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Factor the virtual flybar code out of the stabilization module

This commit is contained in:
James Cotton 2012-08-02 03:24:18 -05:00
parent aae0e562c6
commit 2723ff4be3
4 changed files with 170 additions and 43 deletions

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@ -33,6 +33,8 @@
#ifndef STABILIZATION_H
#define STABILIZATION_H
enum {ROLL,PITCH,YAW,MAX_AXES};
int32_t StabilizationInitialize();
#endif // STABILIZATION_H

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@ -0,0 +1,42 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup StabilizationModule Stabilization Module
* @brief Virtual flybar mode
* @note This file implements the logic for a virtual flybar
* @{
*
* @file virtualflybar.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef VIRTUALFLYBAR_H
#define VIRTUALFLYBAR_H
#include "openpilot.h"
#include "stabilizationsettings.h"
int stabilization_virtual_flybar(float gyro, float command, float *output, float dT, bool reinit, uint32_t axis, StabilizationSettingsData *settings);
int stabilization_virtual_flybar_pirocomp(float z_gyro, float dT);
#endif /* VIRTUALFLYBAR_H */

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@ -47,6 +47,7 @@
// Includes for various stabilization algorithms
#include "relay_tuning.h"
#include "virtualflybar.h"
// Private constants
#define MAX_QUEUE_SIZE 1
@ -62,9 +63,6 @@
enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_VBAR_ROLL, PID_VBAR_PITCH, PID_VBAR_YAW, PID_MAX};
enum {ROLL,PITCH,YAW,MAX_AXES};
// Private types
typedef struct {
float p;
@ -80,7 +78,6 @@ static xTaskHandle taskHandle;
static StabilizationSettingsData settings;
static xQueueHandle queue;
float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0};
float vbar_sensitivity[3] = {1, 1, 1};
uint8_t max_axis_lock = 0;
@ -88,11 +85,8 @@ uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral;
float vbar_integral[3] = {0, 0, 0};
float vbar_decay = 0.991f;
pid_type pids[PID_MAX];
int8_t vbar_gyros_suppress;
bool vbar_piro_comp = false;
// Private functions
static void stabilizationTask(void* parameters);
@ -224,6 +218,7 @@ static void stabilizationTask(void* parameters)
local_error[2] = fmodf(local_error[2] + 180, 360) - 180;
#endif
float gyro_filtered[3];
gyro_filtered[0] = gyro_filtered[0] * gyro_alpha + gyrosData.x * (1 - gyro_alpha);
gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyrosData.y * (1 - gyro_alpha);
gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyrosData.z * (1 - gyro_alpha);
@ -278,32 +273,14 @@ static void stabilizationTask(void* parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
{
if(reinit)
vbar_integral[i] = 0;
// Store for debugging output
rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Track the angle of the virtual flybar which includes a slow decay
vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
vbar_integral[i] = bound(vbar_integral[i], settings.VbarMaxAngle);
// Command signal can indicate how much to disregard the gyro feedback (fast flips)
float gyro_gain = 1.0f;
if (vbar_gyros_suppress > 0) {
gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
}
// Command signal is composed of stick input added to the gyro and virtual flybar
actuatorDesiredAxis[i] = rateDesiredAxis[i] * vbar_sensitivity[i] -
gyro_gain * (vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
// Run a virtual flybar stabilization algorithm on this axis
stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &settings);
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
if (reinit)
@ -374,19 +351,8 @@ static void stabilizationTask(void* parameters)
}
}
// Piro compensation rotates the virtual flybar by yaw step to keep it
// rotated to external world
if (vbar_piro_comp) {
const float F_PI = 3.14159f;
float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
vbar_integral[1] = vbar_pitch;
vbar_integral[0] = vbar_roll;
}
if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
#if defined(DIAGNOSTICS)
RateDesiredSet(&rateDesired);
@ -544,8 +510,6 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
// Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau);
vbar_gyros_suppress = settings.VbarGyroSuppress;
vbar_piro_comp = settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE;
}

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@ -0,0 +1,119 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup StabilizationModule Stabilization Module
* @brief Virtual flybar mode
* @note This file implements the logic for a virtual flybar
* @{
*
* @file virtualflybar.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "stabilization.h"
#include "stabilizationsettings.h"
//! Private variables
static float vbar_integral[MAX_AXES];
static float vbar_decay = 0.991f;
//! Private methods
static float bound(float val, float range);
int stabilization_virtual_flybar(float gyro, float command, float *output, float dT, bool reinit, uint32_t axis, StabilizationSettingsData *settings)
{
float gyro_gain = 1.0f;
float kp = 0, ki = 0;
if(reinit)
vbar_integral[axis] = 0;
// Track the angle of the virtual flybar which includes a slow decay
vbar_integral[axis] = vbar_integral[axis] * vbar_decay + gyro * dT;
vbar_integral[axis] = bound(vbar_integral[axis], settings->VbarMaxAngle);
// Command signal can indicate how much to disregard the gyro feedback (fast flips)
if (settings->VbarGyroSuppress > 0) {
gyro_gain = (1.0f - fabs(command) * settings->VbarGyroSuppress / 100.0f);
gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
}
// Get the settings for the correct axis
switch(axis)
{
case ROLL:
kp = settings->VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
ki = settings->VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
break;
case PITCH:
kp = settings->VbarPitchPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
ki = settings->VbarPitchPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
break;
case YAW:
kp = settings->VbarYawPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
ki = settings->VbarYawPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
break;
default:
PIOS_DEBUG_Assert(0);
}
// Command signal is composed of stick input added to the gyro and virtual flybar
*output = command * settings->VbarSensitivity[axis] -
gyro_gain * (vbar_integral[axis] * ki + gyro * kp);
return 0;
}
/**
* Want to keep the virtual flybar fixed in world coordinates as we pirouette
* @param[in] z_gyro The deg/s of rotation along the z axis
* @param[in] dT The time since last sample
*/
int stabilization_virtual_flybar_pirocomp(float z_gyro, float dT)
{
const float F_PI = (float) M_PI;
float cy = cosf(z_gyro / 180.0f * F_PI * dT);
float sy = sinf(z_gyro / 180.0f * F_PI * dT);
float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
vbar_integral[1] = vbar_pitch;
vbar_integral[0] = vbar_roll;
return 0;
}
/**
* Bound input value between limits
*/
static float bound(float val, float range)
{
if(val < -range) {
val = -range;
} else if(val > range) {
val = range;
}
return val;
}