157 changes: 157 additions & 0 deletions sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid_quadplane.c
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/*
* Copyright (C) 2015 Ewoud Smeur <ewoud.smeur@gmail.com>
*
* 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 firmwares/rotorcraft/guidance/guidance_indi_hybrid_quadplane.c
*
*/

#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "stabilization/stabilization_attitude_ref_quat_int.h"
#include "filters/low_pass_filter.h"
#include "state.h"
#include "generated/modules.h"


#ifndef GUIDANCE_INDI_THRUST_Z_EFF
#error "You need to define GUIDANCE_INDI_THRUST_Z_EFF"
#else
float guidance_indi_thrust_z_eff = GUIDANCE_INDI_THRUST_Z_EFF;
#endif

#ifndef GUIDANCE_INDI_THRUST_X_EFF
#error "You need to define GUIDANCE_INDI_THRUST_X_EFF"
#else
float guidance_indi_thrust_x_eff = GUIDANCE_INDI_THRUST_X_EFF;
#endif


float bodyz_filter_cutoff = 0.2;

Butterworth2LowPass accel_bodyz_filt;



/**
*
* Call upon entering indi guidance
*/
void guidance_indi_quadplane_init(void) {
float tau_bodyz = 1.0/(2.0*M_PI*bodyz_filter_cutoff);
float sample_time = 1.0 / PERIODIC_FREQUENCY;
init_butterworth_2_low_pass(&accel_bodyz_filt, tau_bodyz, sample_time, -9.81);
}


/**
* Low pass the accelerometer measurements to remove noise from vibrations.
* The roll and pitch also need to be filtered to synchronize them with the
* acceleration
* Called as a periodic function with PERIODIC_FREQ
*/
void guidance_indi_quadplane_propagate_filters(void) {
// Propagate filter for thrust/lift estimate
float accelz = ACCEL_FLOAT_OF_BFP(stateGetAccelBody_i()->z);
update_butterworth_2_low_pass(&accel_bodyz_filt, accelz);
}




/**
* Perform WLS
*
* @param Gmat Dynamics matrix
* @param a_diff acceleration errors in earth frame
* @param body_v 3D vector to write the control objective v
*/
void WEAK guidance_indi_calcg_wing(float Gmat[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U], struct FloatVect3 a_diff, float body_v[GUIDANCE_INDI_HYBRID_V]) {
// Get attitude
struct FloatEulers eulers_zxy;
float_eulers_of_quat_zxy(&eulers_zxy, stateGetNedToBodyQuat_f());

/*Pre-calculate sines and cosines*/
float sphi = sinf(eulers_zxy.phi);
float cphi = cosf(eulers_zxy.phi);
float stheta = sinf(eulers_zxy.theta);
float ctheta = cosf(eulers_zxy.theta);
float spsi = sinf(eulers_zxy.psi);
float cpsi = cosf(eulers_zxy.psi);

#ifndef GUIDANCE_INDI_PITCH_EFF_SCALING
#define GUIDANCE_INDI_PITCH_EFF_SCALING 1.0
#endif

/*Amount of lift produced by the wing*/
float lift_thrust_bz = accel_bodyz_filt.o[0]; // Sum of lift and thrust in boxy z axis (level flight)

// get the derivative of the lift wrt to theta
float liftd = guidance_indi_get_liftd(0.0f, 0.0f);

Gmat[0][0] = -sphi*stheta*lift_thrust_bz;
Gmat[1][0] = -cphi*lift_thrust_bz;
Gmat[2][0] = -sphi*ctheta*lift_thrust_bz;

Gmat[0][1] = cphi*ctheta*lift_thrust_bz*GUIDANCE_INDI_PITCH_EFF_SCALING;
Gmat[1][1] = sphi*stheta*lift_thrust_bz*GUIDANCE_INDI_PITCH_EFF_SCALING - sphi*liftd;
Gmat[2][1] = -cphi*stheta*lift_thrust_bz*GUIDANCE_INDI_PITCH_EFF_SCALING + cphi*liftd;

Gmat[0][2] = cphi*stheta;
Gmat[1][2] = -sphi;
Gmat[2][2] = cphi*ctheta;

Gmat[0][3] = ctheta;
Gmat[1][3] = 0;
Gmat[2][3] = -stheta;

// Convert acceleration error to body axis system
body_v[0] = cpsi * a_diff.x + spsi * a_diff.y;
body_v[1] = -spsi * a_diff.x + cpsi * a_diff.y;
body_v[2] = a_diff.z;
}


void WEAK guidance_indi_hybrid_set_wls_settings(float body_v[3], float roll_angle, float pitch_angle)
{
float roll_limit_rad = GUIDANCE_H_MAX_BANK;
float max_pitch_limit_rad = RadOfDeg(GUIDANCE_INDI_MAX_PITCH);
float min_pitch_limit_rad = RadOfDeg(GUIDANCE_INDI_MIN_PITCH);

float pitch_pref_rad = RadOfDeg(guidance_indi_pitch_pref_deg);

// Set lower limits
du_min_gih[0] = -roll_limit_rad - roll_angle; //roll
du_min_gih[1] = min_pitch_limit_rad - pitch_angle; // pitch
du_min_gih[2] = (MAX_PPRZ - stabilization_cmd[COMMAND_THRUST]) * guidance_indi_thrust_z_eff;
du_min_gih[3] = -stabilization_cmd[COMMAND_THRUST_X]*guidance_indi_thrust_x_eff;

// Set upper limits limits
du_max_gih[0] = roll_limit_rad - roll_angle; //roll
du_max_gih[1] = max_pitch_limit_rad - pitch_angle; // pitch
du_max_gih[2] = -stabilization_cmd[COMMAND_THRUST] * guidance_indi_thrust_z_eff;
du_max_gih[3] = (MAX_PPRZ - stabilization_cmd[COMMAND_THRUST_X])*guidance_indi_thrust_x_eff;

// Set prefered states
du_pref_gih[0] = -roll_angle; // prefered delta roll angle
du_pref_gih[1] = -pitch_angle + pitch_pref_rad;// prefered delta pitch angle
du_pref_gih[2] = du_max_gih[2]; // Low thrust better for efficiency
du_pref_gih[3] = body_v[0]; // solve the body acceleration
}
12 changes: 6 additions & 6 deletions ...uidance/guidance_indi_hybrid_quadplanes.h → ...guidance/guidance_indi_hybrid_quadplane.h
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Expand Up @@ -19,14 +19,12 @@
* Boston, MA 02111-1307, USA.
*/

#ifndef GUIDANCE_INDI_HYBRID_QUADPLANE
#define GUIDANCE_INDI_HYBRID_QUADPLANE


// Guidance actuators: (roll, pitch, thrust, push) for quadplanes
#define GUIDANCE_INDI_HYBRID_U 4

// Guidance control objectives: ax, ay, ay for quadplanes
#define GUIDANCE_INDI_HYBRID_V 3

extern void guidance_indi_quadplane_init(void);
extern void guidance_indi_quadplane_propagate_filters(void);


#ifndef GUIDANCE_INDI_MIN_PITCH
Expand All @@ -35,4 +33,6 @@
#endif


#define GUIDANCE_INDI_HYBRID_USE_WLS true

#endif // GUIDANCE_INDI_HYBRID_QUADPLANE
100 changes: 100 additions & 0 deletions sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid_tailsitter.c
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/*
* Copyright (C) 2015 Ewoud Smeur <ewoud.smeur@gmail.com>
*
* 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 firmwares/rotorcraft/guidance/guidance_indi_hybrid_tailsitter
*/

#include "firmwares/rotorcraft/guidance/guidance_indi_hybrid.h"
#include "state.h"
#include "generated/modules.h"

/**
* Calculate the matrix of partial derivatives of the roll, pitch and thrust
* w.r.t. the NED accelerations, taking into account the lift of a wing that is
* horizontal at -90 degrees pitch
*
* @param Gmat Dynamics matrix
* @param a_diff acceleration errors in earth frame
* @param body_v 3D vector to write the control objective v
*/

void WEAK guidance_indi_calcg_wing(float Gmat[GUIDANCE_INDI_HYBRID_V][GUIDANCE_INDI_HYBRID_U], struct FloatVect3 a_diff, float v_gih[GUIDANCE_INDI_HYBRID_V]) {
// Get attitude
struct FloatEulers eulers_zxy;
float_eulers_of_quat_zxy(&eulers_zxy, stateGetNedToBodyQuat_f());


/*Pre-calculate sines and cosines*/
float sphi = sinf(eulers_zxy.phi);
float cphi = cosf(eulers_zxy.phi);
float stheta = sinf(eulers_zxy.theta);
float ctheta = cosf(eulers_zxy.theta);
float spsi = sinf(eulers_zxy.psi);
float cpsi = cosf(eulers_zxy.psi);
//minus gravity is a guesstimate of the thrust force, thrust measurement would be better

#ifndef GUIDANCE_INDI_PITCH_EFF_SCALING
#define GUIDANCE_INDI_PITCH_EFF_SCALING 1.0
#endif

/*Amount of lift produced by the wing*/
float pitch_lift = eulers_zxy.theta;
Bound(pitch_lift,-M_PI_2,0);
float lift = sinf(pitch_lift)*9.81;
float T = cosf(pitch_lift)*-9.81;

// get the derivative of the lift wrt to theta
float liftd = guidance_indi_get_liftd(stateGetAirspeed_f(), eulers_zxy.theta);

Gmat[0][0] = cphi*ctheta*spsi*T + cphi*spsi*lift;
Gmat[1][0] = -cphi*ctheta*cpsi*T - cphi*cpsi*lift;
Gmat[2][0] = -sphi*ctheta*T -sphi*lift;
Gmat[0][1] = (ctheta*cpsi - sphi*stheta*spsi)*T*GUIDANCE_INDI_PITCH_EFF_SCALING + sphi*spsi*liftd;
Gmat[1][1] = (ctheta*spsi + sphi*stheta*cpsi)*T*GUIDANCE_INDI_PITCH_EFF_SCALING - sphi*cpsi*liftd;
Gmat[2][1] = -cphi*stheta*T*GUIDANCE_INDI_PITCH_EFF_SCALING + cphi*liftd;
Gmat[0][2] = stheta*cpsi + sphi*ctheta*spsi;
Gmat[1][2] = stheta*spsi - sphi*ctheta*cpsi;
Gmat[2][2] = cphi*ctheta;

v_gih[0] = a_diff.x;
v_gih[1] = a_diff.y;
v_gih[2] = a_diff.z;
}


void WEAK guidance_indi_hybrid_set_wls_settings(float body_v[3] UNUSED, float roll_angle, float pitch_angle)
{
// Set lower limits
du_min_gih[0] = -guidance_indi_max_bank - roll_angle; // roll
du_min_gih[1] = RadOfDeg(guidance_indi_min_pitch) - pitch_angle; // pitch
du_min_gih[2] = (MAX_PPRZ - actuator_state_filt_vect[0]) * g1g2[3][0] + (MAX_PPRZ - actuator_state_filt_vect[1]) * g1g2[3][1] + (MAX_PPRZ - actuator_state_filt_vect[2]) * g1g2[3][2] + (MAX_PPRZ - actuator_state_filt_vect[3]) * g1g2[3][3];

// Set upper limits limits
du_max_gih[0] = guidance_indi_max_bank - roll_angle; //roll
du_max_gih[1] = RadOfDeg(GUIDANCE_INDI_MAX_PITCH) - pitch_angle; // pitch
du_max_gih[2] = -(actuator_state_filt_vect[0]*g1g2[3][0] + actuator_state_filt_vect[1]*g1g2[3][1] + actuator_state_filt_vect[2]*g1g2[3][2] + actuator_state_filt_vect[3]*g1g2[3][3]);

// Set prefered states
du_pref_gih[0] = -roll_angle; // prefered delta roll angle
du_pref_gih[1] = -pitch_angle; // prefered delta pitch angle
du_pref_gih[2] = du_max_gih[2];
}
10 changes: 5 additions & 5 deletions ...idance/guidance_indi_hybrid_tailsitters.h → ...uidance/guidance_indi_hybrid_tailsitter.h
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Expand Up @@ -19,15 +19,15 @@
* Boston, MA 02111-1307, USA.
*/

#ifndef GUIDANCE_INDI_HYBRID_TAILSITTER
#define GUIDANCE_INDI_HYBRID_TAILSITTER


// Guidance actuators: (roll, pitch, thrust) for tailsitters
#define GUIDANCE_INDI_HYBRID_U 3

// Guidance control objectives: ax, ay, ay for tailsitters
#define GUIDANCE_INDI_HYBRID_V 3

#ifndef GUIDANCE_INDI_MIN_PITCH
#define GUIDANCE_INDI_MIN_PITCH -120
#define GUIDANCE_INDI_MAX_PITCH 25
#endif


#endif // GUIDANCE_INDI_HYBRID_TAILSITTER