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guidance_v_n.c
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guidance_v_n.c
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/*
* $Id: $
*
* Copyright (C) 2010 ENAC
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/**
* \file v_ctl_ctl_n
* \brief Vertical control for fixed wing vehicles.
*
*/
#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "firmwares/fixedwing/guidance/guidance_v_n.h"
#include "estimator.h"
#include "subsystems/nav.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/autopilot.h"
/* mode */
uint8_t v_ctl_mode;
/* outer loop */
float v_ctl_altitude_setpoint;
float v_ctl_altitude_pre_climb;
float v_ctl_altitude_pgain;
float v_ctl_altitude_error;
/* inner loop */
float v_ctl_climb_setpoint;
uint8_t v_ctl_climb_mode;
uint8_t v_ctl_auto_throttle_submode;
/* "auto throttle" inner loop parameters */
float v_ctl_auto_throttle_cruise_throttle;
float v_ctl_auto_throttle_nominal_cruise_throttle;
float v_ctl_auto_throttle_min_cruise_throttle;
float v_ctl_auto_throttle_max_cruise_throttle;
float v_ctl_auto_throttle_climb_throttle_increment;
float v_ctl_auto_throttle_pgain;
float v_ctl_auto_throttle_igain;
float v_ctl_auto_throttle_dgain;
float v_ctl_auto_throttle_sum_err;
#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR 0.4
float v_ctl_auto_throttle_pitch_of_vz_pgain;
float v_ctl_auto_throttle_pitch_of_vz_dgain;
#ifndef V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN
#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN 0.
#endif
/* "auto pitch" inner loop parameters */
float v_ctl_auto_pitch_pgain;
float v_ctl_auto_pitch_dgain;
float v_ctl_auto_pitch_igain;
float v_ctl_auto_pitch_sum_err;
#define V_CTL_AUTO_PITCH_MAX_SUM_ERR (RadOfDeg(10.))
#ifndef V_CTL_AUTO_PITCH_DGAIN
#define V_CTL_AUTO_PITCH_DGAIN 0.
#endif
#ifndef V_CTL_AUTO_PITCH_IGAIN
#define V_CTL_AUTO_PITCH_IGAIN 0.
#endif
float controlled_throttle;
pprz_t v_ctl_throttle_setpoint;
pprz_t v_ctl_throttle_slewed;
// Set higher than 2*V_CTL_ALTITUDE_MAX_CLIMB to disable
#define V_CTL_AUTO_CLIMB_LIMIT (0.5/4.0) // m/s/s
uint8_t v_ctl_speed_mode;
#if USE_AIRSPEED
float v_ctl_auto_airspeed_setpoint;
float v_ctl_auto_airspeed_controlled;
float v_ctl_auto_airspeed_throttle_pgain;
float v_ctl_auto_airspeed_throttle_dgain;
float v_ctl_auto_airspeed_throttle_igain;
float v_ctl_auto_airspeed_throttle_sum_err;
float v_ctl_auto_airspeed_pitch_pgain;
float v_ctl_auto_airspeed_pitch_dgain;
float v_ctl_auto_airspeed_pitch_igain;
float v_ctl_auto_airspeed_pitch_sum_err;
float v_ctl_auto_groundspeed_setpoint;
float v_ctl_auto_groundspeed_pgain;
float v_ctl_auto_groundspeed_igain;
float v_ctl_auto_groundspeed_sum_err;
#define V_CTL_AUTO_AIRSPEED_PITCH_MAX_SUM_ERR (RadOfDeg(15.))
#define V_CTL_AUTO_AIRSPEED_THROTTLE_MAX_SUM_ERR 0.2
#define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
#endif
void v_ctl_init( void ) {
/* mode */
v_ctl_mode = V_CTL_MODE_MANUAL;
v_ctl_speed_mode = V_CTL_SPEED_THROTTLE;
/* outer loop */
v_ctl_altitude_setpoint = 0.;
v_ctl_altitude_pre_climb = 0.;
v_ctl_altitude_pgain = V_CTL_ALTITUDE_PGAIN;
v_ctl_altitude_error = 0.;
/* inner loops */
v_ctl_climb_setpoint = 0.;
v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE;
v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_STANDARD;
/* "auto throttle" inner loop parameters */
v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
v_ctl_auto_throttle_min_cruise_throttle = V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE;
v_ctl_auto_throttle_max_cruise_throttle = V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE;
v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
v_ctl_auto_throttle_pgain = V_CTL_AUTO_THROTTLE_PGAIN;
v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;
v_ctl_auto_throttle_dgain = 0.;
v_ctl_auto_throttle_sum_err = 0.;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
/* "auto pitch" inner loop parameters */
v_ctl_auto_pitch_pgain = V_CTL_AUTO_PITCH_PGAIN;
v_ctl_auto_pitch_dgain = V_CTL_AUTO_PITCH_DGAIN;
v_ctl_auto_pitch_igain = V_CTL_AUTO_PITCH_IGAIN;
v_ctl_auto_pitch_sum_err = 0.;
#if USE_AIRSPEED
v_ctl_auto_airspeed_setpoint = V_CTL_AUTO_AIRSPEED_SETPOINT;
v_ctl_auto_airspeed_controlled = V_CTL_AUTO_AIRSPEED_SETPOINT;
v_ctl_auto_airspeed_throttle_pgain = V_CTL_AUTO_AIRSPEED_THROTTLE_PGAIN;
v_ctl_auto_airspeed_throttle_dgain = V_CTL_AUTO_AIRSPEED_THROTTLE_DGAIN;
v_ctl_auto_airspeed_throttle_igain = V_CTL_AUTO_AIRSPEED_THROTTLE_IGAIN;
v_ctl_auto_airspeed_throttle_sum_err = 0.;
v_ctl_auto_airspeed_pitch_pgain = V_CTL_AUTO_AIRSPEED_PITCH_PGAIN;
v_ctl_auto_airspeed_pitch_dgain = V_CTL_AUTO_AIRSPEED_PITCH_DGAIN;
v_ctl_auto_airspeed_pitch_igain = V_CTL_AUTO_AIRSPEED_PITCH_IGAIN;
v_ctl_auto_airspeed_pitch_sum_err = 0.;
v_ctl_auto_groundspeed_setpoint = V_CTL_AUTO_GROUNDSPEED_SETPOINT;
v_ctl_auto_groundspeed_pgain = V_CTL_AUTO_GROUNDSPEED_PGAIN;
v_ctl_auto_groundspeed_igain = V_CTL_AUTO_GROUNDSPEED_IGAIN;
v_ctl_auto_groundspeed_sum_err = 0.;
#endif
controlled_throttle = 0.;
v_ctl_throttle_setpoint = 0;
}
/**
* outer loop
* \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
*/
// Don't use lead controller unless you know what you're doing
#define LEAD_CTRL_TAU 0.8
#define LEAD_CTRL_A 1.
#define LEAD_CTRL_Te (1./60.)
void v_ctl_altitude_loop( void ) {
static float v_ctl_climb_setpoint_last = 0.;
//static float last_lead_input = 0.;
// Altitude error
v_ctl_altitude_error = estimator_z - v_ctl_altitude_setpoint;
v_ctl_climb_setpoint = v_ctl_altitude_pgain * v_ctl_altitude_error + v_ctl_altitude_pre_climb;
// Lead controller
//v_ctl_climb_setpoint = ((LEAD_CTRL_TAU*LEAD_CTRL_A + LEAD_CTRL_Te)*climb_sp + LEAD_CTRL_TAU*(v_ctl_climb_setpoint - LEAD_CTRL_A*last_lead_input)) / (LEAD_CTRL_TAU + LEAD_CTRL_Te);
//last_lead_input = pitch_sp;
// Limit rate of change of climb setpoint
float diff_climb = v_ctl_climb_setpoint - v_ctl_climb_setpoint_last;
BoundAbs(diff_climb, V_CTL_AUTO_CLIMB_LIMIT);
v_ctl_climb_setpoint = v_ctl_climb_setpoint_last + diff_climb;
// Limit climb setpoint
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
v_ctl_climb_setpoint_last = v_ctl_climb_setpoint;
}
static inline void v_ctl_set_pitch ( void ) {
static float last_err = 0.;
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0)
v_ctl_auto_pitch_sum_err = 0;
// Compute errors
float err = estimator_z_dot - v_ctl_climb_setpoint;
float d_err = err - last_err;
last_err = err;
if (v_ctl_auto_pitch_igain < 0.) {
v_ctl_auto_pitch_sum_err += err*(1./60.);
BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR / (-v_ctl_auto_pitch_igain));
}
// PI loop + feedforward ctl
nav_pitch = 0. //nav_pitch FIXME it really sucks !
+ v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
+ v_ctl_auto_pitch_pgain * err
+ v_ctl_auto_pitch_dgain * d_err
+ v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
}
static inline void v_ctl_set_throttle( void ) {
static float last_err = 0.;
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0)
v_ctl_auto_throttle_sum_err = 0;
// Compute errors
float err = estimator_z_dot - v_ctl_climb_setpoint;
float d_err = err - last_err;
last_err = err;
if (v_ctl_auto_throttle_igain < 0.) {
v_ctl_auto_throttle_sum_err += err*(1./60.);
BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR / (-v_ctl_auto_throttle_igain));
}
// PID loop + feedforward ctl
controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain * err
+ v_ctl_auto_throttle_dgain * d_err
+ v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err;
}
#if USE_AIRSPEED
#define AIRSPEED_LOOP_PERIOD (1./60.)
// Airspeed control loop (input: [airspeed controlled, climb_setpoint], output: [throttle controlled, pitch setpoint])
static inline void v_ctl_set_airspeed( void ) {
static float last_err_vz = 0.;
static float last_err_as = 0.;
// Bound airspeed setpoint
Bound(v_ctl_auto_airspeed_setpoint, V_CTL_AIRSPEED_MIN, V_CTL_AIRSPEED_MAX);
// Compute errors
float err_vz = estimator_z_dot - v_ctl_climb_setpoint;
float d_err_vz = (err_vz - last_err_vz)*AIRSPEED_LOOP_PERIOD;
last_err_vz = err_vz;
if (v_ctl_auto_throttle_igain < 0.) {
v_ctl_auto_throttle_sum_err += err_vz*AIRSPEED_LOOP_PERIOD;
BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR / (-v_ctl_auto_throttle_igain));
}
if (v_ctl_auto_pitch_igain < 0.) {
v_ctl_auto_pitch_sum_err += err_vz*AIRSPEED_LOOP_PERIOD;
BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR / (-v_ctl_auto_pitch_igain));
}
float err_airspeed = v_ctl_auto_airspeed_setpoint - estimator_airspeed;
float d_err_airspeed = (err_airspeed - last_err_as)*AIRSPEED_LOOP_PERIOD;
last_err_as = err_airspeed;
if (v_ctl_auto_airspeed_throttle_igain > 0.) { // ! sign
v_ctl_auto_airspeed_throttle_sum_err += err_airspeed*AIRSPEED_LOOP_PERIOD;
BoundAbs(v_ctl_auto_airspeed_throttle_sum_err, V_CTL_AUTO_AIRSPEED_THROTTLE_MAX_SUM_ERR / v_ctl_auto_airspeed_throttle_igain);
}
if (v_ctl_auto_airspeed_pitch_igain > 0.) { // ! sign
v_ctl_auto_airspeed_pitch_sum_err += err_airspeed*AIRSPEED_LOOP_PERIOD;
BoundAbs(v_ctl_auto_airspeed_pitch_sum_err, V_CTL_AUTO_AIRSPEED_PITCH_MAX_SUM_ERR / v_ctl_auto_airspeed_pitch_igain);
}
// Reset integrators in manual or before flight
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0) {
v_ctl_auto_throttle_sum_err = 0.;
v_ctl_auto_pitch_sum_err = 0.;
v_ctl_auto_airspeed_throttle_sum_err = 0.;
v_ctl_auto_airspeed_pitch_sum_err = 0.;
}
// Pitch loop
nav_pitch = 0. //nav_pitch FIXME it really sucks !
+ v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
+ v_ctl_auto_pitch_pgain * err_vz
+ v_ctl_auto_pitch_dgain * d_err_vz
+ v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err
- v_ctl_auto_airspeed_pitch_pgain * err_airspeed
- v_ctl_auto_airspeed_pitch_dgain * d_err_airspeed
- v_ctl_auto_airspeed_pitch_igain * v_ctl_auto_airspeed_pitch_sum_err;
// Throttle loop
controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain * err_vz
+ v_ctl_auto_throttle_dgain * d_err_vz
+ v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_airspeed_throttle_pgain * err_airspeed
+ v_ctl_auto_airspeed_throttle_dgain * d_err_airspeed
+ v_ctl_auto_airspeed_throttle_igain * v_ctl_auto_airspeed_throttle_sum_err;
}
static inline void v_ctl_set_groundspeed( void ) {
// Ground speed control loop (input: groundspeed error, output: airspeed controlled)
float err_groundspeed = v_ctl_auto_groundspeed_setpoint - estimator_hspeed_mod;
v_ctl_auto_groundspeed_sum_err += err_groundspeed;
BoundAbs(v_ctl_auto_groundspeed_sum_err, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR);
v_ctl_auto_airspeed_setpoint = err_groundspeed * v_ctl_auto_groundspeed_pgain + v_ctl_auto_groundspeed_sum_err * v_ctl_auto_groundspeed_igain;
}
#endif
void v_ctl_climb_loop ( void ) {
switch (v_ctl_speed_mode) {
case V_CTL_SPEED_THROTTLE:
// Set pitch
v_ctl_set_pitch();
// Set throttle
v_ctl_set_throttle();
break;
#if USE_AIRSPEED
case V_CTL_SPEED_AIRSPEED:
v_ctl_set_airspeed();
break;
case V_CTL_SPEED_GROUNDSPEED:
v_ctl_set_groundspeed();
v_ctl_set_airspeed();
break;
#endif
default:
controlled_throttle = v_ctl_auto_throttle_cruise_throttle; // ???
break;
}
// Set Pitch output
Bound(nav_pitch, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
// Set Throttle output
v_ctl_throttle_setpoint = TRIM_UPPRZ(controlled_throttle * MAX_PPRZ);
}
#ifdef V_CTL_THROTTLE_SLEW_LIMITER
#define V_CTL_THROTTLE_SLEW (1./CONTROL_RATE/(V_CTL_THROTTLE_SLEW_LIMITER))
#endif
#ifndef V_CTL_THROTTLE_SLEW
#define V_CTL_THROTTLE_SLEW (1.)
#endif
/** \brief Computes slewed throttle from throttle setpoint
called at 20Hz
*/
void v_ctl_throttle_slew( void ) {
pprz_t diff_throttle = v_ctl_throttle_setpoint - v_ctl_throttle_slewed;
BoundAbs(diff_throttle, TRIM_PPRZ(V_CTL_THROTTLE_SLEW*MAX_PPRZ));
v_ctl_throttle_slewed += diff_throttle;
}