1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
|
/****************************************************************************
*
* 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 ECL 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_controller.cpp
* Definition of base class for other controllers
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Acknowledgements:
*
* The control design is based on a design
* by Paul Riseborough and Andrew Tridgell, 2013,
* which in turn is based on initial work of
* Jonathan Challinger, 2012.
*/
#include "ecl_controller.h"
#include <stdio.h>
ECL_Controller::ECL_Controller(const char *name) :
_last_run(0),
_tc(0.1f),
_k_p(0.0f),
_k_i(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate(0.0f),
_last_output(0.0f),
_integrator(0.0f),
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f),
_perf_name()
{
/* Init performance counter */
snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
}
ECL_Controller::~ECL_Controller()
{
perf_free(_nonfinite_input_perf);
}
void ECL_Controller::reset_integrator()
{
_integrator = 0.0f;
}
void ECL_Controller::set_time_constant(float time_constant)
{
if (time_constant > 0.1f && time_constant < 3.0f) {
_tc = time_constant;
}
}
void ECL_Controller::set_k_p(float k_p)
{
_k_p = k_p;
}
void ECL_Controller::set_k_i(float k_i)
{
_k_i = k_i;
}
void ECL_Controller::set_k_ff(float k_ff)
{
_k_ff = k_ff;
}
void ECL_Controller::set_integrator_max(float max)
{
_integrator_max = max;
}
void ECL_Controller::set_max_rate(float max_rate)
{
_max_rate = max_rate;
}
float ECL_Controller::get_rate_error()
{
return _rate_error;
}
float ECL_Controller::get_desired_rate()
{
return _rate_setpoint;
}
float ECL_Controller::get_desired_bodyrate()
{
return _bodyrate_setpoint;
}
|
