUIDANCE_V_ADAPT_MIN_CMD * MAX_PPRZ;
static const int32_t gv_adapt_max_cmd = GUIDANCE_V_ADAPT_MAX_CMD * MAX_PPRZ;
static const int32_t gv_adapt_max_accel = ACCEL_BFP_OF_REAL(GUIDANCE_V_ADAPT_MAX_ACCEL);
/* Update only if accel and commands are in a valid range */
/* This also ensures we don't divide by zero */
if (thrust_applied < GV_ADAPT_MIN_CMD || thrust_applied > GV_ADAPT_MAX_CMD
|| zdd_meas < -GV_ADAPT_MAX_ACCEL || zdd_meas > GV_ADAPT_MAX_ACCEL) {
if (thrust_applied < gv_adapt_min_cmd || thrust_applied > gv_adapt_max_cmd
|| zdd_meas < -gv_adapt_max_accel || zdd_meas > gv_adapt_max_accel) {
return;
}
@@ -178,15 +177,23 @@ static inline void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied, int32_
/* Update Covariance Pnew = P - K * P */
gv_adapt_P = gv_adapt_P - ((K * gv_adapt_P)>>K_FRAC);
/* Don't let covariance climb over initial value */
if (gv_adapt_P > GV_ADAPT_P0) gv_adapt_P = GV_ADAPT_P0;
if (gv_adapt_P > GV_ADAPT_P0) {
gv_adapt_P = GV_ADAPT_P0;
}
/* Update State */
gv_adapt_X = gv_adapt_X + (((int64_t)(K * residual))>>K_FRAC);
/* Again don't let it climb over a value that would
* give less than zero throttle and don't let it down to zero.
/* Output bounds.
* Don't let it climb over a value that would
* give less than #GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE % throttle
* or more than #GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE % throttle.
*/
Bound(gv_adapt_X, GV_ADAPT_MIN_OUT, GV_ADAPT_MAX_OUT);
static const int32_t max_out = BFP_OF_REAL(9.81, GV_ADAPT_X_FRAC) /
(GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE * MAX_PPRZ);
static const int32_t min_out = BFP_OF_REAL(9.81, GV_ADAPT_X_FRAC) /
(GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE * MAX_PPRZ);
Bound(gv_adapt_X, min_out, max_out);
}