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energy_ctrl.c File Reference

Total Energy (speed + height) control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/energy_ctrl.h"
#include "state.h"
#include "firmwares/fixedwing/nav.h"
#include "generated/airframe.h"
#include "autopilot.h"
#include "subsystems/abi.h"
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Go to the source code of this file.

Macros

#define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR   100
 
#define V_CTL_ALTITUDE_MAX_CLIMB   2;
 
#define STALL_AIRSPEED   NOMINAL_AIRSPEED
 
#define V_CTL_GLIDE_RATIO   8.
 
#define AIRSPEED_SETPOINT_SLEW   1
 
#define V_CTL_MAX_ACCELERATION   0.5
 
#define V_CTL_ENERGY_IMU_ID   ABI_BROADCAST
 
#define V_CTL_THROTTLE_SLEW   1.
 

Functions

static void ac_char_average (float *last_v, float new_v, int count)
 
static void ac_char_update (float throttle, float pitch, float climb, float accelerate)
 
static void accel_cb (uint8_t sender_id, uint32_t stamp, struct Int32Vect3 *accel)
 
static void body_to_imu_cb (uint8_t sender_id, struct FloatQuat *q_b2i_f)
 
void v_ctl_init (void)
 
void v_ctl_altitude_loop (void)
 outer loop More...
 
static float low_pass_vdot (float v)
 
void v_ctl_climb_loop (void)
 Auto-throttle inner loop. More...
 
void v_ctl_throttle_slew (void)
 Computes slewed throttle from throttle setpoint called at 20Hz. More...
 

Variables

uint8_t v_ctl_mode = V_CTL_MODE_MANUAL
 
uint8_t v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE
 
uint8_t v_ctl_auto_throttle_submode = V_CTL_CLIMB_MODE_AUTO_THROTTLE
 
float v_ctl_auto_throttle_sum_err = 0
 
float v_ctl_altitude_setpoint
 in meters above MSL More...
 
float v_ctl_altitude_pre_climb
 Path Angle. More...
 
float v_ctl_altitude_pgain
 
float v_ctl_airspeed_pgain
 
float v_ctl_altitude_error
 in meters, (setpoint - alt) -> positive = too low More...
 
float v_ctl_max_climb
 
float v_ctl_max_acceleration
 
float v_ctl_climb_setpoint
 
float v_ctl_desired_acceleration
 
float v_ctl_auto_throttle_cruise_throttle
 
float v_ctl_auto_throttle_nominal_cruise_throttle
 
float v_ctl_auto_throttle_nominal_cruise_pitch
 
float v_ctl_auto_throttle_climb_throttle_increment
 
float v_ctl_auto_throttle_pitch_of_vz_pgain
 
float v_ctl_auto_throttle_of_airspeed_pgain
 
float v_ctl_auto_throttle_of_airspeed_igain
 
float v_ctl_auto_pitch_of_airspeed_pgain
 
float v_ctl_auto_pitch_of_airspeed_igain
 
float v_ctl_auto_pitch_of_airspeed_dgain
 
float v_ctl_energy_total_pgain
 
float v_ctl_energy_total_igain
 
float v_ctl_energy_diff_pgain
 
float v_ctl_energy_diff_igain
 
float v_ctl_auto_airspeed_setpoint
 in meters per second More...
 
float v_ctl_auto_airspeed_setpoint_slew
 
float v_ctl_auto_airspeed_controlled
 
float v_ctl_auto_groundspeed_setpoint
 in meters per second More...
 
float v_ctl_auto_groundspeed_pgain
 
float v_ctl_auto_groundspeed_igain
 
float v_ctl_auto_groundspeed_sum_err
 
pprz_t v_ctl_throttle_setpoint
 
pprz_t v_ctl_throttle_slewed
 
float v_ctl_pitch_setpoint
 
uint8_t v_ctl_speed_mode
 
static struct FloatQuat imu_to_body_quat
 
static struct Int32Vect3 accel_imu_meas
 
static abi_event accel_ev
 
static abi_event body_to_imu_ev
 
float ac_char_climb_pitch = 0.0f
 
float ac_char_climb_max = 0.0f
 
int ac_char_climb_count = 0
 
float ac_char_descend_pitch = 0.0f
 
float ac_char_descend_max = 0.0f
 
int ac_char_descend_count = 0
 
float ac_char_cruise_throttle = 0.0f
 
float ac_char_cruise_pitch = 0.0f
 
int ac_char_cruise_count = 0
 
static const float dt_attidude = 1.0 / ((float)CONTROL_FREQUENCY)
 
static const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY)
 
float lp_vdot [5]
 

Detailed Description

Total Energy (speed + height) control for fixed wing vehicles.

Energy:

\begin{eqnarray*} E &=& mgh + \frac{1}{2}mV^2 \\ \frac{\dot{E}}{V} &=& \left(\gamma + \frac{\dot{V}}{g}\right) W \end{eqnarray*}

Equilibrium:

\[ \frac{\dot{V}}{g} = \frac{\mbox{Thrust}}{W} - \frac{\mbox{Drag}}{W} - \sin(\gamma) \]

with:

\[ \frac{\mbox{Drag}}{\mbox{Weight}} = \left(\frac{C_l}{C_d}\right)^{-1} \]

  • glide angle: $\dot{V}=0, T=0 \rightarrow \gamma = \frac{C_d}{C_l}$
  • level flight: $\dot{V}=0, \gamma=0 \rightarrow \frac{W}{T} = \frac{C_l}{C_d}$

Strategy:

  • thrust = path + acceleration[g] (total energy)
  • pitch = path - acceleration[g] (energy balance)

Pseudo-Control Unit = dimensionless acceleration [g]

- pitch <-> pseudocontrol:    sin(Theta) steers Vdot in [g]
- throttle <-> pseudocontrol: motor characteristic as function of V x throttle steeds VDot
dot_inline_dotgraph_1.png

Definition in file energy_ctrl.c.

Macro Definition Documentation

#define AIRSPEED_SETPOINT_SLEW   1

Definition at line 158 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define STALL_AIRSPEED   NOMINAL_AIRSPEED

Definition at line 151 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop().

#define V_CTL_ALTITUDE_MAX_CLIMB   2;

Definition at line 146 of file energy_ctrl.c.

Referenced by potential_task(), v_ctl_altitude_loop(), and v_ctl_init().

#define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR   100

Definition at line 129 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define V_CTL_ENERGY_IMU_ID   ABI_BROADCAST

Definition at line 165 of file energy_ctrl.c.

Referenced by v_ctl_init().

#define V_CTL_GLIDE_RATIO   8.

Definition at line 154 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define V_CTL_MAX_ACCELERATION   0.5

Definition at line 161 of file energy_ctrl.c.

Referenced by v_ctl_init().

#define V_CTL_THROTTLE_SLEW   1.

Definition at line 447 of file energy_ctrl.c.

Referenced by ArduIMU_init(), and v_ctl_throttle_slew().

Function Documentation

static void ac_char_average ( float *  last_v,
float  new_v,
int  count 
)
static

Definition at line 180 of file energy_ctrl.c.

Referenced by ac_char_update().

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static void ac_char_update ( float  throttle,
float  pitch,
float  climb,
float  accelerate 
)
static

Definition at line 185 of file energy_ctrl.c.

References ac_char_average(), stateGetSpeedEnu_f(), and Int32Vect3::z.

Referenced by v_ctl_climb_loop().

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static void accel_cb ( uint8_t  sender_id,
uint32_t  stamp,
struct Int32Vect3 accel 
)
static

Definition at line 204 of file energy_ctrl.c.

References accel_imu_meas.

Referenced by v_ctl_init().

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static void body_to_imu_cb ( uint8_t  sender_id,
struct FloatQuat q_b2i_f 
)
static

Definition at line 211 of file energy_ctrl.c.

References float_quat_invert(), and imu_to_body_quat.

Referenced by v_ctl_init().

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static float low_pass_vdot ( float  v)
static

Definition at line 321 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

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void v_ctl_altitude_loop ( void  )

outer loop

Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode

Definition at line 298 of file energy_ctrl.c.

Referenced by navigation_task().

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void v_ctl_climb_loop ( void  )

Auto-throttle inner loop.

Definition at line 336 of file energy_ctrl.c.

Referenced by attitude_loop().

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void v_ctl_init ( void  )

Definition at line 217 of file energy_ctrl.c.

void v_ctl_throttle_slew ( void  )

Computes slewed throttle from throttle setpoint called at 20Hz.

Computes throttle_slewed from throttle_setpoint.

Definition at line 452 of file energy_ctrl.c.

Referenced by attitude_loop().

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Variable Documentation

int ac_char_climb_count = 0

Definition at line 172 of file energy_ctrl.c.

float ac_char_climb_max = 0.0f

Definition at line 171 of file energy_ctrl.c.

float ac_char_climb_pitch = 0.0f

Definition at line 170 of file energy_ctrl.c.

int ac_char_cruise_count = 0

Definition at line 178 of file energy_ctrl.c.

float ac_char_cruise_pitch = 0.0f

Definition at line 177 of file energy_ctrl.c.

float ac_char_cruise_throttle = 0.0f

Definition at line 176 of file energy_ctrl.c.

int ac_char_descend_count = 0

Definition at line 175 of file energy_ctrl.c.

float ac_char_descend_max = 0.0f

Definition at line 174 of file energy_ctrl.c.

float ac_char_descend_pitch = 0.0f

Definition at line 173 of file energy_ctrl.c.

abi_event accel_ev
static

Definition at line 140 of file energy_ctrl.c.

struct Int32Vect3 accel_imu_meas
static

Definition at line 138 of file energy_ctrl.c.

Referenced by accel_cb(), and v_ctl_climb_loop().

abi_event body_to_imu_ev
static

Definition at line 141 of file energy_ctrl.c.

const float dt_attidude = 1.0 / ((float)CONTROL_FREQUENCY)
static

Definition at line 290 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY)
static

Definition at line 291 of file energy_ctrl.c.

struct FloatQuat imu_to_body_quat
static

Definition at line 137 of file energy_ctrl.c.

Referenced by body_to_imu_cb(), v_ctl_climb_loop(), and v_ctl_init().

float lp_vdot[5]

Definition at line 318 of file energy_ctrl.c.

float v_ctl_airspeed_pgain

Definition at line 91 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_altitude_error

in meters, (setpoint - alt) -> positive = too low

Definition at line 92 of file energy_ctrl.c.

Referenced by h_ctl_course_loop(), and v_ctl_altitude_loop().

float v_ctl_altitude_pgain

Definition at line 90 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pre_climb

Path Angle.

Definition at line 89 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_setpoint

in meters above MSL

Definition at line 88 of file energy_ctrl.c.

Referenced by callTCAS(), flight_benchmark_periodic(), nav_set_altitude(), send_desired(), v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_auto_airspeed_controlled

Definition at line 123 of file energy_ctrl.c.

Referenced by send_airspeed(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_airspeed_setpoint
float v_ctl_auto_airspeed_setpoint_slew

Definition at line 122 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_igain

Definition at line 127 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_pgain

Definition at line 126 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_setpoint

in meters per second

Definition at line 125 of file energy_ctrl.c.

Referenced by send_airspeed(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_sum_err

Definition at line 128 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_pitch_of_airspeed_dgain

Definition at line 113 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_pitch_of_airspeed_igain

Definition at line 112 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_pitch_of_airspeed_pgain

Definition at line 111 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_climb_throttle_increment

Definition at line 106 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_cruise_throttle

Definition at line 103 of file energy_ctrl.c.

Referenced by formation_flight(), potential_task(), start_formation(), and stop_formation().

float v_ctl_auto_throttle_nominal_cruise_pitch

Definition at line 105 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_nominal_cruise_throttle

Definition at line 104 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_of_airspeed_igain

Definition at line 110 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_of_airspeed_pgain

Definition at line 109 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_throttle_pitch_of_vz_pgain

Definition at line 107 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

uint8_t v_ctl_auto_throttle_submode = V_CTL_CLIMB_MODE_AUTO_THROTTLE

Definition at line 76 of file energy_ctrl.c.

Referenced by h_ctl_course_loop(), nav_periodic_task(), and send_calibration().

float v_ctl_auto_throttle_sum_err = 0

Definition at line 77 of file energy_ctrl.c.

Referenced by send_calibration().

Definition at line 75 of file energy_ctrl.c.

float v_ctl_climb_setpoint

Definition at line 98 of file energy_ctrl.c.

Referenced by send_desired(), v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_desired_acceleration

Definition at line 101 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

float v_ctl_energy_diff_igain

Definition at line 119 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_diff_pgain

Definition at line 118 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_total_igain

Definition at line 116 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_total_pgain

Definition at line 115 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_max_acceleration

Definition at line 95 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_max_climb

Definition at line 94 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_pitch_setpoint

Definition at line 133 of file energy_ctrl.c.

Referenced by attitude_loop(), h_ctl_guidance_loop(), and v_ctl_climb_loop().

uint8_t v_ctl_speed_mode

Definition at line 135 of file energy_ctrl.c.

Referenced by v_ctl_init().

pprz_t v_ctl_throttle_slewed

Definition at line 132 of file energy_ctrl.c.

Referenced by attitude_loop(), and v_ctl_throttle_slew().