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

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

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

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

Definition in file energy_ctrl.c.

Macro Definition Documentation

#define AIRSPEED_SETPOINT_SLEW 1

Definition at line 157 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define STALL_AIRSPEED NOMINAL_AIRSPEED

Definition at line 150 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop().

#define V_CTL_ALTITUDE_MAX_CLIMB 2;

Definition at line 145 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 164 of file energy_ctrl.c.

Referenced by v_ctl_init().

#define V_CTL_GLIDE_RATIO 8.

Definition at line 153 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define V_CTL_MAX_ACCELERATION 0.5

Definition at line 160 of file energy_ctrl.c.

Referenced by v_ctl_init().

#define V_CTL_THROTTLE_SLEW 1.

Definition at line 445 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 179 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 184 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 203 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 210 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 319 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 296 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 334 of file energy_ctrl.c.

Referenced by attitude_loop().

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void v_ctl_init ( void )

Definition at line 216 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 450 of file energy_ctrl.c.

Referenced by attitude_loop().

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Variable Documentation

int ac_char_climb_count = 0

Definition at line 171 of file energy_ctrl.c.

float ac_char_climb_max = 0.0f

Definition at line 170 of file energy_ctrl.c.

float ac_char_climb_pitch = 0.0f

Definition at line 169 of file energy_ctrl.c.

int ac_char_cruise_count = 0

Definition at line 177 of file energy_ctrl.c.

float ac_char_cruise_pitch = 0.0f

Definition at line 176 of file energy_ctrl.c.

float ac_char_cruise_throttle = 0.0f

Definition at line 175 of file energy_ctrl.c.

int ac_char_descend_count = 0

Definition at line 174 of file energy_ctrl.c.

float ac_char_descend_max = 0.0f

Definition at line 173 of file energy_ctrl.c.

float ac_char_descend_pitch = 0.0f

Definition at line 172 of file energy_ctrl.c.

abi_event accel_ev

static

Definition at line 139 of file energy_ctrl.c.

struct Int32Vect3 accel_imu_meas

static

Definition at line 137 of file energy_ctrl.c.

Referenced by accel_cb(), and v_ctl_climb_loop().

abi_event body_to_imu_ev

static

Definition at line 140 of file energy_ctrl.c.

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

Definition at line 288 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

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

Definition at line 289 of file energy_ctrl.c.

struct FloatQuat imu_to_body_quat

static

Definition at line 136 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 316 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

in meters per second

Definition at line 121 of file energy_ctrl.c.

Referenced by flight_benchmark_periodic(), gls_run(), send_airspeed(), send_desired(), v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

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().

uint8_t v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE

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().

uint8_t v_ctl_mode = V_CTL_MODE_MANUAL

Definition at line 74 of file energy_ctrl.c.

Referenced by attitude_loop(), h_ctl_pitch_loop(), nav_home(), nav_periodic_task(), nav_skid_landing_glide(), nav_without_gps(), navigation_task(), send_mode(), v_ctl_climb_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().

pprz_t v_ctl_throttle_setpoint

Definition at line 131 of file energy_ctrl.c.

Referenced by attitude_loop(), autopilot_static_on_rc_frame(), h_ctl_roll_loop(), v_ctl_climb_loop(), v_ctl_init(), and v_ctl_throttle_slew().

pprz_t v_ctl_throttle_slewed

Definition at line 132 of file energy_ctrl.c.

Referenced by attitude_loop(), send_bat(), and v_ctl_throttle_slew().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation