diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 68 |
1 files changed, 25 insertions, 43 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 94bd26f03..0606c87cb 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -48,37 +48,24 @@ #include <systemlib/err.h> ECL_RollController::ECL_RollController() : - _last_run(0), - _tc(0.1f), - _k_p(0.0f), - _k_i(0.0f), - _k_ff(0.0f), - _integrator_max(0.0f), - _max_rate(0.0f), - _last_output(0.0f), - _integrator(0.0f), - _rate_error(0.0f), - _rate_setpoint(0.0f), - _bodyrate_setpoint(0.0f), - _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")) + ECL_Controller("roll") { } ECL_RollController::~ECL_RollController() { - perf_free(_nonfinite_input_perf); } -float ECL_RollController::control_attitude(float roll_setpoint, float roll) +float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data) { /* Do not calculate control signal with bad inputs */ - if (!(isfinite(roll_setpoint) && isfinite(roll))) { + if (!(isfinite(ctl_data.roll_setpoint) && isfinite(ctl_data.roll))) { perf_count(_nonfinite_input_perf); return _rate_setpoint; } /* Calculate error */ - float roll_error = roll_setpoint - roll; + float roll_error = ctl_data.roll_setpoint - ctl_data.roll; /* Apply P controller */ _rate_setpoint = roll_error / _tc; @@ -92,15 +79,16 @@ float ECL_RollController::control_attitude(float roll_setpoint, float roll) return _rate_setpoint; } -float ECL_RollController::control_bodyrate(float pitch, - float roll_rate, float yaw_rate, - float yaw_rate_setpoint, - float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator) +float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_data) { /* Do not calculate control signal with bad inputs */ - if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) && - isfinite(airspeed_min) && isfinite(airspeed_max) && - isfinite(scaler))) { + if (!(isfinite(ctl_data.pitch) && + isfinite(ctl_data.roll_rate) && + isfinite(ctl_data.yaw_rate) && + isfinite(ctl_data.yaw_rate_setpoint) && + isfinite(ctl_data.airspeed_min) && + isfinite(ctl_data.airspeed_max) && + isfinite(ctl_data.scaler))) { perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } @@ -111,31 +99,31 @@ float ECL_RollController::control_bodyrate(float pitch, float dt = (float)dt_micros * 1e-6f; /* lock integral for long intervals */ + bool lock_integrator = ctl_data.lock_integrator; if (dt_micros > 500000) lock_integrator = true; /* input conditioning */ -// warnx("airspeed pre %.4f", (double)airspeed); + float airspeed = ctl_data.airspeed; if (!isfinite(airspeed)) { /* airspeed is NaN, +- INF or not available, pick center of band */ - airspeed = 0.5f * (airspeed_min + airspeed_max); - } else if (airspeed < airspeed_min) { - airspeed = airspeed_min; + airspeed = 0.5f * (ctl_data.airspeed_min + ctl_data.airspeed_max); + } else if (airspeed < ctl_data.airspeed_min) { + airspeed = ctl_data.airspeed_min; } + /* Transform setpoint to body angular rates (jacobian) */ + _bodyrate_setpoint = _rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint; - /* Transform setpoint to body angular rates */ - _bodyrate_setpoint = _rate_setpoint - sinf(pitch) * yaw_rate_setpoint; //jacobian - - /* Transform estimation to body angular rates */ - float roll_bodyrate = roll_rate - sinf(pitch) * yaw_rate; //jacobian + /* Transform estimation to body angular rates (jacobian) */ + float roll_bodyrate = ctl_data.roll_rate - sinf(ctl_data.pitch) * ctl_data.yaw_rate; /* Calculate body angular rate error */ _rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error - if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) { + if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * ctl_data.airspeed_min) { - float id = _rate_error * dt * scaler; + float id = _rate_error * dt * ctl_data.scaler; /* * anti-windup: do not allow integrator to increase if actuator is at limit @@ -157,15 +145,9 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = _bodyrate_setpoint * _k_ff * scaler + - _rate_error * _k_p * scaler * scaler + _last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler + + _rate_error * _k_p * ctl_data.scaler * ctl_data.scaler + integrator_constrained; //scaler is proportional to 1/airspeed return math::constrain(_last_output, -1.0f, 1.0f); } - -void ECL_RollController::reset_integrator() -{ - _integrator = 0.0f; -} - |