diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 237 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/module.mk | 4 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 284 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 147 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 219 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 380 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 23 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 19 | ||||
-rw-r--r-- | src/modules/uORB/Publication.cpp | 2 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 4 | ||||
-rw-r--r-- | src/modules/uORB/topics/tecs_status.h | 81 |
11 files changed, 1322 insertions, 78 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 5b877cd77..e3b6eb261 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -91,6 +91,7 @@ #include <external_lgpl/tecs/tecs.h> #include <drivers/drv_range_finder.h> #include "landingslope.h" +#include "mtecs/mTecs.h" /** @@ -201,6 +202,8 @@ private: ECL_L1_Pos_Controller _l1_control; TECS _tecs; + fwPosctrl::mTecs _mTecs; + bool _was_pos_control_mode; struct { float l1_period; @@ -347,11 +350,11 @@ private: /** * Control position. */ - bool control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed, + bool control_position(const math::Vector<2> &global_pos, const math::Vector<3> &ground_speed, const struct position_setpoint_triplet_s &_pos_sp_triplet); float calculate_target_airspeed(float airspeed_demand); - void calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet); + void calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet); /** * Shim for calling task_main from task_create. @@ -372,6 +375,19 @@ private: * Reset landing state */ void reset_landing_state(); + + /* + * Call TECS : a wrapper function to call one of the TECS implementations (mTECS is called only if enabled via parameter) + * XXX need to clean up/remove this function once mtecs fully replaces TECS + */ + void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, + float pitch_min_rad, float pitch_max_rad, + float throttle_min, float throttle_max, float throttle_cruise, + bool climbout_mode, float climbout_pitch_min_rad, + float altitude, + const math::Vector<3> &ground_speed, + fwPosctrl::mTecs::tecs_mode mode = fwPosctrl::mTecs::TECS_MODE_NORMAL); + }; namespace l1_control @@ -435,6 +451,8 @@ FixedwingPositionControl::FixedwingPositionControl() : _global_pos(), _pos_sp_triplet(), _sensor_combined(), + _mTecs(), + _was_pos_control_mode(false), _range_finder() { _nav_capabilities.turn_distance = 0.0f; @@ -595,6 +613,9 @@ FixedwingPositionControl::parameters_update() /* Update Launch Detector Parameters */ launchDetector.updateParams(); + /* Update the mTecs */ + _mTecs.updateParams(); + return OK; } @@ -740,7 +761,7 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand) } void -FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) +FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet) { if (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) { @@ -748,7 +769,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &c /* rotate ground speed vector with current attitude */ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0)); yaw_vector.normalize(); - float ground_speed_body = yaw_vector * ground_speed; + float ground_speed_body = yaw_vector * ground_speed_2d; /* The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available*/ float distance = 0.0f; @@ -807,12 +828,13 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, } bool -FixedwingPositionControl::control_position(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, +FixedwingPositionControl::control_position(const math::Vector<2> ¤t_position, const math::Vector<3> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) { bool setpoint = true; - calculate_gndspeed_undershoot(current_position, ground_speed, pos_sp_triplet); + math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)}; + calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet); float eas2tas = 1.0f; // XXX calculate actual number based on current measurements @@ -835,6 +857,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // else integrators should be constantly reset. if (_control_mode.flag_control_position_enabled) { + if (!_was_pos_control_mode) { + /* reset integrators */ + if (_mTecs.getEnabled()) { + _mTecs.resetIntegrators(); + } + } + + _was_pos_control_mode = true; + /* get circle mode */ bool was_circle_mode = _l1_control.circle_mode(); @@ -867,29 +898,27 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (pos_sp_triplet.current.type == SETPOINT_TYPE_NORMAL) { /* waypoint is a plain navigation waypoint */ - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed); + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) { /* waypoint is a loiter waypoint */ _l1_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius, - pos_sp_triplet.current.loiter_direction, ground_speed); + pos_sp_triplet.current.loiter_direction, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { @@ -914,7 +943,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw)); - _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); + _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed_2d); /* limit roll motion to prevent wings from touching the ground first */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f)); @@ -924,7 +953,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else { /* normal navigation */ - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed); + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); } _att_sp.roll_body = _l1_control.nav_roll(); @@ -948,7 +977,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); - float L_altitude_rel = landingslope.getLandingSlopeRelativeAltitude(L_wp_distance); + float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); @@ -983,11 +1012,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, flare_pitch_angle_rad, - 0.0f, throttle_max, throttle_land, - flare_pitch_angle_rad, math::radians(15.0f)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel, + calculate_target_airspeed(airspeed_land), eas2tas, + flare_pitch_angle_rad, math::radians(15.0f), + 0.0f, throttle_max, throttle_land, + false, flare_pitch_angle_rad, + _pos_sp_triplet.current.alt + relative_alt, ground_speed, + land_motor_lim ? fwPosctrl::mTecs::TECS_MODE_LAND_THROTTLELIM : fwPosctrl::mTecs::TECS_MODE_LAND); if (!land_noreturn_vertical) { mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); @@ -1000,11 +1031,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* intersect glide slope: * minimize speed to approach speed - * if current position is higher or within 10m of slope follow the glide slope - * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope + * if current position is higher than the slope follow the glide slope (sink to the + * glide slope) + * also if the system captures the slope it should stay + * on the slope (bool land_onslope) + * if current position is below the slope continue at previous wp altitude + * until the intersection with slope * */ float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired - 10.0f) { + if (relative_alt > landing_slope_alt_rel_desired || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { @@ -1013,14 +1048,20 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } else { /* continue horizontally */ - altitude_desired_rel = math::max(relative_alt, L_altitude_rel); + altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt; } - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _pos_sp_triplet.current.alt + relative_alt, _pos_sp_triplet.current.alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + calculate_target_airspeed(airspeed_approach), eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _pos_sp_triplet.current.alt + relative_alt, + ground_speed); } } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { @@ -1047,7 +1088,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } - _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed); + _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); @@ -1058,22 +1099,36 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (altitude_error > 15.0f) { /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min), - _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, + calculate_target_airspeed(1.3f * _parameters.airspeed_min), + eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, + _parameters.throttle_cruise, + true, + math::max(math::radians(pos_sp_triplet.current.pitch_min), + math::radians(10.0f)), + _global_pos.alt, + ground_speed, + fwPosctrl::mTecs::TECS_MODE_TAKEOFF); /* limit roll motion to ensure enough lift */ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); } else { - - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), - _airspeed.indicated_airspeed_m_s, eas2tas, - false, math::radians(_parameters.pitch_limit_min), - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, + calculate_target_airspeed(_parameters.airspeed_trim), + eas2tas, + math::radians(_parameters.pitch_limit_min), + math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, + _parameters.throttle_max, + _parameters.throttle_cruise, + false, + math::radians(_parameters.pitch_limit_min), + _global_pos.alt, + ground_speed); } } else { @@ -1107,19 +1162,21 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else if (0/* posctrl mode enabled */) { + _was_pos_control_mode = false; + /** POSCTRL FLIGHT **/ - if (0/* switched from another mode to posctrl */) { - _altctrl_hold_heading = _att.yaw; - } + if (0/* switched from another mode to posctrl */) { + _altctrl_hold_heading = _att.yaw; + } - if (0/* posctrl on and manual control yaw non-zero */) { - _altctrl_hold_heading = _att.yaw + _manual.r; - } + if (0/* posctrl on and manual control yaw non-zero */) { + _altctrl_hold_heading = _att.yaw + _manual.r; + } - //XXX not used + //XXX not used - /* climb out control */ + /* climb out control */ // bool climb_out = false; // // /* user wants to climb out */ @@ -1127,25 +1184,26 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // climb_out = true; // } - /* if in altctrl mode, set airspeed based on manual control */ + /* if in altctrl mode, set airspeed based on manual control */ - // XXX check if ground speed undershoot should be applied here - float altctrl_airspeed = _parameters.airspeed_min + - (_parameters.airspeed_max - _parameters.airspeed_min) * - _manual.z; + // XXX check if ground speed undershoot should be applied here + float altctrl_airspeed = _parameters.airspeed_min + + (_parameters.airspeed_max - _parameters.airspeed_min) * + _manual.z; - _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d); _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f, - altctrl_airspeed, - _airspeed.indicated_airspeed_m_s, eas2tas, - false, _parameters.pitch_limit_min, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - _parameters.pitch_limit_min, _parameters.pitch_limit_max); + + tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed); } else if (0/* altctrl mode enabled */) { + _was_pos_control_mode = false; + /** ALTCTRL FLIGHT **/ if (0/* switched from another mode to altctrl */) { @@ -1178,18 +1236,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi climb_out = true; } - _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed); + _l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d); _att_sp.roll_body = _manual.y; _att_sp.yaw_body = _manual.r; - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f, - altctrl_airspeed, - _airspeed.indicated_airspeed_m_s, eas2tas, - climb_out, _parameters.pitch_limit_min, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - _parameters.pitch_limit_min, _parameters.pitch_limit_max); + tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + climb_out, math::radians(_parameters.pitch_limit_min), + _global_pos.alt, ground_speed); } else { + _was_pos_control_mode = false; + /** MANUAL FLIGHT **/ /* no flight mode applies, do not publish an attitude setpoint */ @@ -1206,9 +1265,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.thrust = launchDetector.getThrottlePreTakeoff(); } else { - _att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max); + _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :_tecs.get_throttle_demand(), throttle_max); } - _att_sp.pitch_body = _tecs.get_pitch_demand(); + _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); if (_control_mode.flag_control_position_enabled) { last_manual = false; @@ -1322,7 +1381,7 @@ FixedwingPositionControl::task_main() range_finder_poll(); // vehicle_baro_poll(); - math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e); + math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d); math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon); /* @@ -1384,6 +1443,30 @@ void FixedwingPositionControl::reset_landing_state() land_onslope = false; } +void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas, + float pitch_min_rad, float pitch_max_rad, + float throttle_min, float throttle_max, float throttle_cruise, + bool climbout_mode, float climbout_pitch_min_rad, + float altitude, + const math::Vector<3> &ground_speed, + fwPosctrl::mTecs::tecs_mode mode) +{ + if (_mTecs.getEnabled()) { + float flightPathAngle = 0.0f; + float ground_speed_length = ground_speed.length(); + if (ground_speed_length > FLT_EPSILON) { + flightPathAngle = -asinf(ground_speed(2)/ground_speed_length); + } + _mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode); + } else { + _tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp, + _airspeed.indicated_airspeed_m_s, eas2tas, + climbout_mode, climbout_pitch_min_rad, + throttle_min, throttle_max, throttle_cruise, + pitch_min_rad, pitch_max_rad); + } +} + int FixedwingPositionControl::start() { diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index cf419ec7e..c887223f4 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -39,4 +39,6 @@ MODULE_COMMAND = fw_pos_control_l1 SRCS = fw_pos_control_l1_main.cpp \ fw_pos_control_l1_params.c \ - landingslope.cpp + landingslope.cpp \ + mtecs/mTecs.cpp \ + mtecs/mTecs_params.c diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp new file mode 100644 index 000000000..087e1b476 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -0,0 +1,284 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@gmail.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs.cpp + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include "mTecs.h" + +#include <lib/geo/geo.h> +#include <stdio.h> + +namespace fwPosctrl { + +mTecs::mTecs() : + SuperBlock(NULL, "MT"), + /* Parameters */ + _mTecsEnabled(this, "ENABLED"), + _airspeedMin(this, "FW_AIRSPD_MIN", false), + /* Publications */ + _status(&getPublications(), ORB_ID(tecs_status)), + /* control blocks */ + _controlTotalEnergy(this, "THR"), + _controlEnergyDistribution(this, "PIT", true), + _controlAltitude(this, "FPA", true), + _controlAirSpeed(this, "ACC"), + _airspeedDerivative(this, "AD"), + _throttleSp(0.0f), + _pitchSp(0.0f), + _BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"), + _BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true), + _BlockOutputLimiterUnderspeedThrottle(this, "USP_THR"), + _BlockOutputLimiterUnderspeedPitch(this, "USP_PIT", true), + _BlockOutputLimiterLandThrottle(this, "LND_THR"), + _BlockOutputLimiterLandPitch(this, "LND_PIT", true), + timestampLastIteration(hrt_absolute_time()), + _firstIterationAfterReset(true), + _dtCalculated(false), + _counter(0), + _debug(false) +{ +} + +mTecs::~mTecs() +{ +} + +int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) +{ + /* check if all input arguments are numbers and abort if not so */ + if (!isfinite(flightPathAngle) || !isfinite(altitude) || + !isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) { + return -1; + } + + /* time measurement */ + updateTimeMeasurement(); + + /* calculate flight path angle setpoint from altitude setpoint */ + float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); + + /* Debug output */ + if (_counter % 10 == 0) { + debug("***"); + debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); + } + + /* Write part of the status message */ + _status.altitudeSp = altitudeSp; + _status.altitude = altitude; + + + /* use flightpath angle setpoint for total energy control */ + return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); +} + +int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) +{ + /* check if all input arguments are numbers and abort if not so */ + if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || + !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) { + return -1; + } + + /* time measurement */ + updateTimeMeasurement(); + + /* calculate longitudinal acceleration setpoint from airspeed setpoint*/ + float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); + + /* Debug output */ + if (_counter % 10 == 0) { + debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + } + + /* Write part of the status message */ + _status.flightPathAngleSp = flightPathAngleSp; + _status.flightPathAngle = flightPathAngle; + _status.airspeedSp = airspeedSp; + _status.airspeed = airspeed; + + + /* use longitudinal acceleration setpoint for total energy control */ + return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp, mode); +} + +int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) +{ + /* check if all input arguments are numbers and abort if not so */ + if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) || + !isfinite(airspeed) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) { + return -1; + } + /* time measurement */ + updateTimeMeasurement(); + + /* update parameters first */ + updateParams(); + + /* calculate values (energies) */ + float flightPathAngleError = flightPathAngleSp - flightPathAngle; + float airspeedDerivative = 0.0f; + if(_airspeedDerivative.getDt() > 0.0f) { + airspeedDerivative = _airspeedDerivative.update(airspeed); + } + float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G; + float airspeedDerivativeSp = accelerationLongitudinalSp; + float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G; + float airspeedDerivativeNormError = airspeedDerivativeNormSp - airspeedDerivativeNorm; + + float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm; + float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormError; + float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp; + float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate; + + float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm; + float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormError; + float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp; + float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; + + /* Debug output */ + if (_counter % 10 == 0) { + debug("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", + (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); + debug("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", + (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); + } + + /* Check airspeed: if below safe value switch to underspeed mode */ + if (airspeed < _airspeedMin.get()) { + mode = TECS_MODE_UNDERSPEED; + } + + /* Set special ouput limiters if we are not in TECS_MODE_NORMAL */ + BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits + BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits + if (mode == TECS_MODE_TAKEOFF) { + outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector + outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch; + } else if (mode == TECS_MODE_LAND) { + // only limit pitch but do not limit throttle + outputLimiterPitch = &_BlockOutputLimiterLandPitch; + } else if (mode == TECS_MODE_LAND_THROTTLELIM) { + outputLimiterThrottle = &_BlockOutputLimiterLandThrottle; + outputLimiterPitch = &_BlockOutputLimiterLandPitch; + } else if (mode == TECS_MODE_UNDERSPEED) { + outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle; + outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch; + } + + /* Write part of the status message */ + _status.airspeedDerivativeSp = airspeedDerivativeSp; + _status.airspeedDerivative = airspeedDerivative; + _status.totalEnergyRateSp = totalEnergyRateSp; + _status.totalEnergyRate = totalEnergyRate; + _status.energyDistributionRateSp = energyDistributionRateSp; + _status.energyDistributionRate = energyDistributionRate; + + /** update control blocks **/ + /* update total energy rate control block */ + _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle); + + /* update energy distribution rate control block */ + _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError, outputLimiterPitch); + + + if (_counter % 10 == 0) { + debug("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", + (double)_throttleSp, (double)_pitchSp, + (double)flightPathAngleSp, (double)flightPathAngle, + (double)accelerationLongitudinalSp, (double)airspeedDerivative); + } + + /* publish status messge */ + _status.update(); + + /* clean up */ + _firstIterationAfterReset = false; + _dtCalculated = false; + + _counter++; + + return 0; +} + +void mTecs::resetIntegrators() +{ + _controlTotalEnergy.getIntegral().setY(0.0f); + _controlEnergyDistribution.getIntegral().setY(0.0f); + timestampLastIteration = hrt_absolute_time(); + _firstIterationAfterReset = true; +} + +void mTecs::updateTimeMeasurement() +{ + if (!_dtCalculated) { + float deltaTSeconds = 0.0f; + if (!_firstIterationAfterReset) { + hrt_abstime timestampNow = hrt_absolute_time(); + deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f; + timestampLastIteration = timestampNow; + } + setDt(deltaTSeconds); + + _dtCalculated = true; + } +} + +void mTecs::debug_print(const char *fmt, va_list args) +{ + fprintf(stderr, "%s: ", "[mtecs]"); + vfprintf(stderr, fmt, args); + + fprintf(stderr, "\n"); +} + +void mTecs::debug(const char *fmt, ...) { + + if (!_debug) { + return; + } + + va_list args; + + va_start(args, fmt); + debug_print(fmt, args); +} + +} /* namespace fwPosctrl */ + diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h new file mode 100644 index 000000000..376d39698 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -0,0 +1,147 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@gmail.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs.h + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + + +#ifndef MTECS_H_ +#define MTECS_H_ + +#include "mTecs_blocks.h" + +#include <controllib/block/BlockParam.hpp> +#include <drivers/drv_hrt.h> +#include <uORB/Publication.hpp> +#include <uORB/topics/tecs_status.h> + +namespace fwPosctrl +{ + +/* Main class of the mTecs */ +class mTecs : public control::SuperBlock +{ +public: + mTecs(); + virtual ~mTecs(); + + typedef enum { + TECS_MODE_NORMAL, + TECS_MODE_UNDERSPEED, + TECS_MODE_TAKEOFF, + TECS_MODE_LAND, + TECS_MODE_LAND_THROTTLELIM + } tecs_mode; + + /* + * Control in altitude setpoint and speed mode + */ + int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode); + + /* + * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode + */ + int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode); + + /* + * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) + */ + int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode); + + /* + * Reset all integrators + */ + void resetIntegrators(); + + + /* Accessors */ + bool getEnabled() {return _mTecsEnabled.get() > 0;} + float getThrottleSetpoint() {return _throttleSp;} + float getPitchSetpoint() {return _pitchSp;} + +protected: + /* parameters */ + control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ + control::BlockParamFloat _airspeedMin; /**< minimal airspeed */ + + /* Publications */ + uORB::Publication<tecs_status_s> _status; /**< publish internal values for logging */ + + /* control blocks */ + BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ + BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ + BlockPDLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ + BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */ + + /* Other calculation Blocks */ + control::BlockDerivative _airspeedDerivative; + + /* Output setpoints */ + float _throttleSp; /**< Throttle Setpoint from 0 to 1 */ + float _pitchSp; /**< Pitch Setpoint from -pi to pi */ + + /* Output Limits in special modes */ + BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */ + BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */ + BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */ + BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in last phase)*/ + BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */ + + /* Time measurements */ + hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ + + bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + bool _dtCalculated; /**< True if dt has been calculated in this iteration */ + + int _counter; + bool _debug; ///< Set true to enable debug output + + + static void debug_print(const char *fmt, va_list args); + void debug(const char *fmt, ...); + + /* + * Measure and update the time step dt if this was not already done in the current iteration + */ + void updateTimeMeasurement(); +}; + +} /* namespace fwPosctrl */ + +#endif /* MTECS_H_ */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h new file mode 100644 index 000000000..a7acd95de --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -0,0 +1,219 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@gmail.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs_blocks.h + * + * Custom blocks for the mTecs + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#pragma once + +#include <controllib/blocks.hpp> +#include <systemlib/err.h> + +namespace fwPosctrl +{ + +using namespace control; + +/* An block which can be used to limit the output */ +class BlockOutputLimiter: public SuperBlock +{ +public: +// methods + BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _isAngularLimit(isAngularLimit), + _min(this, "MIN"), + _max(this, "MAX") + {}; + virtual ~BlockOutputLimiter() {}; + /* + * Imposes the limits given by _min and _max on value + * + * @param value is changed to be on the interval _min to _max + * @param difference if the value is changed this corresponds to the change of value * (-1) + * otherwise unchanged + * @return: true if the limit is applied, false otherwise + */ + bool limit(float& value, float& difference) { + float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); + float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); + if (value < minimum) { + difference = value - minimum; + value = minimum; + return true; + } else if (value > maximum) { + difference = value - maximum; + value = maximum; + return true; + } + return false; + } +//accessor: + bool isAngularLimit() {return _isAngularLimit ;} + float getMin() { return _min.get(); } + float getMax() { return _max.get(); } +protected: +//attributes + bool _isAngularLimit; + control::BlockParamFloat _min; + control::BlockParamFloat _max; +}; + +typedef + +/* A combination of feed forward, P and I gain using the output limiter*/ +class BlockFFPILimited: public SuperBlock +{ +public: +// methods + BlockFFPILimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _outputLimiter(this, "", isAngularLimit), + _integral(this, "I"), + _kFF(this, "FF"), + _kP(this, "P"), + _kI(this, "I"), + _offset(this, "OFF") + {}; + virtual ~BlockFFPILimited() {}; + float update(float inputValue, float inputError) { return calcLimitedOutput(inputValue, inputError, _outputLimiter); } +// accessors + BlockIntegral &getIntegral() { return _integral; } + float getKFF() { return _kFF.get(); } + float getKP() { return _kP.get(); } + float getKI() { return _kI.get(); } + float getOffset() { return _offset.get(); } + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; +protected: + BlockOutputLimiter _outputLimiter; + + float calcUnlimitedOutput(float inputValue, float inputError) {return getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError);} + float calcLimitedOutput(float inputValue, float inputError, BlockOutputLimiter &outputLimiter) { + float difference = 0.0f; + float integralYPrevious = _integral.getY(); + float output = calcUnlimitedOutput(inputValue, inputError); + if(outputLimiter.limit(output, difference) && + (((difference < 0) && (getKI() * getIntegral().getY() < 0)) || + ((difference > 0) && (getKI() * getIntegral().getY() > 0)))) { + getIntegral().setY(integralYPrevious); + } + return output; + } +private: + BlockIntegral _integral; + BlockParamFloat _kFF; + BlockParamFloat _kP; + BlockParamFloat _kI; + BlockParamFloat _offset; +}; + +/* A combination of feed forward, P and I gain using the output limiter with the option to provide a special output limiter (for example for takeoff)*/ +class BlockFFPILimitedCustom: public BlockFFPILimited +{ +public: +// methods + BlockFFPILimitedCustom(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + BlockFFPILimited(parent, name, isAngularLimit) + {}; + virtual ~BlockFFPILimitedCustom() {}; + float update(float inputValue, float inputError, BlockOutputLimiter *outputLimiter = NULL) { + return calcLimitedOutput(inputValue, inputError, outputLimiter == NULL ? _outputLimiter : *outputLimiter); + } +}; + +/* A combination of P gain and output limiter */ +class BlockPLimited: public SuperBlock +{ +public: +// methods + BlockPLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _kP(this, "P"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockPLimited() {}; + float update(float input) { + float difference = 0.0f; + float output = getKP() * input; + getOutputLimiter().limit(output, difference); + return output; + } +// accessors + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; + float getKP() { return _kP.get(); } +private: + control::BlockParamFloat _kP; + BlockOutputLimiter _outputLimiter; +}; + +/* A combination of P, D gains and output limiter */ +class BlockPDLimited: public SuperBlock +{ +public: +// methods + BlockPDLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _kP(this, "P"), + _kD(this, "D"), + _derivative(this, "D"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockPDLimited() {}; + float update(float input) { + float difference = 0.0f; + float output = getKP() * input + (getDerivative().getDt() > 0.0f ? getKD() * getDerivative().update(input) : 0.0f); + getOutputLimiter().limit(output, difference); + + return output; + } +// accessors + float getKP() { return _kP.get(); } + float getKD() { return _kD.get(); } + BlockDerivative &getDerivative() { return _derivative; } + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; +private: + control::BlockParamFloat _kP; + control::BlockParamFloat _kD; + BlockDerivative _derivative; + BlockOutputLimiter _outputLimiter; +}; + +} + diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c new file mode 100644 index 000000000..591257611 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -0,0 +1,380 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@gmail.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + +/** + * @file mTecs_params.c + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> +#include <systemlib/param/param.h> + +/* + * Controller parameters, accessible via MAVLink + */ + +/** + * mTECS enabled + * + * Set to 1 to enable mTECS + * + * @min 0 + * @max 1 + * @group mTECS + */ +PARAM_DEFINE_INT32(MT_ENABLED, 1); + +/** + * Total Energy Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); + +/** + * Total Energy Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); + +/** + * Total Energy Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); + +/** + * Total Energy Rate Control OFF (Cruise throttle) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); + +/** + * Energy Distribution Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); + +/** + * Energy Distribution Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f); + +/** + * Energy Distribution Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f); + + +/** + * Total Energy Distribution OFF (Cruise pitch sp) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f); + +/** + * Minimal Throttle Setpoint + * + * @min 0.0 + * @max 1.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f); + +/** + * Maximal Throttle Setpoint + * + * @min 0.0 + * @max 1.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_MAX, 1.0f); + +/** + * Minimal Pitch Setpoint in Degrees + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f); + +/** + * Maximal Pitch Setpoint in Degrees + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); + +/** + * P gain for the altitude control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); + +/** + * D gain for the altitude control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f); + +/** + * Lowpass for FPA error derivative (see MT_FPA_D) + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); + + +/** + * Minimal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); + +/** + * Maximal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); + + +/** + * P gain for the airspeed control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); + +/** + * Minimal acceleration (air) + * + * @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f); + +/** + * Maximal acceleration (air) + * +* @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); + +/** + * Airspeed derivative lowpass + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); + +/** + * Minimal throttle during takeoff + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f); + +/** + * Maximal throttle during takeoff + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_THR_MAX, 1.0f); + +/** + * Minimal pitch during takeoff + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_PIT_MIN, 0.0f); + +/** + * Maximal pitch during takeoff + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f); + +/** + * Minimal throttle in underspeed mode + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f); + +/** + * Maximal throttle in underspeed mode + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_THR_MAX, 1.0f); + +/** + * Minimal pitch in underspeed mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f); + +/** + * Maximal pitch in underspeed mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f); + +/** + * Minimal throttle in landing mode (only last phase of landing) + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f); + +/** + * Maximal throttle in landing mode (only last phase of landing) + * + * @min 0.0f + * @max 1.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f); + +/** + * Minimal pitch in landing mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f); + +/** + * Maximal pitch in landing mode + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f); + +/** + * Integrator Limit for Total Energy Rate Control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f); + +/** + * Integrator Limit for Energy Distribution Rate Control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_I_MAX, 10.0f); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 577cadfbb..e1f3490a9 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -84,6 +84,7 @@ #include <uORB/topics/esc_status.h> #include <uORB/topics/telemetry_status.h> #include <uORB/topics/estimator_status.h> +#include <uORB/topics/tecs_status.h> #include <uORB/topics/system_power.h> #include <uORB/topics/servorail_status.h> @@ -939,6 +940,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct telemetry_status_s telemetry; struct range_finder_report range_finder; struct estimator_status_report estimator_status; + struct tecs_status_s tecs_status; struct system_power_s system_power; struct servorail_status_s servorail_status; } buf; @@ -979,6 +981,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GS0B_s log_GS0B; struct log_GS1A_s log_GS1A; struct log_GS1B_s log_GS1B; + struct log_TECS_s log_TECS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1010,6 +1013,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int telemetry_sub; int range_finder_sub; int estimator_status_sub; + int tecs_status_sub; int system_power_sub; int servorail_status_sub; } subs; @@ -1037,6 +1041,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); + subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status)); subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); @@ -1488,6 +1493,24 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ESTM); } + /* --- TECS STATUS --- */ + if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) { + log_msg.msg_type = LOG_TECS_MSG; + log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp; + log_msg.body.log_TECS.altitude = buf.tecs_status.altitude; + log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp; + log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle; + log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp; + log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed; + log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp; + log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative; + log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp; + log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate; + log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp; + log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate; + LOGBUFFER_WRITE_AND_COUNT(TECS); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index f4d88f079..8a0a0ad45 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,6 +346,24 @@ struct log_GS1B_s { uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */ }; +/* --- TECS - TECS STATUS --- */ +#define LOG_TECS_MSG 30 +struct log_TECS_s { + float altitudeSp; + float altitude; + float flightPathAngleSp; + float flightPathAngle; + float airspeedSp; + float airspeed; + float airspeedDerivativeSp; + float airspeedDerivative; + + float totalEnergyRateSp; + float totalEnergyRate; + float energyDistributionRateSp; + float energyDistributionRate; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -401,6 +419,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), + LOG_FORMAT(TECS, "ffffffffffff", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsDSP,AsD,TERSP,TER,EDRSP,EDR"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp index 5a5981617..cd0b30dd6 100644 --- a/src/modules/uORB/Publication.cpp +++ b/src/modules/uORB/Publication.cpp @@ -47,6 +47,7 @@ #include "topics/vehicle_rates_setpoint.h" #include "topics/actuator_outputs.h" #include "topics/encoders.h" +#include "topics/tecs_status.h" namespace uORB { @@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>; template class __EXPORT Publication<vehicle_rates_setpoint_s>; template class __EXPORT Publication<actuator_outputs_s>; template class __EXPORT Publication<encoders_s>; +template class __EXPORT Publication<tecs_status_s>; } diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 90675bb2e..bae46e14d 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -199,3 +199,7 @@ ORB_DEFINE(encoders, struct encoders_s); #include "topics/estimator_status.h" ORB_DEFINE(estimator_status, struct estimator_status_report); + +#include "topics/tecs_status.h" +ORB_DEFINE(tecs_status, struct tecs_status_s); + diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h new file mode 100644 index 000000000..f3d33ec20 --- /dev/null +++ b/src/modules/uORB/topics/tecs_status.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file vehicle_global_position.h + * Definition of the global fused WGS84 position uORB topic. + * + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + */ + +#ifndef TECS_STATUS_T_H_ +#define TECS_STATUS_T_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + + /** + * Internal values of the (m)TECS fixed wing speed alnd altitude control system + */ +struct tecs_status_s { + uint64_t timestamp; /**< timestamp, in microseconds since system start */ + + float altitudeSp; + float altitude; + float flightPathAngleSp; + float flightPathAngle; + float airspeedSp; + float airspeed; + float airspeedDerivativeSp; + float airspeedDerivative; + + float totalEnergyRateSp; + float totalEnergyRate; + float energyDistributionRateSp; + float energyDistributionRate; +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(tecs_status); + +#endif |