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adaptive INDI fix (#2955)
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@EwoudSmeur
EwoudSmeur committed Nov 29, 2022
1 parent 6df663f commit 180ebd2
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Showing 6 changed files with 240 additions and 21 deletions.
26 changes: 17 additions & 9 deletions conf/airframes/tudelft/bebop2_no_damping.xml
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Expand Up @@ -5,7 +5,9 @@
</description>

<firmware name="rotorcraft">
<target name="ap" board="bebop2"/>
<target name="ap" board="bebop2">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
</target>

<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
Expand All @@ -18,7 +20,14 @@
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="ublox"/>

<module name="stabilization" type="indi_simple"/>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_POS_GAIN" value="0.5"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.8"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.06"/>
</module>

<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
Expand Down Expand Up @@ -93,7 +102,6 @@
<define name="SONAR_MAX_RANGE" value="2.2"/>
</section>


<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
Expand Down Expand Up @@ -130,12 +138,12 @@
<define name="G2_R" value="0.20"/>

<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="600.0"/>
<define name="REF_ERR_Q" value="600.0"/>
<define name="REF_ERR_R" value="600.0"/>
<define name="REF_RATE_P" value="28.0"/>
<define name="REF_RATE_Q" value="28.0"/>
<define name="REF_RATE_R" value="28.0"/>
<define name="REF_ERR_P" value="320.0"/>
<define name="REF_ERR_Q" value="320.0"/>
<define name="REF_ERR_R" value="320.0"/>
<define name="REF_RATE_P" value="16.0"/>
<define name="REF_RATE_Q" value="16.0"/>
<define name="REF_RATE_R" value="16.0"/>

<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
Expand All @@ -160,7 +168,7 @@
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<define name="REF_MAX_SPEED" value="8" unit="m/s"/>
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="120"/>
<define name="DGAIN" value="100"/>
Expand Down
197 changes: 197 additions & 0 deletions conf/airframes/tudelft/bebop2_no_damping_WLS.xml
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@@ -0,0 +1,197 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<airframe name="bebop2_indi">
<description>Bebop2, Outdoor
</description>

<firmware name="rotorcraft">
<target name="ap" board="bebop2">
<define name="INDI_RPM_FEEDBACK" value="TRUE"/>
</target>

<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="udp"/>
</target>

<module name="telemetry" type="transparent_udp"/>
<module name="radio_control" type="datalink"/>
<module name="actuators" type="bebop"/>
<module name="imu" type="bebop"/>
<module name="gps" type="ublox"/>

<module name="stabilization" type="indi"/>
<module name="guidance" type="indi">
<define name="GUIDANCE_INDI_POS_GAIN" value="0.5"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.8"/>
<define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.06"/>
</module>

<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="extended"/>

<module name="geo_mag"/>
<module name="air_data"/>
<module name="gps" type="ubx_ucenter"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
</module>
</firmware>

<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="6000"/>
</commands>

<servos driver="Default">
<servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
<servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
<servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
</servos>

<command_laws>
<set servo="TOP_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="TOP_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BOTTOM_RIGHT" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="BOTTOM_LEFT" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>

<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE"/>
<define name="CALC_TAS_FACTOR" value="FALSE"/>
<define name="CALC_AMSL_BARO" value="TRUE"/>
</section>

<!-- Magnetometer still needs to be calibrated -->
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
<define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
<define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
</section>

<!-- local magnetic field -->
<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<!-- Delft -->
<define name="H_X" value="0.3892503"/>
<define name="H_Y" value="0.0017972"/>
<define name="H_Z" value="0.9211303"/>
</section>

<section name="INS" prefix="INS_">
<define name="SONAR_MAX_RANGE" value="2.2"/>
</section>

<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg"/>
<define name="SP_MAX_THETA" value="45" unit="deg"/>
<define name="SP_MAX_R" value="300" unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="50"/>
</section>

<section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
<!-- attitude reference generation model -->
<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.9"/>
<define name="REF_MAX_P" value="600." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.9"/>
<define name="REF_MAX_Q" value="600." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>

<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.9"/>
<define name="REF_MAX_R" value="600." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
</section>

<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_ROLL" value="{16 , -16, -16, 16}"/>
<define name="G1_PITCH" value="{12, 12, -12, -12}"/>
<define name="G1_YAW" value="{ 0.8, -0.8, 0.8, -0.8}"/>
<define name="G1_THRUST" value="{-.6, -.6, -.6, -.6}"/>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{112, -112, 112, -112}"/>

<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="320.0"/>
<define name="REF_ERR_Q" value="320.0"/>
<define name="REF_ERR_R" value="320.0"/>
<define name="REF_RATE_P" value="16.0"/>
<define name="REF_RATE_Q" value="16.0"/>
<define name="REF_RATE_R" value="16.0"/>

<define name="ESTIMATION_FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF" value="3.2"/>

<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.1, 0.1, 0.1, 0.1}"/>

<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>

<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
</section>

<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350"/>
<define name="HOVER_KD" value="85"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>

<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="REF_MAX_SPEED" value="8" unit="m/s"/>
<define name="MAX_BANK" value="32" unit="deg"/>
<define name="PGAIN" value="120"/>
<define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/>
</section>

<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5"/>
<define name="DESCEND_VSPEED" value="-1.0"/>
</section>

<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="bebop2" type="string"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>

<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>

<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>

<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
6 changes: 3 additions & 3 deletions conf/modules/stabilization_indi_simple.xml
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Expand Up @@ -56,13 +56,13 @@
<dl_settings NAME="indi">
<dl_setting var="indi.gains.att.p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true" module="stabilization/stabilization_indi_simple"/>
<dl_setting var="indi.gains.rate.p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
<dl_setting var="indi.g1.p" min="0" step="0.001" max="10" shortname="ctl_eff_p" param="STABILIZATION_INDI_G1_P" persistent="true"/>
<dl_setting var="indi.g1.p" min="0.001" step="0.001" max="10" shortname="ctl_eff_p" param="STABILIZATION_INDI_G1_P" persistent="true"/>
<dl_setting var="indi.gains.att.q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
<dl_setting var="indi.gains.rate.q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
<dl_setting var="indi.g1.q" min="0" step="0.001" max="10" shortname="ctl_eff_q" param="STABILIZATION_INDI_G1_Q" persistent="true"/>
<dl_setting var="indi.g1.q" min="0.001" step="0.001" max="10" shortname="ctl_eff_q" param="STABILIZATION_INDI_G1_Q" persistent="true"/>
<dl_setting var="indi.gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
<dl_setting var="indi.gains.rate.r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
<dl_setting var="indi.g1.r" min="0" step="0.001" max="10" shortname="ctl_eff_r" param="STABILIZATION_INDI_G1_R" persistent="true"/>
<dl_setting var="indi.g1.r" min="0.0001" step="0.0001" max="10" shortname="ctl_eff_r" param="STABILIZATION_INDI_G1_R" persistent="true"/>
<dl_setting var="indi.g2" min="0" step="0.01" max="10" shortname="g2" param="STABILIZATION_INDI_G2_R" persistent="true"/>
<dl_setting var="indi.adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
<dl_setting var="indi.max_rate" min="0" step="0.01" max="400.0" shortname="max_rate" param="STABILIZATION_INDI_MAX_RATE" unit="rad/s" alt_unit="deg/s"/>
Expand Down
2 changes: 1 addition & 1 deletion conf/userconf/tudelft/conf.xml
View file
Expand Up @@ -84,7 +84,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/rotorcraft_optitrack_path.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="#ffffcccaccca"
/>
<aircraft
Expand Down
25 changes: 18 additions & 7 deletions sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
View file
Expand Up @@ -192,6 +192,7 @@ static struct FirstOrderLowPass rates_filt_fo[3];
struct FloatVect3 body_accel_f;

void init_filters(void);
void sum_g1_g2(void);

#if PERIODIC_TELEMETRY
#include "modules/datalink/telemetry.h"
Expand Down Expand Up @@ -237,6 +238,7 @@ void stabilization_indi_init(void)
float_vect_zero(actuator_state_filt_vect, INDI_NUM_ACT);

//Calculate G1G2_PSEUDO_INVERSE
sum_g1_g2();
calc_g1g2_pseudo_inv();

// Initialize the array of pointers to the rows of g1g2
Expand Down Expand Up @@ -735,19 +737,20 @@ void lms_estimation(void)
float_vect_copy(g1[0], g1_est[0], INDI_OUTPUTS * INDI_NUM_ACT);
float_vect_copy(g2, g2_est, INDI_NUM_ACT);

// Calculate sum of G1 and G2 for Bwls
sum_g1_g2();

#if STABILIZATION_INDI_ALLOCATION_PSEUDO_INVERSE
// Calculate the inverse of (G1+G2)
calc_g1g2_pseudo_inv();
#endif
}

/**
* Function that calculates the pseudo-inverse of (G1+G2).
* Function that sums g1 and g2 to obtain the g1g2 matrix
* It also undoes the scaling that was done to make the values readable
*/
void calc_g1g2_pseudo_inv(void)
{

//sum of G1 and G2
void sum_g1_g2(void) {
int8_t i;
int8_t j;
for (i = 0; i < INDI_OUTPUTS; i++) {
Expand All @@ -759,12 +762,20 @@ void calc_g1g2_pseudo_inv(void)
}
}
}
}

/**
* Function that calculates the pseudo-inverse of (G1+G2).
* Make sure to sum of G1 and G2 before running this!
*/
void calc_g1g2_pseudo_inv(void)
{
//G1G2*transpose(G1G2)
//calculate matrix multiplication of its transpose INDI_OUTPUTSxnum_act x num_actxINDI_OUTPUTS
float element = 0;
int8_t row;
int8_t col;
int8_t i;
for (row = 0; row < INDI_OUTPUTS; row++) {
for (col = 0; col < INDI_OUTPUTS; col++) {
element = 0;
Expand All @@ -776,13 +787,13 @@ void calc_g1g2_pseudo_inv(void)
}

//there are numerical errors if the scaling is not right.
float_vect_scale(g1g2_trans_mult[0], 100.0, INDI_OUTPUTS * INDI_OUTPUTS);
float_vect_scale(g1g2_trans_mult[0], 1000.0, INDI_OUTPUTS * INDI_OUTPUTS);

//inverse of 4x4 matrix
float_mat_inv_4d(g1g2inv[0], g1g2_trans_mult[0]);

//scale back
float_vect_scale(g1g2inv[0], 100.0, INDI_OUTPUTS * INDI_OUTPUTS);
float_vect_scale(g1g2inv[0], 1000.0, INDI_OUTPUTS * INDI_OUTPUTS);

//G1G2'*G1G2inv
//calculate matrix multiplication INDI_NUM_ACTxINDI_OUTPUTS x INDI_OUTPUTSxINDI_OUTPUTS
Expand Down
5 changes: 4 additions & 1 deletion sw/airborne/modules/ins/ins_int.c
View file
Expand Up @@ -295,6 +295,9 @@ void ins_reset_vertical_pos(void)

void ins_int_propagate(struct Int32Vect3 *accel, float dt)
{
// Set body acceleration in the state
stateSetAccelBody_i(accel);

/* untilt accels */
struct Int32Vect3 accel_meas_ltp;
int32_rmat_transp_vmult(&accel_meas_ltp, stateGetNedToBodyRMat_i(), accel);
Expand Down Expand Up @@ -639,7 +642,7 @@ static void pos_est_cb(uint8_t sender_id __attribute__((unused)),
float x, float y, float z,
float noise_x, float noise_y, float noise_z)
{

#if USE_HFF
struct FloatVect2 pos = {x, y};
struct FloatVect2 Rpos = {noise_x, noise_y};
Expand Down

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