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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_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 fAngularLimit = false) :
SuperBlock(parent, name),
_isAngularLimit(fAngularLimit),
_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(); }
void setMin(float value) { _min.set(value); }
void setMax(float value) { _max.set(value); }
protected:
//attributes
bool _isAngularLimit;
control::BlockParamFloat _min;
control::BlockParamFloat _max;
};
/* 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;
};
}
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