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
|
/****************************************************************************
*
* 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_yaw_controller.cpp
* Implementation of a simple orthogonal coordinated turn yaw PID controller.
*
* Authors and acknowledgements in header.
*/
#include "ecl_yaw_controller.h"
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
ECL_YawController::ECL_YawController() :
_last_run(0),
_last_output(0.0f),
_rate_setpoint(0.0f),
_max_deflection_rad(math::radians(45.0f))
{
}
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)
{
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : dt_micros / 1000000;
// float psi_dot = 0.0f;
// float denumerator = (speed_body[0] * cosf(att_sp->roll_body) * cosf(att_sp->pitch_body) + speed_body[2] * sinf(att_sp->pitch_body));
// if(denumerator != 0.0f) {
// psi_dot = (speed_body[2] * phi_dot + 9.81f * sinf(att_sp->roll_body) * cosf(att_sp->pitch_body) + speed_body[0] * theta_dot * sinf(att_sp->roll_body))
// / (speed_body[0] * cosf(att_sp->roll_body) * cosf(att_sp->pitch_body) + speed_body[2] * sinf(att_sp->pitch_body));
// }
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_last_output = 0.0f;
float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
if(denumerator != 0.0f) { //XXX: floating point comparison
_last_output = (speed_body_w * roll_rate_desired + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_desired * sinf(roll)) / denumerator;
}
return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
}
void ECL_YawController::reset_integrator()
{
_integrator = 0.0f;
}
|