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/****************************************************************************
*
* 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 <systemlib/err.h>
namespace fwPosctrl {
mTecs::mTecs() :
SuperBlock(NULL, "MT"),
/* Parameters */
_mTecsEnabled(this, "ENABLED"),
/* 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),
timestampLastIteration(hrt_absolute_time()),
_firstIterationAfterReset(true),
dtCalculated(false),
_counter(0)
{
}
mTecs::~mTecs()
{
}
void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp)
{
/* time measurement */
updateTimeMeasurement();
float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
if (_counter % 10 == 0) {
warnx("***");
warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
}
updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp);
}
void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) {
/* time measurement */
updateTimeMeasurement();
float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed);
if (_counter % 10 == 0) {
warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp);
}
updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp);
}
void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp)
{
/* 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 airspeedSpDerivative = accelerationLongitudinalSp;
float airspeedSpDerivativeNorm = airspeedSpDerivative / CONSTANTS_ONE_G;
float airspeedSpDerivativeNormError = airspeedSpDerivativeNorm - airspeedDerivativeNorm;
float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm;
float totalEnergyRateError = flightPathAngleError + airspeedSpDerivativeNormError;
float totalEnergyRateSp = flightPathAngleSp + airspeedSpDerivativeNorm;
float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate;
float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm;
float energyDistributionRateError = flightPathAngleError - airspeedSpDerivativeNormError;
float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm;
float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate;
if (_counter % 10 == 0) {
warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f",
(double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm);
warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f",
(double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2);
}
/** update control blocks **/
/* update total energy rate control block */
_throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError);
/* update energy distribution rate control block */
_pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError);
if (_counter % 10 == 0) {
warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f",
(double)_throttleSp, (double)_pitchSp,
(double)flightPathAngleSp, (double)flightPathAngle,
(double)accelerationLongitudinalSp, (double)airspeedDerivative);
}
/* clean up */
_firstIterationAfterReset = false;
dtCalculated = false;
_counter++;
}
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;
}
}
} /* namespace fwPosctrl */
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