Paparazzi UAS  v7.0_unstable
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guidance_indi.c File Reference

A guidance mode based on Incremental Nonlinear Dynamic Inversion. More...

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Macros

#define GUIDANCE_INDI_ACCEL_SP_ID   ABI_BROADCAST
 
#define GUIDANCE_INDI_FILTER_CUTOFF   3.0
 

Functions

static void accel_sp_cb (uint8_t sender_id, uint8_t flag, struct FloatVect3 *accel_sp)
 ABI callback that obtains the acceleration setpoint from telemetry flag: 0 -> 2D, 1 -> 3D. More...
 
static void guidance_indi_propagate_filters (struct FloatEulers *eulers)
 Low pass the accelerometer measurements to remove noise from vibrations. More...
 
static void guidance_indi_calcG (struct FloatMat33 *Gmat)
 
static void guidance_indi_calcG_yxz (struct FloatMat33 *Gmat, struct FloatEulers *euler_yxz)
 
static void send_indi_guidance (struct transport_tx *trans, struct link_device *dev)
 
void guidance_indi_init (void)
 Init function. More...
 
void guidance_indi_enter (void)
 Call upon entering indi guidance. More...
 
struct StabilizationSetpoint guidance_indi_run (struct FloatVect3 *accel_sp, float heading_sp)
 
struct StabilizationSetpoint guidance_indi_run_mode (bool in_flight UNUSED, struct HorizontalGuidance *gh, struct VerticalGuidance *gv, enum GuidanceIndi_HMode h_mode, enum GuidanceIndi_VMode v_mode)
 

Variables

float guidance_indi_pos_gain = 0.5
 
float guidance_indi_speed_gain = 1.8
 
abi_event accel_sp_ev
 
struct FloatVect3 indi_accel_sp = {0.0f, 0.0f, 0.0f}
 
bool indi_accel_sp_set_2d = false
 
bool indi_accel_sp_set_3d = false
 
struct FloatVect3 speed_sp = {0.0f, 0.0f, 0.0f}
 
struct FloatVect3 sp_accel = {0.0f, 0.0f, 0.0f}
 
float thrust_dyn = 0.f
 
float thrust_act = 0.f
 
Butterworth2LowPass filt_accel_ned [3]
 
Butterworth2LowPass roll_filt
 
Butterworth2LowPass pitch_filt
 
Butterworth2LowPass thrust_filt
 
struct FloatMat33 Ga
 
struct FloatMat33 Ga_inv
 
struct FloatVect3 control_increment
 
float filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF
 
float guidance_indi_max_bank = GUIDANCE_H_MAX_BANK
 
float time_of_accel_sp_2d = 0.0
 
float time_of_accel_sp_3d = 0.0
 
struct FloatEulers guidance_euler_cmd
 
float thrust_in
 

Detailed Description

A guidance mode based on Incremental Nonlinear Dynamic Inversion.

Based on the papers: Cascaded Incremental Nonlinear Dynamic Inversion Control for MAV Disturbance Rejection https://www.researchgate.net/publication/312907985_Cascaded_Incremental_Nonlinear_Dynamic_Inversion_Control_for_MAV_Disturbance_Rejection

Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion https://www.researchgate.net/publication/309212603_Gust_Disturbance_Alleviation_with_Incremental_Nonlinear_Dynamic_Inversion

Definition in file guidance_indi.c.

Macro Definition Documentation

◆ GUIDANCE_INDI_ACCEL_SP_ID

#define GUIDANCE_INDI_ACCEL_SP_ID   ABI_BROADCAST

Definition at line 68 of file guidance_indi.c.

◆ GUIDANCE_INDI_FILTER_CUTOFF

#define GUIDANCE_INDI_FILTER_CUTOFF   3.0

Definition at line 105 of file guidance_indi.c.

Function Documentation

◆ accel_sp_cb()

static void accel_sp_cb ( uint8_t  sender_id,
uint8_t  flag,
struct FloatVect3 accel_sp 
)
static

ABI callback that obtains the acceleration setpoint from telemetry flag: 0 -> 2D, 1 -> 3D.

Definition at line 460 of file guidance_indi.c.

References get_sys_time_float(), indi_accel_sp, indi_accel_sp_set_2d, indi_accel_sp_set_3d, time_of_accel_sp_2d, time_of_accel_sp_3d, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_init().

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◆ guidance_indi_calcG()

UNUSED void guidance_indi_calcG ( struct FloatMat33 Gmat)
static
Parameters
Gmatarray to write the matrix to [3x3]

Calculate the matrix of partial derivatives of the roll, pitch and thrust. w.r.t. the NED accelerations for ZYX eulers ddx = G*[dtheta,dphi,dT]

Definition at line 431 of file guidance_indi.c.

References FloatEulers::phi, FloatEulers::psi, RMAT_ELMT, stateGetNedToBodyEulers_f(), mesonh.mesonh_atmosphere::T, and FloatEulers::theta.

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◆ guidance_indi_calcG_yxz()

void guidance_indi_calcG_yxz ( struct FloatMat33 Gmat,
struct FloatEulers euler_yxz 
)
static
Parameters
Gmatarray to write the matrix to [3x3]

Calculate the matrix of partial derivatives of the pitch, roll and thrust. w.r.t. the NED accelerations for YXZ eulers ddx = G*[dtheta,dphi,dT]

Definition at line 403 of file guidance_indi.c.

References FloatEulers::phi, RMAT_ELMT, mesonh.mesonh_atmosphere::T, and FloatEulers::theta.

◆ guidance_indi_enter()

void guidance_indi_enter ( void  )

◆ guidance_indi_init()

void guidance_indi_init ( void  )

Init function.

Definition at line 156 of file guidance_indi.c.

References accel_sp_cb(), accel_sp_ev, DefaultPeriodic, GUIDANCE_INDI_ACCEL_SP_ID, register_periodic_telemetry(), and send_indi_guidance().

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◆ guidance_indi_propagate_filters()

void guidance_indi_propagate_filters ( struct FloatEulers eulers)
static

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

Definition at line 385 of file guidance_indi.c.

References filt_accel_ned, FloatEulers::phi, pitch_filt, roll_filt, stateGetAccelNed_f(), FloatEulers::theta, update_butterworth_2_low_pass(), NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

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◆ guidance_indi_run()

struct StabilizationSetpoint guidance_indi_run ( struct FloatVect3 accel_sp,
float  heading_sp 
)
Parameters
accel_spaccel setpoint in NED frame [m/s^2]
heading_spthe desired heading [rad]
Returns
stabilization setpoint structure

main indi guidance function

Definition at line 169 of file guidance_indi.c.

◆ guidance_indi_run_mode()

struct StabilizationSetpoint guidance_indi_run_mode ( bool in_flight  UNUSED,
struct HorizontalGuidance gh,
struct VerticalGuidance gv,
enum GuidanceIndi_HMode  h_mode,
enum GuidanceIndi_VMode  v_mode 
)

Definition at line 169 of file guidance_indi.c.

◆ send_indi_guidance()

static void send_indi_guidance ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 135 of file guidance_indi.c.

References control_increment, dev, filt_accel_ned, SecondOrderLowPass::o, sp_accel, speed_sp, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by guidance_indi_init().

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Variable Documentation

◆ accel_sp_ev

abi_event accel_sp_ev

Definition at line 70 of file guidance_indi.c.

Referenced by guidance_indi_init().

◆ control_increment

struct FloatVect3 control_increment

Definition at line 114 of file guidance_indi.c.

Referenced by send_indi_guidance().

◆ filt_accel_ned

Butterworth2LowPass filt_accel_ned[3]

◆ filter_cutoff

float filter_cutoff = GUIDANCE_INDI_FILTER_CUTOFF

Definition at line 120 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ Ga

struct FloatMat33 Ga

Definition at line 114 of file guidance_indi.c.

◆ Ga_inv

struct FloatMat33 Ga_inv

Definition at line 114 of file guidance_indi.c.

◆ guidance_euler_cmd

struct FloatEulers guidance_euler_cmd

Definition at line 124 of file guidance_indi.c.

◆ guidance_indi_max_bank

float guidance_indi_max_bank = GUIDANCE_H_MAX_BANK

Definition at line 121 of file guidance_indi.c.

◆ guidance_indi_pos_gain

float guidance_indi_pos_gain = 0.5

Definition at line 58 of file guidance_indi.c.

◆ guidance_indi_speed_gain

float guidance_indi_speed_gain = 1.8

Definition at line 64 of file guidance_indi.c.

◆ indi_accel_sp

struct FloatVect3 indi_accel_sp = {0.0f, 0.0f, 0.0f}

Definition at line 71 of file guidance_indi.c.

Referenced by accel_sp_cb().

◆ indi_accel_sp_set_2d

bool indi_accel_sp_set_2d = false

Definition at line 73 of file guidance_indi.c.

Referenced by accel_sp_cb().

◆ indi_accel_sp_set_3d

bool indi_accel_sp_set_3d = false

Definition at line 74 of file guidance_indi.c.

Referenced by accel_sp_cb().

◆ pitch_filt

Butterworth2LowPass pitch_filt

Definition at line 113 of file guidance_indi.c.

Referenced by guidance_indi_enter(), and guidance_indi_propagate_filters().

◆ roll_filt

Definition at line 112 of file guidance_indi.c.

Referenced by guidance_indi_enter(), and guidance_indi_propagate_filters().

◆ sp_accel

struct FloatVect3 sp_accel = {0.0f, 0.0f, 0.0f}

Definition at line 74 of file guidance_indi.c.

Referenced by send_indi_guidance().

◆ speed_sp

◆ thrust_act

float thrust_act = 0.f

Definition at line 110 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ thrust_dyn

float thrust_dyn = 0.f

Definition at line 109 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ thrust_filt

Butterworth2LowPass thrust_filt

Definition at line 114 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ thrust_in

float thrust_in

Definition at line 127 of file guidance_indi.c.

Referenced by guidance_indi_enter().

◆ time_of_accel_sp_2d

float time_of_accel_sp_2d = 0.0

Definition at line 123 of file guidance_indi.c.

Referenced by accel_sp_cb().

◆ time_of_accel_sp_3d

float time_of_accel_sp_3d = 0.0

Definition at line 124 of file guidance_indi.c.

Referenced by accel_sp_cb().