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ONELOOP controller updates (#3333)

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This commit is contained in:
Tomaso Maria Luigi De Ponti
2024-07-16 13:28:31 +02:00
committed by GitHub
parent e089fd48f7
commit ecb94ad478
18 changed files with 4204 additions and 729 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_oneloop.c
+7 -6
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@@ -30,6 +30,7 @@
#include "firmwares/rotorcraft/guidance/guidance_v.h"
#include "firmwares/rotorcraft/guidance/guidance_oneloop.h"
#include "firmwares/rotorcraft/oneloop/oneloop_andi.h"
struct ThrustSetpoint thrust_sp;
void guidance_h_run_enter(void)
{
@@ -59,25 +60,25 @@ struct StabilizationSetpoint guidance_h_run_accel(bool in_flight, struct Horizon
return guidance_oneloop_run_mode(in_flight, gh, _gv, GUIDANCE_ONELOOP_H_ACCEL, _v_mode);
}
int32_t guidance_v_run_pos(bool in_flight UNUSED, struct VerticalGuidance *gv)
struct ThrustSetpoint guidance_v_run_pos(bool in_flight UNUSED, struct VerticalGuidance *gv)
{
_gv = gv;
_v_mode = GUIDANCE_ONELOOP_V_POS;
return 0; // nothing to do
return thrust_sp; // nothing to do
}
int32_t guidance_v_run_speed(bool in_flight UNUSED, struct VerticalGuidance *gv)
struct ThrustSetpoint guidance_v_run_speed(bool in_flight UNUSED, struct VerticalGuidance *gv)
{
_gv = gv;
_v_mode = GUIDANCE_ONELOOP_V_SPEED;
return 0; // nothing to do
return thrust_sp; // nothing to do
}
int32_t guidance_v_run_accel(bool in_flight UNUSED, struct VerticalGuidance *gv)
struct ThrustSetpoint guidance_v_run_accel(bool in_flight UNUSED, struct VerticalGuidance *gv)
{
_gv = gv;
_v_mode = GUIDANCE_ONELOOP_V_ACCEL;
return 0; // nothing to do
return thrust_sp;; // nothing to do
}
struct StabilizationSetpoint guidance_oneloop_run_mode(bool in_flight, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceOneloop_HMode h_mode, enum GuidanceOneloop_VMode v_mode)
sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
+520 -270
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File diff suppressed because it is too large Load Diff
sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.h
+6 -2
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@@ -57,6 +57,7 @@
#define CTRL_ANDI 0
#define CTRL_INDI 1
extern bool ctrl_off;
extern float act_state_filt_vect_1l[ANDI_NUM_ACT];
extern float actuator_state_1l[ANDI_NUM_ACT];
extern float nu[6];
@@ -69,6 +70,8 @@ extern bool yaw_stick_in_auto;
extern float fwd_sideslip_gain;
extern struct FloatEulers eulers_zxy_des;
extern float psi_des_rad;
extern float k_as;
extern float max_as;
/*Chirp test Variables*/
extern bool chirp_on;
@@ -90,7 +93,7 @@ struct guidance_indi_hybrid_params {
float liftd_p50;
};
extern struct guidance_indi_hybrid_params gih_params;
extern bool force_forward;
//extern bool force_forward;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
struct OneloopGuidanceRef {
float pos[3];
@@ -144,6 +147,7 @@ struct Gains2ndOrder{
float k3;
};
extern int16_t temp_pitch;
/*Declaration of Reference Model and Error Controller Gains*/
extern struct PolePlacement p_att_e;
extern struct PolePlacement p_att_rm;
@@ -167,7 +171,7 @@ extern void oneloop_andi_init(void);
extern void oneloop_andi_enter(bool half_loop_sp, int ctrl_type);
extern void oneloop_andi_set_failsafe_setpoint(void);
extern void oneloop_andi_run(bool in_flight, bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v);
extern void oneloop_andi_RM(bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v);
extern void oneloop_andi_RM(bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v, bool in_flight_oneloop);
extern void oneloop_andi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn);
extern void oneloop_from_nav(bool in_flight);
#endif // ONELOOP_ANDI_H