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Factor the relay tuning out of the main stabilization.c file into it's own
tool.
This commit is contained in:
James Cotton
parent
ee4bb84e36
commit
8565dfbcc3
40
flight/Modules/Stabilization/inc/relay_tuning.h
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40
flight/Modules/Stabilization/inc/relay_tuning.h
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@ -0,0 +1,40 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup StabilizationModule Stabilization Module
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* @brief Relay tuning controller
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* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
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* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
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* @{
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*
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* @file relay_tuning.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Attitude stabilization module.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef RELAY_TUNING_H
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#define RELAY_TUNING_H
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int stabilization_relay_init();
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int stabilization_relay_rate(float err, float *output, int axis, bool reinit);
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#endif
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179
flight/Modules/Stabilization/relay_tuning.c
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179
flight/Modules/Stabilization/relay_tuning.c
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@ -0,0 +1,179 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup StabilizationModule Stabilization Module
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* @brief Relay tuning controller
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* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
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* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
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* @{
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*
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* @file stabilization.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude stabilization module.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "stabilization.h"
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#include "stabilizationsettings.h"
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#include "actuatordesired.h"
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#include "ratedesired.h"
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#include "relaytuning.h"
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#include "relaytuningsettings.h"
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#include "stabilizationdesired.h"
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#include "attitudeactual.h"
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#include "gyros.h"
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#include "flightstatus.h"
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#include "manualcontrol.h" // Just to get a macro
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#include "CoordinateConversions.h"
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//! Private variables
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static float *sin_lookup; // TODO: Move this to flash
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static const int SIN_RESOLUTION = 180;
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//! Private methods
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static float sin_l(int angle);
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#define MAX_AXES 3
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int stabilization_relay_init()
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{
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sin_lookup = (float *) pvPortMalloc(sizeof(float) * SIN_RESOLUTION);
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if (sin_lookup == NULL)
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return -1;
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for(uint32_t i = 0; i < 180; i++)
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sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
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return 0;
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}
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/**
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* Apply a step function for the stabilization controller and monitor the
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* result
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*
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* Used to Replace the rate PID with a relay to measure the critical properties of this axis
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* i.e. period and gain
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*/
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int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
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{
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RelayTuningData relay;
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RelayTuningGet(&relay);
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static bool high = false;
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static portTickType lastHighTime;
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static portTickType lastLowTime;
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static float accum_sin, accum_cos;
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static uint32_t accumulated = 0;
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const uint16_t DEGLITCH_TIME = 20; // ms
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const float AMPLITUDE_ALPHA = 0.95;
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const float PERIOD_ALPHA = 0.95;
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portTickType thisTime = xTaskGetTickCount();
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static bool rateRelayRunning[MAX_AXES];
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// On first run initialize estimates to something reasonable
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if(reinit) {
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rateRelayRunning[axis] = false;
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relay.Period[axis] = 200;
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relay.Gain[axis] = 0;
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accum_sin = 0;
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accum_cos = 0;
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accumulated = 0;
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// These should get reinitialized anyway
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high = true;
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lastHighTime = thisTime;
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lastLowTime = thisTime;
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RelayTuningSet(&relay);
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}
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RelayTuningSettingsData relaySettings;
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RelayTuningSettingsGet(&relaySettings);
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// Compute output, simple threshold on error
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*output = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
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/**** The code below here is to estimate the properties of the oscillation ****/
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// Make sure the period can't go below limit
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if (relay.Period[axis] < DEGLITCH_TIME)
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relay.Period[axis] = DEGLITCH_TIME;
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// Project the error onto a sine and cosine of the same frequency
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// to accumulate the average amplitude
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int dT = thisTime - lastHighTime;
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uint32_t phase = 360 * dT / relay.Period[axis];
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if(phase >= 360)
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phase = 1;
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accum_sin += sin_l(phase) * error;
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accum_cos += sin_l(phase + 90) * error;
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accumulated ++;
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// Make sure we've had enough time since last transition then check for a change in the output
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bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
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if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
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float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
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float this_gain = this_amplitude / relaySettings.Amplitude;
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accumulated = 0;
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accum_sin = 0;
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accum_cos = 0;
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if(rateRelayRunning[axis] == false) {
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rateRelayRunning[axis] = true;
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relay.Period[axis] = 200;
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relay.Gain[axis] = 0;
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} else {
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// Low pass filter each amplitude and period
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relay.Gain[axis] = relay.Gain[axis] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
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relay.Period[axis] = relay.Period[axis] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
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}
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lastHighTime = thisTime;
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high = true;
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RelayTuningSet(&relay);
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} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
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lastLowTime = thisTime;
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high = false;
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}
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return 0;
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}
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/**
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* Uses the lookup table to calculate sine (angle is in degrees)
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* @param[in] angle in degrees
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* @returns sin(angle)
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*/
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static float sin_l(int angle) {
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angle = angle % 360;
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if (angle > 180)
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return - sin_lookup[angle-180];
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else
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return sin_lookup[angle];
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}
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@ -45,6 +45,9 @@
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#include "manualcontrol.h" // Just to get a macro
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#include "manualcontrol.h" // Just to get a macro
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#include "CoordinateConversions.h"
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#include "CoordinateConversions.h"
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// Includes for various stabilization algorithms
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#include "relay_tuning.h"
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// Private constants
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// Private constants
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#define MAX_QUEUE_SIZE 1
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#define MAX_QUEUE_SIZE 1
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@ -91,9 +94,6 @@ pid_type pids[PID_MAX];
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int8_t vbar_gyros_suppress;
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int8_t vbar_gyros_suppress;
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bool vbar_piro_comp = false;
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bool vbar_piro_comp = false;
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// TODO: Move this to flash
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static float sin_lookup[180];
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// Private functions
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// Private functions
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static void stabilizationTask(void* parameters);
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static void stabilizationTask(void* parameters);
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static float ApplyPid(pid_type * pid, const float err, float dT);
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static float ApplyPid(pid_type * pid, const float err, float dT);
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@ -101,15 +101,6 @@ static float bound(float val, float range);
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static void ZeroPids(void);
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static void ZeroPids(void);
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static void SettingsUpdatedCb(UAVObjEvent * ev);
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static void SettingsUpdatedCb(UAVObjEvent * ev);
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//! Uses the lookup table to calculate sine (angle is in degrees)
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static float sin_l(int angle) {
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angle = angle % 360;
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if (angle > 180)
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return - sin_lookup[angle-180];
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else
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return sin_lookup[angle];
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}
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/**
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/**
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* Module initialization
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* Module initialization
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*/
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*/
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@ -119,8 +110,8 @@ int32_t StabilizationStart()
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// Create object queue
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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for(uint32_t i = 0; i < 180; i++)
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// This prepares this optional algorithm
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sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
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stabilization_relay_init();
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// Listen for updates.
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// Listen for updates.
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// AttitudeActualConnectQueue(queue);
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// AttitudeActualConnectQueue(queue);
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@ -366,171 +357,28 @@ static void stabilizationTask(void* parameters)
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break;
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
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// Run the relay controller which also estimates the oscillation parameters
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stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0);
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE:
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE:
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{
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if(reinit)
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RelayTuningData relay;
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RelayTuningGet(&relay);
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static bool rateRelayRunning[MAX_AXES];
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// On first run initialize estimates to something reasonable
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if(reinit) {
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pids[PID_ROLL + i].iAccumulator = 0;
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pids[PID_ROLL + i].iAccumulator = 0;
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rateRelayRunning[i] = false;
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relay.Period[i] = 200;
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relay.Gain[i] = 0;
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}
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// Replace the rate PID with a relay to measure the critical properties of this axis
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// i.e. period and gain
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// Compute the outer loop
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// Compute the outer loop like attitude mode
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rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
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rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
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rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
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rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
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// Store to rate desired variable for storing to UAVO
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// Run the relay controller which also estimates the oscillation parameters
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rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
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stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0);
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|
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RelayTuningSettingsData relaySettings;
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RelayTuningSettingsGet(&relaySettings);
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float error = rateDesiredAxis[i] - gyro_filtered[i];
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float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
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actuatorDesiredAxis[i] = bound(command,1.0f);
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static bool high = false;
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static portTickType lastHighTime;
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static portTickType lastLowTime;
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portTickType thisTime = xTaskGetTickCount();
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|
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static float accum_sin, accum_cos;
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static uint32_t accumulated = 0;
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const uint16_t DEGLITCH_TIME = 20; // ms
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const float AMPLITUDE_ALPHA = 0.95;
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const float PERIOD_ALPHA = 0.95;
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// Make sure the period can't go below limit
|
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if (relay.Period[i] < DEGLITCH_TIME)
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relay.Period[i] = DEGLITCH_TIME;
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|
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// Project the error onto a sine and cosine of the same frequency
|
|
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// to accumulate the average amplitude
|
|
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float dT = thisTime - lastHighTime;
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uint32_t phase = 360 * dT / relay.Period[i];
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if(phase >= 360)
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phase = 1;
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accum_sin += sin_l(phase) * error;
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accum_cos += sin_l(phase + 90) * error;
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accumulated ++;
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// Make susre we've had enough time since last transition then check for a change in the output
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bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
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if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
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float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
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float this_gain = this_amplitude / relaySettings.Amplitude;
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accumulated = 0;
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accum_sin = 0;
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accum_cos = 0;
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if(rateRelayRunning[i] == false) {
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rateRelayRunning[i] = true;
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relay.Period[i] = 200;
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relay.Gain[i] = 0;
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} else {
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// Low pass filter each amplitude and period
|
|
||||||
relay.Gain[i] = relay.Gain[i] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
|
|
||||||
relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
|
|
||||||
}
|
|
||||||
lastHighTime = thisTime;
|
|
||||||
high = true;
|
|
||||||
RelayTuningSet(&relay);
|
|
||||||
} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
|
|
||||||
lastLowTime = thisTime;
|
|
||||||
high = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
|
|
||||||
{
|
|
||||||
RelayTuningData relay;
|
|
||||||
RelayTuningGet(&relay);
|
|
||||||
|
|
||||||
static bool rateRelayRunning[MAX_AXES];
|
|
||||||
|
|
||||||
// On first run initialize estimates to something reasonable
|
|
||||||
if(reinit) {
|
|
||||||
pids[PID_ROLL + i].iAccumulator = 0;
|
|
||||||
rateRelayRunning[i] = false;
|
|
||||||
relay.Period[i] = 200;
|
|
||||||
relay.Gain[i] = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Replace the rate PID with a relay to measure the critical properties of this axis
|
|
||||||
// i.e. period and gain
|
|
||||||
|
|
||||||
// Store to rate desired variable for storing to UAVO
|
|
||||||
rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
|
|
||||||
|
|
||||||
RelayTuningSettingsData relaySettings;
|
|
||||||
RelayTuningSettingsGet(&relaySettings);
|
|
||||||
float error = rateDesiredAxis[i] - gyro_filtered[i];
|
|
||||||
float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
|
|
||||||
actuatorDesiredAxis[i] = bound(command,1.0);
|
|
||||||
|
|
||||||
static bool high = false;
|
|
||||||
static portTickType lastHighTime;
|
|
||||||
static portTickType lastLowTime;
|
|
||||||
portTickType thisTime = xTaskGetTickCount();
|
|
||||||
|
|
||||||
static float accum_sin, accum_cos;
|
|
||||||
static uint32_t accumulated = 0;
|
|
||||||
|
|
||||||
const uint16_t DEGLITCH_TIME = 20; // ms
|
|
||||||
const float AMPLITUDE_ALPHA = 0.95;
|
|
||||||
const float PERIOD_ALPHA = 0.95;
|
|
||||||
|
|
||||||
// Make sure the period can't go below limit
|
|
||||||
if (relay.Period[i] < DEGLITCH_TIME)
|
|
||||||
relay.Period[i] = DEGLITCH_TIME;
|
|
||||||
|
|
||||||
// Project the error onto a sine and cosine of the same frequency
|
|
||||||
// to accumulate the average amplitude
|
|
||||||
float dT = thisTime - lastHighTime;
|
|
||||||
uint32_t phase = 360 * dT / relay.Period[i];
|
|
||||||
if(phase >= 360)
|
|
||||||
phase = 1;
|
|
||||||
accum_sin += sin_l(phase) * error;
|
|
||||||
accum_cos += sin_l(phase + 90) * error;
|
|
||||||
accumulated ++;
|
|
||||||
|
|
||||||
// Make susre we've had enough time since last transition then check for a change in the output
|
|
||||||
bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
|
|
||||||
if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
|
|
||||||
float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
|
|
||||||
float this_gain = this_amplitude / relaySettings.Amplitude;
|
|
||||||
|
|
||||||
accumulated = 0;
|
|
||||||
accum_sin = 0;
|
|
||||||
accum_cos = 0;
|
|
||||||
|
|
||||||
if(rateRelayRunning[i] == false) {
|
|
||||||
rateRelayRunning[i] = true;
|
|
||||||
relay.Period[i] = 200;
|
|
||||||
relay.Gain[i] = 0;
|
|
||||||
} else {
|
|
||||||
// Low pass filter each amplitude and period
|
|
||||||
relay.Gain[i] = relay.Gain[i] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
|
|
||||||
relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
|
|
||||||
}
|
|
||||||
lastHighTime = thisTime;
|
|
||||||
high = true;
|
|
||||||
RelayTuningSet(&relay);
|
|
||||||
} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
|
|
||||||
lastLowTime = thisTime;
|
|
||||||
high = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
|
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user