diff options
Diffstat (limited to 'src/lib/external_lgpl')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 156 | ||||
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.h | 45 |
2 files changed, 118 insertions, 83 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index 1d5c85699..6386e37a0 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -2,13 +2,11 @@ #include "tecs.h" #include <ecl/ecl.h> +#include <systemlib/err.h> +#include <geo/geo.h> using namespace math; -#ifndef CONSTANTS_ONE_G -#define CONSTANTS_ONE_G GRAVITY -#endif - /** * @file tecs.cpp * @@ -29,7 +27,7 @@ using namespace math; * */ -void TECS::update_50hz(float baro_altitude, float airspeed, const math::Dcm &rotMat, const math::Vector3 &accel_body, const math::Vector3 &accel_earth) +void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth) { // Implement third order complementary filter for height and height rate // estimted height rate = _integ2_state @@ -168,64 +166,88 @@ void TECS::_update_speed_demand(void) // calculate velocity rate limits based on physical performance limits // provision to use a different rate limit if bad descent or underspeed condition exists // Use 50% of maximum energy rate to allow margin for total energy contgroller - float velRateMax; - float velRateMin; - - if ((_badDescent) || (_underspeed)) { - velRateMax = 0.5f * _STEdot_max / _integ5_state; - velRateMin = 0.5f * _STEdot_min / _integ5_state; - - } else { - velRateMax = 0.5f * _STEdot_max / _integ5_state; - velRateMin = 0.5f * _STEdot_min / _integ5_state; - } - - // Apply rate limit - if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) { - _TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f; - _TAS_rate_dem = velRateMax; - - } else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) { - _TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f; - _TAS_rate_dem = velRateMin; - - } else { - _TAS_dem_adj = _TAS_dem; - _TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f; - } +// float velRateMax; +// float velRateMin; +// +// if ((_badDescent) || (_underspeed)) { +// velRateMax = 0.5f * _STEdot_max / _integ5_state; +// velRateMin = 0.5f * _STEdot_min / _integ5_state; +// +// } else { +// velRateMax = 0.5f * _STEdot_max / _integ5_state; +// velRateMin = 0.5f * _STEdot_min / _integ5_state; +// } +// +// // Apply rate limit +// if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) { +// _TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f; +// _TAS_rate_dem = velRateMax; +// +// } else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) { +// _TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f; +// _TAS_rate_dem = velRateMin; +// +// } else { +// _TAS_dem_adj = _TAS_dem; +// +// +// _TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f; +// } + + _TAS_dem_adj = _TAS_dem; + _TAS_rate_dem = (_TAS_dem_adj-_integ5_state)*_speedrate_p; //xxx: using a p loop for now // Constrain speed demand again to protect against bad values on initialisation. _TAS_dem_adj = constrain(_TAS_dem_adj, _TASmin, _TASmax); - _TAS_dem_last = _TAS_dem; +// _TAS_dem_last = _TAS_dem; + +// warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u, velRateMin %.1f", +// (double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent, _underspeed, velRateMin); +// warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u", +// (double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent , _underspeed); } -void TECS::_update_height_demand(float demand) +void TECS::_update_height_demand(float demand, float state) { - // Apply 2 point moving average to demanded height - // This is required because height demand is only updated at 5Hz - _hgt_dem = 0.5f * (demand + _hgt_dem_in_old); - _hgt_dem_in_old = _hgt_dem; - - // printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev, - // _maxClimbRate); +// // Apply 2 point moving average to demanded height +// // This is required because height demand is only updated at 5Hz +// _hgt_dem = 0.5f * (demand + _hgt_dem_in_old); +// _hgt_dem_in_old = _hgt_dem; +// +// // printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev, +// // _maxClimbRate); +// +// // Limit height rate of change +// if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) { +// _hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f; +// +// } else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) { +// _hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f; +// } +// +// _hgt_dem_prev = _hgt_dem; +// +// // Apply first order lag to height demand +// _hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last; +// _hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f; +// _hgt_dem_adj_last = _hgt_dem_adj; +// +// // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last, +// // _hgt_rate_dem); + + _hgt_dem_adj = demand;//0.025f * demand + 0.975f * _hgt_dem_adj_last; + _hgt_dem_adj_last = _hgt_dem_adj; + _hgt_rate_dem = (_hgt_dem_adj-state)*_heightrate_p; // Limit height rate of change - if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) { - _hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f; + if (_hgt_rate_dem > _maxClimbRate) { + _hgt_rate_dem = _maxClimbRate; - } else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) { - _hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f; + } else if (_hgt_rate_dem < -_maxSinkRate) { + _hgt_rate_dem = -_maxSinkRate; } - _hgt_dem_prev = _hgt_dem; - - // Apply first order lag to height demand - _hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last; - _hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f; - _hgt_dem_adj_last = _hgt_dem_adj; - - // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last, - // _hgt_rate_dem); + //warnx("_hgt_rate_dem: %.4f, _hgt_dem_adj %.4f", _hgt_rate_dem, _hgt_dem_adj); } void TECS::_detect_underspeed(void) @@ -257,7 +279,7 @@ void TECS::_update_energies(void) _SKEdot = _integ5_state * _vel_dot; } -void TECS::_update_throttle(float throttle_cruise, const math::Dcm &rotMat) +void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotMat) { // Calculate total energy values _STE_error = _SPE_dem - _SPE_est + _SKE_dem - _SKE_est; @@ -285,10 +307,10 @@ void TECS::_update_throttle(float throttle_cruise, const math::Dcm &rotMat) // additional component which scales with (1/cos(bank angle) - 1) to compensate for induced // drag increase during turns. float cosPhi = sqrtf((rotMat(0, 1) * rotMat(0, 1)) + (rotMat(1, 1) * rotMat(1, 1))); - STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi * cosPhi , 0.1f, 1.0f) - 1.0f); + STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f); if (STEdot_dem >= 0) { - ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr); + ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr); } else { ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr; @@ -353,14 +375,18 @@ void TECS::_detect_bad_descent(void) // 1) Underspeed protection not active // 2) Specific total energy error > 0 // This mode will produce an undulating speed and height response as it cuts in and out but will prevent the aircraft from descending into the ground if an unachievable speed demand is set - float STEdot = _SPEdot + _SKEdot; - - if ((!_underspeed && (_STE_error > 200.0f) && (STEdot < 0.0f) && (_throttle_dem >= _THRmaxf * 0.9f)) || (_badDescent && !_underspeed && (_STE_error > 0.0f))) { - _badDescent = true; - - } else { - _badDescent = false; - } +// float STEdot = _SPEdot + _SKEdot; +// +// if ((!_underspeed && (_STE_error > 200.0f) && (STEdot < 0.0f) && (_throttle_dem >= _THRmaxf * 0.9f)) || (_badDescent && !_underspeed && (_STE_error > 0.0f))) { +// +// warnx("bad descent detected: _STE_error %.1f, STEdot %.1f, _throttle_dem %.1f", _STE_error, STEdot, _throttle_dem); +// _badDescent = true; +// +// } else { +// _badDescent = false; +// } + + _badDescent = false; } void TECS::_update_pitch(void) @@ -476,7 +502,7 @@ void TECS::_update_STE_rate_lim(void) _STEdot_min = - _minSinkRate * CONSTANTS_ONE_G; } -void TECS::update_pitch_throttle(const math::Dcm &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO, +void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO, float throttle_min, float throttle_max, float throttle_cruise, float pitch_limit_min, float pitch_limit_max) { @@ -508,7 +534,7 @@ void TECS::update_pitch_throttle(const math::Dcm &rotMat, float pitch, float bar _update_speed_demand(); // Calculate the height demand - _update_height_demand(hgt_dem); + _update_height_demand(hgt_dem, baro_altitude); // Detect underspeed condition _detect_underspeed(); diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index f8f832ed7..5cafb1c79 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -28,16 +28,7 @@ class __EXPORT TECS { public: TECS() : - - _airspeed_enabled(false), - _throttle_slewrate(0.0f), - _climbOutDem(false), - _hgt_dem_prev(0.0f), - _hgt_dem_adj_last(0.0f), - _hgt_dem_in_old(0.0f), - _TAS_dem_last(0.0f), - _TAS_dem_adj(0.0f), - _TAS_dem(0.0f), + _pitch_dem(0.0f), _integ1_state(0.0f), _integ2_state(0.0f), _integ3_state(0.0f), @@ -45,8 +36,16 @@ public: _integ5_state(0.0f), _integ6_state(0.0f), _integ7_state(0.0f), - _pitch_dem(0.0f), _last_pitch_dem(0.0f), + _vel_dot(0.0f), + _TAS_dem(0.0f), + _TAS_dem_last(0.0f), + _hgt_dem_in_old(0.0f), + _hgt_dem_adj_last(0.0f), + _hgt_dem_prev(0.0f), + _TAS_dem_adj(0.0f), + _STEdotErrLast(0.0f), + _climbOutDem(false), _SPE_dem(0.0f), _SKE_dem(0.0f), _SPEdot_dem(0.0f), @@ -55,9 +54,9 @@ public: _SKE_est(0.0f), _SPEdot(0.0f), _SKEdot(0.0f), - _vel_dot(0.0f), - _STEdotErrLast(0.0f) { - + _airspeed_enabled(false), + _throttle_slewrate(0.0f) + { } bool airspeed_sensor_enabled() { @@ -71,10 +70,10 @@ public: // Update of the estimated height and height rate internal state // Update of the inertial speed rate internal state // Should be called at 50Hz or greater - void update_50hz(float baro_altitude, float airspeed, const math::Dcm &rotMat, const math::Vector3 &accel_body, const math::Vector3 &accel_earth); + void update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth); // Update the control loop calculations - void update_pitch_throttle(const math::Dcm &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO, + void update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO, float throttle_min, float throttle_max, float throttle_cruise, float pitch_limit_min, float pitch_limit_max); // demanded throttle in percentage @@ -180,6 +179,14 @@ public: _indicated_airspeed_max = airspeed; } + void set_heightrate_p(float heightrate_p) { + _heightrate_p = heightrate_p; + } + + void set_speedrate_p(float speedrate_p) { + _speedrate_p = speedrate_p; + } + private: // Last time update_50Hz was called uint64_t _update_50hz_last_usec; @@ -203,6 +210,8 @@ private: float _vertAccLim; float _rollComp; float _spdWeight; + float _heightrate_p; + float _speedrate_p; // throttle demand in the range from 0.0 to 1.0 float _throttle_dem; @@ -329,7 +338,7 @@ private: void _update_speed_demand(void); // Update the demanded height - void _update_height_demand(float demand); + void _update_height_demand(float demand, float state); // Detect an underspeed condition void _detect_underspeed(void); @@ -338,7 +347,7 @@ private: void _update_energies(void); // Update Demanded Throttle - void _update_throttle(float throttle_cruise, const math::Dcm &rotMat); + void _update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotMat); // Detect Bad Descent void _detect_bad_descent(void); |