From a897b3d88e5d1c3e8c005d0d5fd7b0dacd434ed0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 23 Aug 2013 16:28:53 +0200 Subject: Added complete attitude control framework --- src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 60 +++++++++++++ src/lib/ecl/attitude_fw/ecl_pitch_controller.h | 106 +++++++++++++++++++++++ src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 62 +++++++++++++ src/lib/ecl/attitude_fw/ecl_roll_controller.h | 97 +++++++++++++++++++++ src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 63 ++++++++++++++ src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 89 +++++++++++++++++++ 6 files changed, 477 insertions(+) create mode 100644 src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp create mode 100644 src/lib/ecl/attitude_fw/ecl_pitch_controller.h create mode 100644 src/lib/ecl/attitude_fw/ecl_roll_controller.cpp create mode 100644 src/lib/ecl/attitude_fw/ecl_roll_controller.h create mode 100644 src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp create mode 100644 src/lib/ecl/attitude_fw/ecl_yaw_controller.h (limited to 'src/lib/ecl/attitude_fw') diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp new file mode 100644 index 000000000..0faba287d --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_pitch_controller.cpp + * Implementation of a simple orthogonal pitch PID controller. + * + */ + +#include "ecl_pitch_controller.h" + +ECL_PitchController::ECL_PitchController() : + _last_run(0), + _last_output(0.0f), + _integrator(0.0f), + _rate_error(0.0f), + _desired_rate(0.0f) +{ +} + +float ECL_PitchController::control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler, + bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed) +{ + return 0.0f; +} + +void ECL_PitchController::reset_integrator() +{ + _integrator = 0.0f; +} diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h new file mode 100644 index 000000000..391f90b9d --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_pitch_controller.h + * Definition of a simple orthogonal pitch PID controller. + * + */ + +#ifndef ECL_PITCH_CONTROLLER_H +#define ECL_PITCH_CONTROLLER_H + +#include +#include + +class __EXPORT ECL_PitchController +{ +public: + ECL_PitchController(); + + float control(float pitch_setpoint, float pitch, float pitch_rate, float roll, float scaler = 1.0f, + bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float aspeed = (0.0f / 0.0f)); + + void reset_integrator(); + + void set_time_constant(float time_constant) { + _tc = time_constant; + } + void set_k_p(float k_p) { + _k_p = k_p; + } + void set_k_i(float k_i) { + _k_i = k_i; + } + void set_k_d(float k_d) { + _k_d = k_d; + } + void set_integrator_max(float max) { + _integrator_max = max; + } + void set_max_rate_pos(float max_rate_pos) { + _max_rate_pos = max_rate_pos; + } + void set_max_rate_neg(float max_rate_neg) { + _max_rate_neg = max_rate_neg; + } + void set_roll_ff(float roll_ff) { + _roll_ff = roll_ff; + } + + float get_rate_error() { + return _rate_error; + } + + float get_desired_rate() { + return _desired_rate; + } + +private: + + uint64_t _last_run; + float _tc; + float _k_p; + float _k_i; + float _k_d; + float _integrator_max; + float _max_rate_pos; + float _max_rate_neg; + float _roll_ff; + float _last_output; + float _integrator; + float _rate_error; + float _desired_rate; +}; + +#endif // ECL_PITCH_CONTROLLER_H diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp new file mode 100644 index 000000000..2f8129e82 --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_roll_controller.cpp + * Implementation of a simple orthogonal roll PID controller. + * + */ + +#include "ecl_roll_controller.h" + +ECL_RollController::ECL_RollController() : + _last_run(0), + _last_output(0.0f), + _integrator(0.0f), + _rate_error(0.0f), + _desired_rate(0.0f) +{ + +} + +float ECL_RollController::control(float roll_setpoint, float roll, float roll_rate, + float scaler, bool lock_integrator, float airspeed_min, float airspeed_max, float aspeed) +{ + return 0.0f; +} + +void ECL_RollController::reset_integrator() +{ + _integrator = 0.0f; +} + diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h new file mode 100644 index 000000000..d2b796131 --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_roll_controller.h + * Definition of a simple orthogonal roll PID controller. + * + */ + +#ifndef ECL_ROLL_CONTROLLER_H +#define ECL_ROLL_CONTROLLER_H + +#include +#include + +class __EXPORT ECL_RollController +{ +public: + ECL_RollController(); + + float control(float roll_setpoint, float roll, float roll_rate, + float scaler = 1.0f, bool lock_integrator = false, float airspeed_min = 0.0f, float airspeed_max = 0.0f, float aspeed = (0.0f / 0.0f)); + + void reset_integrator(); + + void set_time_constant(float time_constant) { + _tc = time_constant; + } + void set_k_p(float k_p) { + _k_p = k_p; + } + void set_k_i(float k_i) { + _k_i = k_i; + } + void set_k_d(float k_d) { + _k_d = k_d; + } + void set_integrator_max(float max) { + _integrator_max = max; + } + void set_max_rate(float max_rate) { + _max_rate = max_rate; + } + + float get_rate_error() { + return _rate_error; + } + + float get_desired_rate() { + return _desired_rate; + } + +private: + uint64_t _last_run; + float _tc; + float _k_p; + float _k_i; + float _k_d; + float _integrator_max; + float _max_rate; + float _last_output; + float _integrator; + float _rate_error; + float _desired_rate; +}; + +#endif // ECL_ROLL_CONTROLLER_H diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp new file mode 100644 index 000000000..0d8a0513f --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -0,0 +1,63 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_yaw_controller.cpp + * Implementation of a simple orthogonal coordinated turn yaw PID controller. + * + */ + +#include "ecl_yaw_controller.h" + +ECL_YawController::ECL_YawController() : + _last_run(0), + _last_error(0.0f), + _last_output(0.0f), + _last_rate_hp_out(0.0f), + _last_rate_hp_in(0.0f), + _k_d_last(0.0f), + _integrator(0.0f) +{ + +} + +float ECL_YawController::control(float roll, float yaw_rate, float accel_y, float scaler, bool lock_integrator, + float airspeed_min, float airspeed_max, float aspeed) +{ + return 0.0f; +} + +void ECL_YawController::reset_integrator() +{ + _integrator = 0.0f; +} diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h new file mode 100644 index 000000000..cfaa6c233 --- /dev/null +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (c) 2013 Estimation and Control Library (ECL). 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 APL 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 ecl_yaw_controller.h + * Definition of a simple orthogonal coordinated turn yaw PID controller. + * + */ +#ifndef ECL_YAW_CONTROLLER_H +#define ECL_YAW_CONTROLLER_H + +#include +#include + +class __EXPORT ECL_YawController +{ +public: + ECL_YawController(); + + float control(float roll, float yaw_rate, float accel_y, float scaler = 1.0f, bool lock_integrator = false, + float airspeed_min = 0, float airspeed_max = 0, float aspeed = (0.0f / 0.0f)); + + void reset_integrator(); + + void set_k_side(float k_a) { + _k_side = k_a; + } + void set_k_i(float k_i) { + _k_i = k_i; + } + void set_k_d(float k_d) { + _k_d = k_d; + } + void set_k_roll_ff(float k_roll_ff) { + _k_roll_ff = k_roll_ff; + } + void set_integrator_max(float max) { + _integrator_max = max; + } + +private: + uint64_t _last_run; + + float _k_side; + float _k_i; + float _k_d; + float _k_roll_ff; + float _integrator_max; + + float _last_error; + float _last_output; + float _last_rate_hp_out; + float _last_rate_hp_in; + float _k_d_last; + float _integrator; + +}; + +#endif // ECL_YAW_CONTROLLER_H -- cgit v1.2.3