mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
295 lines
11 KiB
C++
295 lines
11 KiB
C++
/*
|
|
******************************************************************************
|
|
*
|
|
* @file vtollandcontroller.cpp
|
|
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
|
|
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
|
* @brief Vtol landing controller loop
|
|
* @see The GNU Public License (GPL) Version 3
|
|
* @addtogroup LibrePilot LibrePilotModules Modules PathFollower Navigation
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* 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
|
|
*/
|
|
|
|
extern "C" {
|
|
#include <openpilot.h>
|
|
|
|
#include <callbackinfo.h>
|
|
|
|
#include <math.h>
|
|
#include <pid.h>
|
|
#include <alarms.h>
|
|
#include <CoordinateConversions.h>
|
|
#include <sin_lookup.h>
|
|
#include <pathdesired.h>
|
|
#include <paths.h>
|
|
#include "plans.h"
|
|
#include <sanitycheck.h>
|
|
|
|
#include <accelstate.h>
|
|
#include <vtolpathfollowersettings.h>
|
|
#include <flightstatus.h>
|
|
#include <flightmodesettings.h>
|
|
#include <pathstatus.h>
|
|
#include <positionstate.h>
|
|
#include <velocitystate.h>
|
|
#include <velocitydesired.h>
|
|
#include <stabilizationdesired.h>
|
|
#include <attitudestate.h>
|
|
#include <takeofflocation.h>
|
|
#include <manualcontrolcommand.h>
|
|
#include <systemsettings.h>
|
|
#include <stabilizationbank.h>
|
|
#include <stabilizationdesired.h>
|
|
#include <vtolselftuningstats.h>
|
|
#include <pathsummary.h>
|
|
}
|
|
|
|
// C++ includes
|
|
#include "vtollandcontroller.h"
|
|
#include "pathfollowerfsm.h"
|
|
#include "vtollandfsm.h"
|
|
#include "pidcontroldown.h"
|
|
|
|
// Private constants
|
|
|
|
// pointer to a singleton instance
|
|
VtolLandController *VtolLandController::p_inst = 0;
|
|
|
|
VtolLandController::VtolLandController()
|
|
: fsm(NULL), vtolPathFollowerSettings(NULL), mActive(false)
|
|
{}
|
|
|
|
// Called when mode first engaged
|
|
void VtolLandController::Activate(void)
|
|
{
|
|
if (!mActive) {
|
|
mActive = true;
|
|
mOverride = true;
|
|
SettingsUpdated();
|
|
fsm->Activate();
|
|
controlDown.Activate();
|
|
controlNE.Activate();
|
|
}
|
|
}
|
|
|
|
uint8_t VtolLandController::IsActive(void)
|
|
{
|
|
return mActive;
|
|
}
|
|
|
|
uint8_t VtolLandController::Mode(void)
|
|
{
|
|
return PATHDESIRED_MODE_LAND;
|
|
}
|
|
|
|
// Objective updated in pathdesired, e.g. same flight mode but new target velocity
|
|
void VtolLandController::ObjectiveUpdated(void)
|
|
{
|
|
if (mOverride) {
|
|
// override pathDesired from PathPLanner with current position,
|
|
// as we deliberately don' not care about the location of the waypoints on the map
|
|
float velocity_down;
|
|
PositionStateData positionState;
|
|
PositionStateGet(&positionState);
|
|
FlightModeSettingsLandingVelocityGet(&velocity_down);
|
|
controlDown.UpdateVelocitySetpoint(velocity_down);
|
|
controlNE.UpdateVelocitySetpoint(0.0f, 0.0f);
|
|
controlNE.UpdatePositionSetpoint(positionState.North, positionState.East);
|
|
mOverride = false; // further updates always come from ManualControl and will control horizontal position
|
|
} else {
|
|
// Set the objective's target velocity
|
|
controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN]);
|
|
controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH],
|
|
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST]);
|
|
controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
|
|
}
|
|
}
|
|
void VtolLandController::Deactivate(void)
|
|
{
|
|
if (mActive) {
|
|
mActive = false;
|
|
fsm->Inactive();
|
|
controlDown.Deactivate();
|
|
controlNE.Deactivate();
|
|
}
|
|
}
|
|
|
|
|
|
void VtolLandController::SettingsUpdated(void)
|
|
{
|
|
const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
|
|
|
|
controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
|
|
vtolPathFollowerSettings->HorizontalVelPID.Ki,
|
|
vtolPathFollowerSettings->HorizontalVelPID.Kd,
|
|
vtolPathFollowerSettings->HorizontalVelPID.Beta,
|
|
dT,
|
|
vtolPathFollowerSettings->HorizontalVelMax);
|
|
|
|
|
|
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
|
|
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
|
|
|
|
controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
|
|
vtolPathFollowerSettings->LandVerticalVelPID.Ki,
|
|
vtolPathFollowerSettings->LandVerticalVelPID.Kd,
|
|
vtolPathFollowerSettings->LandVerticalVelPID.Beta,
|
|
dT,
|
|
vtolPathFollowerSettings->VerticalVelMax);
|
|
|
|
// The following is not currently used in the landing control.
|
|
controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
|
|
|
|
VtolSelfTuningStatsData vtolSelfTuningStats;
|
|
VtolSelfTuningStatsGet(&vtolSelfTuningStats);
|
|
controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
|
|
// initialise limits on thrust but note the FSM can override.
|
|
controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
|
|
fsm->SettingsUpdated();
|
|
}
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t VtolLandController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
|
|
{
|
|
PIOS_Assert(ptr_vtolPathFollowerSettings);
|
|
if (fsm == 0) {
|
|
fsm = (PathFollowerFSM *)VtolLandFSM::instance();
|
|
VtolLandFSM::instance()->Initialize(ptr_vtolPathFollowerSettings, pathDesired, flightStatus);
|
|
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
|
|
controlDown.Initialize(fsm);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
void VtolLandController::UpdateVelocityDesired()
|
|
{
|
|
VelocityStateData velocityState;
|
|
|
|
VelocityStateGet(&velocityState);
|
|
VelocityDesiredData velocityDesired;
|
|
|
|
controlDown.UpdateVelocityState(velocityState.Down);
|
|
controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
|
|
|
|
// Implement optional horizontal position hold.
|
|
if ((((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) ||
|
|
(flightStatus->ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE)) {
|
|
// landing flight mode has stored original horizontal position in pathdesired
|
|
PositionStateData positionState;
|
|
PositionStateGet(&positionState);
|
|
controlNE.UpdatePositionState(positionState.North, positionState.East);
|
|
controlNE.ControlPosition();
|
|
}
|
|
|
|
velocityDesired.Down = controlDown.GetVelocityDesired();
|
|
float north, east;
|
|
controlNE.GetVelocityDesired(&north, &east);
|
|
velocityDesired.North = north;
|
|
velocityDesired.East = east;
|
|
|
|
// update pathstatus
|
|
pathStatus->error = 0.0f;
|
|
pathStatus->fractional_progress = 0.0f;
|
|
if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
|
|
pathStatus->fractional_progress = 1.0f;
|
|
}
|
|
pathStatus->path_direction_north = velocityDesired.North;
|
|
pathStatus->path_direction_east = velocityDesired.East;
|
|
pathStatus->path_direction_down = velocityDesired.Down;
|
|
|
|
pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
|
|
pathStatus->correction_direction_east = velocityDesired.East - velocityState.East;
|
|
pathStatus->correction_direction_down = velocityDesired.Down - velocityState.Down;
|
|
|
|
|
|
VelocityDesiredSet(&velocityDesired);
|
|
}
|
|
|
|
int8_t VtolLandController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
|
|
{
|
|
uint8_t result = 1;
|
|
StabilizationDesiredData stabDesired;
|
|
AttitudeStateData attitudeState;
|
|
StabilizationBankData stabSettings;
|
|
float northCommand;
|
|
float eastCommand;
|
|
|
|
StabilizationDesiredGet(&stabDesired);
|
|
AttitudeStateGet(&attitudeState);
|
|
StabilizationBankGet(&stabSettings);
|
|
|
|
controlNE.GetNECommand(&northCommand, &eastCommand);
|
|
stabDesired.Thrust = controlDown.GetDownCommand();
|
|
|
|
float angle_radians = DEG2RAD(attitudeState.Yaw);
|
|
float cos_angle = cosf(angle_radians);
|
|
float sine_angle = sinf(angle_radians);
|
|
float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
|
|
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
|
|
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
|
|
|
|
ManualControlCommandData manualControl;
|
|
ManualControlCommandGet(&manualControl);
|
|
|
|
if (yaw_attitude) {
|
|
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.Yaw = yaw_direction;
|
|
} else {
|
|
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
|
|
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
|
|
}
|
|
|
|
// default thrust mode to cruise control
|
|
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
|
|
|
|
fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
|
|
StabilizationDesiredSet(&stabDesired);
|
|
|
|
return result;
|
|
}
|
|
|
|
void VtolLandController::UpdateAutoPilot()
|
|
{
|
|
fsm->Update();
|
|
|
|
UpdateVelocityDesired();
|
|
|
|
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
|
|
bool yaw_attitude = false;
|
|
float yaw = 0.0f;
|
|
|
|
fsm->GetYaw(yaw_attitude, yaw);
|
|
|
|
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
|
|
if (result) {
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
|
|
} else {
|
|
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
|
|
}
|
|
|
|
PathStatusSet(pathStatus);
|
|
}
|