82 #include "generated/airframe.h"
102 #ifndef ONELOOP_ANDI_NUM_THRUSTERS
108 #ifndef ONELOOP_ANDI_SCHEDULING
109 #define ONELOOP_ANDI_SCHEDULING FALSE
112 #ifdef ONELOOP_ANDI_FILT_CUTOFF
118 #ifdef ONELOOP_ANDI_FILT_CUTOFF_ACC
124 #ifdef ONELOOP_ANDI_FILT_CUTOFF_VEL
130 #ifdef ONELOOP_ANDI_FILT_CUTOFF_POS
136 #ifdef ONELOOP_ANDI_FILT_CUTOFF_P
137 #define ONELOOP_ANDI_FILTER_ROLL_RATE TRUE
143 #ifdef ONELOOP_ANDI_FILT_CUTOFF_Q
144 #define ONELOOP_ANDI_FILTER_PITCH_RATE TRUE
150 #ifdef ONELOOP_ANDI_FILT_CUTOFF_R
151 #define ONELOOP_ANDI_FILTER_YAW_RATE TRUE
160 float max_r = RadOfDeg(MAX_R);
163 #ifdef ONELOOP_ANDI_ACT_IS_SERVO
169 #ifdef ONELOOP_ANDI_ACT_DYN
172 #error "You must specify the actuator dynamics"
176 #ifdef ONELOOP_ANDI_ACT_MAX
182 #ifdef ONELOOP_ANDI_ACT_MIN
188 #ifdef ONELOOP_ANDI_ACT_MAX_NORM
194 #ifdef ONELOOP_ANDI_ACT_MIN_NORM
200 #ifdef ONELOOP_ANDI_NU_NORM_MAX
206 #ifdef ONELOOP_ANDI_WV
214 #ifdef ONELOOP_ANDI_WU
220 #ifdef ONELOOP_ANDI_U_PREF
226 #ifndef ONELOOP_ANDI_DEBUG_MODE
227 #define ONELOOP_ANDI_DEBUG_MODE FALSE
231 #define ONELOOP_ANDI_MAX_BANK act_max[COMMAND_ROLL]
232 #define ONELOOP_ANDI_MAX_PHI act_max[COMMAND_ROLL]
234 #define ONELOOP_ANDI_MAX_THETA act_max[COMMAND_PITCH]
236 #ifndef ONELOOP_THETA_PREF_MAX
242 #if ANDI_NUM_ACT_TOT != WLS_N_U
243 #error Matrix-WLS_N_U is not equal to the number of actuators: define WLS_N_U == ANDI_NUM_ACT_TOT in airframe file
244 #define WLS_N_U == ANDI_NUM_ACT_TOT
246 #if ANDI_OUTPUTS != WLS_N_V
247 #error Matrix-WLS_N_V is not equal to the number of controlled axis: define WLS_N_V == ANDI_OUTPUTS in airframe file
248 #define WLS_N_V == ANDI_OUTPUTS
251 #ifndef ONELOOP_ANDI_AIRSPEED_SWITCH_THRESHOLD
252 #define ONELOOP_ANDI_AIRSPEED_SWITCH_THRESHOLD 10.0
256 #ifdef NAV_HYBRID_MAX_DECELERATION
262 #ifdef ONELOOP_MAX_JERK
268 #ifdef ONELOOP_MAX_ANGULAR_JERK
269 float max_j_ang = ONELOOP_MAX_ANGULAR_JERK;
274 #ifdef NAV_HYBRID_MAX_AIRSPEED
281 #ifdef NAV_HYBRID_MAX_SPEED_V
286 #ifndef FWD_SIDESLIP_GAIN
303 void err_nd(
float err[],
float a[],
float b[],
float k[],
int n);
304 void err_sum_nd(
float err[],
float a[],
float b[],
float k[],
float c[],
int n);
305 void integrate_nd(
float dt,
float a[],
float a_dot[],
int n);
308 float bound_v_from_a(
float e_x[],
float v_bound,
float a_bound,
int n);
309 void rm_2nd(
float dt,
float* x_ref,
float* x_d_ref,
float* x_2d_ref,
float x_des,
float k1_rm,
float k2_rm);
310 void rm_3rd(
float dt,
float* x_ref,
float* x_d_ref,
float* x_2d_ref,
float* x_3d_ref,
float x_des,
float k1_rm,
float k2_rm,
float k3_rm);
311 void rm_3rd_head(
float dt,
float* x_ref,
float* x_d_ref,
float* x_2d_ref,
float* x_3d_ref,
float x_des,
float k1_rm,
float k2_rm,
float k3_rm);
312 void rm_3rd_attitude(
float dt,
float x_ref[3],
float x_d_ref[3],
float x_2d_ref[3],
float x_3d_ref[3],
float x_des[3],
bool ow_psi,
float psi_overwrite[4],
float k1_rm[3],
float k2_rm[3],
float k3_rm[3],
float max_ang_jerk);
313 void rm_3rd_pos(
float dt,
float x_ref[],
float x_d_ref[],
float x_2d_ref[],
float x_3d_ref[],
float x_des[],
float k1_rm[],
float k2_rm[],
float k3_rm[],
float x_d_bound,
float x_2d_bound,
float x_3d_bound,
int n);
314 void rm_2nd_pos(
float dt,
float x_d_ref[],
float x_2d_ref[],
float x_3d_ref[],
float x_d_des[],
float k2_rm[],
float k3_rm[],
float x_2d_bound,
float x_3d_bound,
int n);
315 void rm_1st_pos(
float dt,
float x_2d_ref[],
float x_3d_ref[],
float x_2d_des[],
float k3_rm[],
float x_3d_bound,
int n);
316 void ec_3rd_att(
float y_4d[3],
float x_ref[3],
float x_d_ref[3],
float x_2d_ref[3],
float x_3d_ref[3],
float x[3],
float x_d[3],
float x_2d[3],
float k1_e[3],
float k2_e[3],
float k3_e[3],
float max_ang_jerk);
317 void ec_3rd_pos(
float y_4d[],
float x_ref[],
float x_d_ref[],
float x_2d_ref[],
float x_3d_ref[],
float x[],
float x_d[],
float x_2d[],
float k1_e[],
float k2_e[],
float k3_e[],
float x_d_bound,
float x_2d_bound,
float x_3d_bound,
int n);
321 void chirp_pos(
float time_elapsed,
float f0,
float f1,
float t_chirp,
float A,
int8_t n,
float psi,
float p_ref[],
float v_ref[],
float a_ref[],
float j_ref[],
float p_ref_0[]);
322 void chirp_call(
bool*
chirp_on,
bool*
chirp_first_call,
float*
t_0_chirp,
float* time_elapsed,
float f0,
float f1,
float t_chirp,
float A,
int8_t n,
float psi,
float p_ref[],
float v_ref[],
float a_ref[],
float j_ref[],
float p_ref_0[]);
331 static float dt_1l = 1./PERIODIC_FREQUENCY;
332 static float g = 9.81;
355 static float psi_vec[4] = {0.0, 0.0, 0.0, 0.0};
425 #if PERIODIC_TELEMETRY
431 pprz_msg_send_EFF_MAT_STAB(trans,
dev, AC_ID,
441 pprz_msg_send_EFF_MAT_GUID(trans,
dev, AC_ID,
448 pprz_msg_send_STAB_ATTITUDE(trans,
dev, AC_ID,
462 pprz_msg_send_GUIDANCE(trans,
dev, AC_ID,
486 static void debug_vect(
struct transport_tx *trans,
struct link_device *
dev,
char *name,
float *data,
int datasize)
488 pprz_msg_send_DEBUG_VECT(trans,
dev, AC_ID,
495 float temp_debug_vect[7];
502 temp_debug_vect[6] =
RW.
as;
510 if (input < FLT_EPSILON) {
521 return (omega * omega);
527 return (2* zeta * omega);
533 return (omega_n * omega_n * p1);
540 return (omega_n * omega_n + 2 * zeta * omega_n * p1);
547 return (2 * zeta * omega_n + p1);
552 static float k_rm_1_3_f(
float omega_n,
float zeta,
float p1) {
556 return (omega_n * omega_n * p1) / (omega_n * omega_n + omega_n * p1 * zeta * 2.0);
559 static float k_rm_2_3_f(
float omega_n,
float zeta,
float p1) {
563 return (omega_n * omega_n + omega_n * p1 * zeta * 2.0) / (p1 + omega_n * zeta * 2.0);
566 static float k_rm_3_3_f(
float omega_n,
float zeta,
float p1) {
570 return p1 + omega_n * zeta * 2.0;
576 float sphi = sinf(e[0]);
577 float cphi = cosf(e[0]);
578 float stheta = sinf(e[1]);
579 float ctheta = cosf(e[1]);
580 r[0] = edot[0] - stheta * edot[2];
581 r[1] = cphi * edot[1] + sphi * ctheta * edot[2];
582 r[2] = -sphi * edot[1] + cphi * ctheta * edot[2];
588 float sphi = sinf(e[0]);
589 float cphi = cosf(e[0]);
590 float stheta = sinf(e[1]);
591 float ctheta = cosf(e[1]);
592 if (fabs(ctheta) < FLT_EPSILON){
593 ctheta = FLT_EPSILON;
595 edot[0] = r[0] + sphi*stheta/ctheta*r[1] + cphi*stheta/ctheta*r[2];
596 edot[1] = cphi*r[1] - sphi*r[2];
597 edot[2] = sphi/ctheta*r[1] + cphi/ctheta*r[2];
601 void err_nd(
float err[],
float a[],
float b[],
float k[],
int n)
604 for (i = 0; i < n; i++) {
605 err[i] = k[i] * (a[i] -
b[i]);
610 void err_sum_nd(
float err[],
float a[],
float b[],
float k[],
float c[],
int n)
613 for (i = 0; i < n; i++) {
614 err[i] = k[i] * (a[i] -
b[i]);
623 for (i = 0; i < n; i++) {
624 a[i] = a[i] + dt * a_dot[i];
632 if((norm-bound) > FLT_EPSILON) {
633 float scale = bound/norm;
635 for(i = 0; i < n; i++) {
644 float v[2] = {vect->
x, vect->
y};
647 if((norm-bound) > FLT_EPSILON) {
648 v[0] =
Min(v[0], bound);
649 float acc_b_y_2 = bound*bound - v[0]*v[0];
651 v[1] = sqrtf(acc_b_y_2);
660 norm = fmaxf(norm, 1.0);
661 float v_bound_a = sqrtf(fabs(2.0 * a_bound * norm));
662 return fminf(v_bound, v_bound_a);
679 void rm_3rd_attitude(
float dt,
float x_ref[3],
float x_d_ref[3],
float x_2d_ref[3],
float x_3d_ref[3],
float x_des[3],
bool ow_psi,
float psi_overwrite[4],
float k1_rm[3],
float k2_rm[3],
float k3_rm[3],
float max_ang_jerk){
684 float x_d_eul_ref[3];
685 err_nd(e_x, x_des, x_ref, k1_rm, 3);
686 float temp_diff = x_des[2] - x_ref[2];
687 NormRadAngle(temp_diff);
688 e_x[2] = k1_rm[2] * temp_diff;
690 err_nd(e_x_d, e_x_rates, x_d_ref, k2_rm, 3);
691 err_nd(e_x_2d, e_x_d, x_2d_ref, k3_rm, 3);
694 if(ow_psi){x_3d_ref[2] = psi_overwrite[3];}
696 if(ow_psi){x_2d_ref[2] = psi_overwrite[2];}
698 if(ow_psi){x_d_ref[2] = psi_overwrite[1];}
701 if(ow_psi){x_ref[2] = psi_overwrite[0];}
702 NormRadAngle(x_ref[2]);
720 void rm_3rd(
float dt,
float* x_ref,
float* x_d_ref,
float* x_2d_ref,
float* x_3d_ref,
float x_des,
float k1_rm,
float k2_rm,
float k3_rm){
721 float e_x = k1_rm * (x_des- *x_ref);
722 float e_x_d = k2_rm * (e_x- *x_d_ref);
723 float e_x_2d = k3_rm * (e_x_d- *x_2d_ref);
725 *x_2d_ref = (*x_2d_ref + dt * (*x_3d_ref));
726 *x_d_ref = (*x_d_ref + dt * (*x_2d_ref));
727 *x_ref = (*x_ref + dt * (*x_d_ref ));
742 void rm_3rd_head(
float dt,
float* x_ref,
float* x_d_ref,
float* x_2d_ref,
float* x_3d_ref,
float x_des,
float k1_rm,
float k2_rm,
float k3_rm){
743 float temp_diff = x_des - *x_ref;
744 NormRadAngle(temp_diff);
745 float e_x = k1_rm * temp_diff;
746 float e_x_d = k2_rm * (e_x- *x_d_ref);
747 float e_x_2d = k3_rm * (e_x_d- *x_2d_ref);
749 *x_2d_ref = (*x_2d_ref + dt * (*x_3d_ref));
750 *x_d_ref = (*x_d_ref + dt * (*x_2d_ref));
751 *x_ref = (*x_ref + dt * (*x_d_ref ));
770 void rm_3rd_pos(
float dt,
float x_ref[],
float x_d_ref[],
float x_2d_ref[],
float x_3d_ref[],
float x_des[],
float k1_rm[],
float k2_rm[],
float k3_rm[],
float x_d_bound,
float x_2d_bound,
float x_3d_bound,
int n){
774 err_nd(e_x, x_des, x_ref, k1_rm, n);
777 err_nd(e_x_d, e_x, x_d_ref, k2_rm, n);
779 err_nd(e_x_2d, e_x_d, x_2d_ref, k3_rm, n);
800 void rm_2nd_pos(
float dt,
float x_d_ref[],
float x_2d_ref[],
float x_3d_ref[],
float x_d_des[],
float k2_rm[],
float k3_rm[],
float x_2d_bound,
float x_3d_bound,
int n){
803 err_nd(e_x_d, x_d_des, x_d_ref, k2_rm, n);
805 err_nd(e_x_2d, e_x_d, x_2d_ref, k3_rm, n);
822 void rm_1st_pos(
float dt,
float x_2d_ref[],
float x_3d_ref[],
float x_2d_des[],
float k3_rm[],
float x_3d_bound,
int n){
824 err_nd(e_x_2d, x_2d_des, x_2d_ref, k3_rm, n);
843 void rm_2nd(
float dt,
float* x_ref,
float* x_d_ref,
float* x_2d_ref,
float x_des,
float k1_rm,
float k2_rm){
844 float e_x = k1_rm * (x_des- *x_ref);
845 float e_x_d = k2_rm * (e_x- *x_d_ref);
847 *x_d_ref = (*x_d_ref + dt * (*x_2d_ref));
848 *x_ref = (*x_ref + dt * (*x_d_ref ));
866 static float ec_3rd(
float x_ref,
float x_d_ref,
float x_2d_ref,
float x_3d_ref,
float x,
float x_d,
float x_2d,
float k1_e,
float k2_e,
float k3_e){
867 float y_4d = k1_e*(x_ref-x)+k2_e*(x_d_ref-x_d)+k3_e*(x_2d_ref-x_2d)+x_3d_ref;
870 void ec_3rd_pos(
float y_4d[],
float x_ref[],
float x_d_ref[],
float x_2d_ref[],
float x_3d_ref[],
float x[],
float x_d[],
float x_2d[],
float k1_e[],
float k2_e[],
float k3_e[],
float x_d_bound,
float x_2d_bound,
float x_3d_bound,
int n){
874 err_sum_nd(e_x_d, x_ref, x, k1_e, x_d_ref, n);
877 err_sum_nd(e_x_2d, e_x_d, x_d, k2_e, x_2d_ref, n);
880 err_sum_nd(y_4d, e_x_2d, x_2d, k3_e, x_3d_ref, n);
898 void ec_3rd_att(
float y_4d[3],
float x_ref[3],
float x_d_ref[3],
float x_2d_ref[3],
float x_3d_ref[3],
float x[3],
float x_d[3],
float x_2d[3],
float k1_e[3],
float k2_e[3],
float k3_e[3],
float max_ang_jerk){
902 err_nd(y_4d_1, x_ref, x, k1_e, 3);
903 float temp_diff = x_ref[2] - x[2];
904 NormRadAngle(temp_diff);
905 float e_x = temp_diff;
906 y_4d_1[2] = k1_e[2] * e_x;
907 err_nd(y_4d_2, x_d_ref, x_d, k2_e, 3);
908 err_nd(y_4d_3, x_2d_ref, x_2d, k3_e, 3);
923 static float w_approx(
float p1,
float p2,
float p3,
float rm_k){
928 float tao = (p1*p2+p1*p3+p2*p3)/(p1*p2*p3)/(rm_k);
940 float slow_pole = 15.1;
986 float max_wind = 20.0;
1095 float sample_time = 1.0 / PERIODIC_FREQUENCY;
1099 for (i = 0; i < 3; i++) {
1127 float rate_vect[3] = {body_rates->
p, body_rates->
q, body_rates->
r};
1137 for (i = 0; i < 3; i++) {
1152 Bound(airspeed_meas, 0.0, 30.0);
1197 #if PERIODIC_TELEMETRY
1258 float thrust_cmd_1l = 0.0;
1275 BoundAbs(des_r,
max_r);
1276 float delta_psi_des_rad = des_r *
dt_1l;
1278 NormRadAngle(delta_psi_rad);
1279 if (fabs(delta_psi_rad) > RadOfDeg(30.0)){
1280 delta_psi_des_rad = 0.0;
1285 if (!in_flight_oneloop){
1297 rm_3rd_attitude(
dt_1l,
oneloop_andi.
sta_ref.
att,
oneloop_andi.
sta_ref.
att_d,
oneloop_andi.
sta_ref.
att_2d,
oneloop_andi.
sta_ref.
att_3d, att_des,
false,
psi_vec,
k_att_rm.
k1,
k_att_rm.
k2,
k_att_rm.
k3,
max_j_ang);
1303 if (rm_order_h == 3){
1304 rm_3rd_pos(
dt_1l,
oneloop_andi.
gui_ref.
pos,
oneloop_andi.
gui_ref.
vel,
oneloop_andi.
gui_ref.
acc,
oneloop_andi.
gui_ref.
jer,
nav_target,
k_pos_rm.
k1,
k_pos_rm.
k2,
k_pos_rm.
k3,
max_v_nav,
max_a_nav,
max_j_nav, 2);
1305 }
else if (rm_order_h == 2){
1311 }
else if (rm_order_h == 1){
1326 if (ref_mag_vel > 3.0){
1329 NormRadAngle(delta_des_gs);
1330 if (fabs(delta_des_gs) > RadOfDeg(60.0)){
1331 delta_des_gs *= RadOfDeg(60.0)/fabs(delta_des_gs);
1338 if (!in_flight_oneloop){
1348 float single_value_nav_target[1] = {
nav_target[2]};
1349 float single_value_k1_rm[1] = {
k_pos_rm.
k1[2]};
1350 float single_value_k2_rm[1] = {
k_pos_rm.
k2[2]};
1351 float single_value_k3_rm[1] = {
k_pos_rm.
k3[2]};
1352 if (rm_order_v == 3){
1353 rm_3rd_pos(
dt_1l, single_value_ref, single_value_d_ref, single_value_2d_ref, single_value_3d_ref, single_value_nav_target, single_value_k1_rm, single_value_k2_rm, single_value_k3_rm,
max_v_nav_v,
max_a_nav,
max_j_nav, 1);
1358 }
else if (rm_order_v == 2){
1359 rm_2nd_pos(
dt_1l, single_value_d_ref, single_value_2d_ref, single_value_3d_ref, single_value_nav_target, single_value_k2_rm, single_value_k3_rm,
max_a_nav,
max_j_nav, 1);
1364 }
else if (rm_order_v == 1){
1365 rm_1st_pos(
dt_1l, single_value_2d_ref, single_value_3d_ref, single_value_nav_target, single_value_k3_rm,
max_j_nav, 1);
1372 chirp_call(&
chirp_on, &
chirp_first_call, &
t_0_chirp, &
time_elapsed_chirp,
f0_chirp,
f1_chirp,
t_chirp,
A_chirp,
chirp_axis, att_des[2],
oneloop_andi.
gui_ref.
pos,
oneloop_andi.
gui_ref.
vel,
oneloop_andi.
gui_ref.
acc,
oneloop_andi.
gui_ref.
jer,
p_ref_0);
1375 bool ow_psi =
false;
1376 rm_3rd_attitude(
dt_1l,
oneloop_andi.
sta_ref.
att,
oneloop_andi.
sta_ref.
att_d,
oneloop_andi.
sta_ref.
att_2d,
oneloop_andi.
sta_ref.
att_3d, att_des, ow_psi,
psi_vec,
k_att_rm.
k1,
k_att_rm.
k2,
k_att_rm.
k3,
max_j_ang);
1403 bool in_flight_oneloop =
false;
1406 in_flight_oneloop =
true;
1409 in_flight_oneloop =
false;
1448 oneloop_andi_RM(half_loop, PSA_des, rm_order_h, rm_order_v, in_flight_oneloop);
1457 ec_3rd_pos(
nu,
oneloop_andi.
gui_ref.
pos,
oneloop_andi.
gui_ref.
vel,
oneloop_andi.
gui_ref.
acc,
oneloop_andi.
gui_ref.
jer,
oneloop_andi.
gui_state.
pos,
oneloop_andi.
gui_state.
vel,
oneloop_andi.
gui_state.
acc,
k_pos_e.
k1,
k_pos_e.
k2,
k_pos_e.
k3,
max_v_nav,
max_a_nav,
max_j_nav, 3);
1470 ec_3rd_att(y_4d_att,
oneloop_andi.
sta_ref.
att,
oneloop_andi.
sta_ref.
att_d,
oneloop_andi.
sta_ref.
att_2d,
oneloop_andi.
sta_ref.
att_3d,
oneloop_andi.
sta_state.
att,
oneloop_andi.
sta_state.
att_d,
oneloop_andi.
sta_state.
att_2d,
k_att_e.
k1,
k_att_e.
k2,
k_att_e.
k3,
max_j_ang);
1472 float dummy0[3] = {0.0, 0.0, 0.0};
1473 ec_3rd_att(y_4d_att,
oneloop_andi.
sta_ref.
att,
oneloop_andi.
sta_ref.
att_d,
oneloop_andi.
sta_ref.
att_2d, dummy0,
oneloop_andi.
sta_state.
att,
oneloop_andi.
sta_state.
att_d,
oneloop_andi.
sta_state.
att_2d,
k_att_e_indi.
k1,
k_att_e_indi.
k2,
k_att_e_indi.
k3,
max_j_ang);
1475 nu[3] = y_4d_att[0];
1476 nu[4] = y_4d_att[1];
1487 case COMMAND_MOTOR_FRONT:
1488 case COMMAND_MOTOR_RIGHT:
1489 case COMMAND_MOTOR_BACK:
1490 case COMMAND_MOTOR_LEFT:
1501 case COMMAND_MOTOR_PUSHER:
1502 case COMMAND_RUDDER:
1507 case COMMAND_AILERONS:
1527 case COMMAND_ELEVATOR:
1553 number_iter =
wls_alloc(
andi_du_n,
nu_n,
du_min_1l,
du_max_1l,
bwls_1l, 0, 0,
Wv_wls,
Wu,
du_pref_1l,
gamma_wls, 10,
ANDI_NUM_ACT_TOT,
ANDI_OUTPUTS);
1558 if (in_flight_oneloop) {
1570 #ifdef COMMAND_MOTOR_PUSHER
1609 float prev_actuator_state_1l;
1630 case (COMMAND_MOTOR_FRONT):
1631 case (COMMAND_MOTOR_RIGHT):
1632 case (COMMAND_MOTOR_BACK):
1633 case (COMMAND_MOTOR_LEFT):
1634 case (COMMAND_MOTOR_PUSHER):
1635 case (COMMAND_ELEVATOR):
1636 case (COMMAND_RUDDER):
1637 case (COMMAND_AILERONS):
1638 case (COMMAND_FLAPS):
1645 case (COMMAND_ROLL):
1646 case (COMMAND_PITCH):
1690 ratio_u_un[i] = ratio_numerator/ratio_denominator;
1695 float ratio_denominator = 1.0;
1701 ratio_vn_v[i] = ratio_numerator/ratio_denominator;
1707 ratio_vn_v[i] = ratio_numerator/ratio_denominator;
1737 model_pred[0] = -(cpsi * stheta + ctheta * sphi * spsi) *
T + (cpsi * ctheta - sphi * spsi * stheta) *
P - sphi * spsi * L;
1738 model_pred[1] = -(spsi * stheta - cpsi * ctheta * sphi) *
T + (ctheta * spsi + cpsi * sphi * stheta) *
P + cpsi * sphi * L;
1739 model_pred[2] =
g - cphi * ctheta *
T - cphi * stheta *
P - cphi * L;
1743 if(j == COMMAND_ELEVATOR){
1798 Bound(airspeed_turn, 1.0f, 30.0f);
1805 BoundAbs(coordinated_turn_roll, max_phi);
1806 omega =
g / airspeed_turn * tanf(coordinated_turn_roll);
1807 #ifdef FWD_SIDESLIP_GAIN
1816 float p_ref_fun = sinf(delta_t * M_PI * (f0 + k * delta_t) * 2.0);
1817 return (
A * p_ref_fun);
1821 float v_ref_fun = cosf(delta_t * M_PI * (f0 + k * delta_t) * 2.0) * (M_PI * (f0 + k * delta_t) * 2.0 + k * delta_t * M_PI * 2.0);
1822 return (
A * v_ref_fun);
1826 float a_ref_fun = -sinf(delta_t * M_PI * (f0 + k * delta_t) * 2.0) * pow((M_PI * (f0 + k * delta_t) * 2.0 + k * delta_t * M_PI * 2.0), 2) + k * M_PI * cosf(delta_t * M_PI * (f0 + k * delta_t) * 2.0) * 4.0;
1827 return (
A * a_ref_fun);
1831 float j_ref_fun = -cosf(delta_t * M_PI * (f0 + k * delta_t) * 2.0) * pow((M_PI * (f0 + k * delta_t) * 2.0 + k * delta_t * M_PI * 2.0), 3) - k * M_PI * sinf(delta_t * M_PI * (f0 + k * delta_t) * 2.0) * (M_PI * (f0 + k * delta_t) * 2.0 + k * delta_t * M_PI * 2.0) * 1.2e+1;
1832 return (
A * j_ref_fun);
1846 void chirp_pos(
float time_elapsed,
float f0,
float f1,
float t_chirp,
float A,
int8_t n,
float psi,
float p_ref[],
float v_ref[],
float a_ref[],
float j_ref[],
float p_ref_0[]) {
1851 if ((f1-f0) < -FLT_EPSILON){
1862 float k = (f1 - f0) /
t_chirp;
1868 float spsi = sinf(psi);
1869 float cpsi = cosf(psi);
1888 p_ref[2] =
p_ref_0[2] + p_ref_chirp * mult_2;
1889 v_ref[2] = v_ref_chirp * mult_2;
1890 a_ref[2] = a_ref_chirp * mult_2;
1891 j_ref[2] = j_ref_chirp * mult_2;
1893 p_ref[0] =
p_ref_0[0] + p_ref_chirp * mult_0;
1894 p_ref[1] =
p_ref_0[1] + p_ref_chirp * mult_1;
1895 v_ref[0] = v_ref_chirp * mult_0;
1896 v_ref[1] = v_ref_chirp * mult_1;
1897 a_ref[0] = a_ref_chirp * mult_0;
1898 a_ref[1] = a_ref_chirp * mult_1;
1899 j_ref[0] = j_ref_chirp * mult_0;
1900 j_ref[1] = j_ref_chirp * mult_1;
1904 float pitch_offset = RadOfDeg(5.0);
1910 void chirp_call(
bool *
chirp_on,
bool *
chirp_first_call,
float* t_0,
float* time_elapsed,
float f0,
float f1,
float t_chirp,
float A,
int8_t n,
float psi,
float p_ref[],
float v_ref[],
float a_ref[],
float j_ref[],
float p_ref_0[]){
1913 *time_elapsed = 0.0;
1922 chirp_pos(*time_elapsed, f0, f1,
t_chirp,
A, n, psi, p_ref, v_ref, a_ref, j_ref,
p_ref_0);
1926 *time_elapsed = 0.0;
1942 float cpsi = cosf(psi);
1943 float spsi = sinf(psi);
1947 struct FloatVect2 airspeed_v = { cpsi * airspeed, spsi * airspeed };
1953 VECT2_DIFF(windspeed, groundspeed, airspeed_v);
1964 float groundspeed_factor = 0.0f;
1967 float av = NT_v_NE.
x * NT_v_NE.
x + NT_v_NE.
y * NT_v_NE.
y;
1968 float bv = -2.f * (windspeed.
x * NT_v_NE.
x + windspeed.
y * NT_v_NE.
y);
1969 float cv = windspeed.
x * windspeed.
x + windspeed.
y * windspeed.
y -
max_as *
max_as;
1970 float dv = bv * bv - 4.0f * av * cv;
1975 float d_sqrt = sqrtf(dv);
1976 groundspeed_factor = (-bv + d_sqrt) / (2.0f * av);
1978 des_as_NE.
x = groundspeed_factor * NT_v_NE.
x - windspeed.
x;
1979 des_as_NE.
y = groundspeed_factor * NT_v_NE.
y - windspeed.
y;
1980 NT_v_NE.
x = groundspeed_factor * NT_v_NE.
x;
1981 NT_v_NE.
y = groundspeed_factor * NT_v_NE.
y;
1986 des_as_B.
x = norm_des_as;
1990 float delta_psi = atan2f(des_as_NE.
y, des_as_NE.
x) - psi;
1992 des_acc_B.
y = delta_psi * 5.0;
1993 des_acc_B.
x = (des_as_B.
x - airspeed) *
k_pos_rm.
k2[0];
Main include for ABI (AirBorneInterface).
struct pprz_autopilot autopilot
Global autopilot structure.
bool autopilot_get_motors_on(void)
get motors status
pprz_t throttle
throttle level as will be displayed in GCS
uint8_t mode
current autopilot mode
pprz_t commands[COMMANDS_NB]
Hardware independent code for commands handling.
static const float scale[]
float G2_RW[EFF_MAT_COLS_NB]
float EFF_MAT_RW[EFF_MAT_ROWS_NB][EFF_MAT_COLS_NB]
Device independent GPS code (interface)
#define FLOAT_ANGLE_NORMALIZE(_a)
static void float_vect_sum(float *o, const float *a, const float *b, const int n)
o = a + b
static void float_vect_zero(float *a, const int n)
a = 0
static void float_vect_copy(float *a, const float *b, const int n)
a = b
void float_eulers_of_quat_zxy(struct FloatEulers *e, struct FloatQuat *q)
euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch
static float float_vect_norm(const float *a, const int n)
||a||
#define FLOAT_VECT2_NORM(_v)
#define VECT2_DIFF(_c, _a, _b)
#define POS_FLOAT_OF_BFP(_ai)
#define SPEED_FLOAT_OF_BFP(_ai)
#define POS_BFP_OF_REAL(_af)
#define ACCEL_FLOAT_OF_BFP(_ai)
#define SPEED_BFP_OF_REAL(_af)
static struct NedCoor_f * stateGetAccelNed_f(void)
Get acceleration in NED coordinates (float).
static struct FloatQuat * stateGetNedToBodyQuat_f(void)
Get vehicle body attitude quaternion (float).
static struct NedCoor_f * stateGetPositionNed_f(void)
Get position in local NED coordinates (float).
static struct FloatRates * stateGetBodyRates_f(void)
Get vehicle body angular rate (float).
static struct NedCoor_f * stateGetSpeedNed_f(void)
Get ground speed in local NED coordinates (float).
static struct Int32Vect3 * stateGetAccelBody_i(void)
Get acceleration in Body coordinates (int).
static float stateGetAirspeed_f(void)
Get airspeed (float).
Integrated Navigation System interface.
Simple first order low pass filter with bilinear transform.
static void init_butterworth_2_low_pass(Butterworth2LowPass *filter, float tau, float sample_time, float value)
Init a second order Butterworth filter.
static float update_butterworth_2_low_pass(Butterworth2LowPass *filter, float value)
Update second order Butterworth low pass filter state with a new value.
Second order low pass filter structure.
Hardware independent API for actuators (servos, motor controllers).
#define NAV_HYBRID_MAX_AIRSPEED
float nav_hybrid_max_bank
float nav_hybrid_pos_gain
#define NAV_HYBRID_MAX_DECELERATION
Specific navigation functions for hybrid aircraft.
static float k_e_3_3_f_v2(float omega_n, float zeta, float p1)
static float w_approx(float p1, float p2, float p3, float rm_k)
Third Order to First Order Dynamics Approximation.
#define ONELOOP_ANDI_MAX_THETA
void init_poles(void)
Initialize Position of Poles.
struct PolePlacement p_pos_e
static float du_pref_1l[ANDI_NUM_ACT_TOT]
void chirp_pos(float time_elapsed, float f0, float f1, float t_chirp, float A, int8_t n, float psi, float p_ref[], float v_ref[], float a_ref[], float j_ref[], float p_ref_0[])
Reference Model Definition for 3rd order system specific to positioning with bounds.
static Butterworth2LowPass accely_filt
static Butterworth2LowPass model_pred_la_filt[3]
float act_dynamics[ANDI_NUM_ACT_TOT]
float ratio_u_un[ANDI_NUM_ACT_TOT]
void init_filter(void)
Initialize the filters.
struct PolePlacement p_head_rm
void oneloop_andi_RM(bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v, bool in_flight_oneloop)
Function to generate the reference signals for the oneloop controller.
void oneloop_andi_enter(bool half_loop_sp, int ctrl_type)
Function that resets important values upon engaging Oneloop ANDI.
static Butterworth2LowPass airspeed_filt
static float k_e_2_3_f_v2(float omega_n, float zeta, float p1)
static float k_e_1_2_f_v2(float omega, float zeta)
Error Controller Gain Design.
float act_max_norm[ANDI_NUM_ACT_TOT]
struct Gains3rdOrder k_att_rm
void float_euler_dot_of_rates_vec(float r[3], float e[3], float edot[3])
Attitude Euler to Rates Conversion Function.
float oneloop_andi_filt_cutoff_v
struct FloatEulers eulers_zxy_des
static float du_min_1l[ANDI_NUM_ACT_TOT]
static float du_max_1l[ANDI_NUM_ACT_TOT]
struct Int32Eulers stab_att_sp_euler_1l
struct PolePlacement p_att_rm
static float ec_3rd(float x_ref, float x_d_ref, float x_2d_ref, float x_3d_ref, float x, float x_d, float x_2d, float k1_e, float k2_e, float k3_e)
Error Controller Definition for 3rd order system.
static float Wv_wls[ANDI_OUTPUTS]
static float k_rm_3_3_f(float omega_n, float zeta, float p1)
struct Gains3rdOrder k_att_e
float EFF_MAT_G[ANDI_OUTPUTS][ANDI_NUM_ACT_TOT]
static float model_pred[ANDI_OUTPUTS]
void rm_1st_pos(float dt, float x_2d_ref[], float x_3d_ref[], float x_2d_des[], float k3_rm[], float x_3d_bound, int n)
Reference Model Definition for 3rd order system specific to positioning with bounds.
void oneloop_andi_propagate_filters(void)
Propagate the filters.
struct Gains3rdOrder k_pos_e
bool actuator_is_servo[ANDI_NUM_ACT_TOT]
float oneloop_andi_sideslip(void)
Function to calculate corrections for sideslip.
float num_thrusters_oneloop
static float act_dynamics_d[ANDI_NUM_ACT_TOT]
float act_min_norm[ANDI_NUM_ACT_TOT]
#define ONELOOP_ANDI_DEBUG_MODE
float oneloop_andi_filt_cutoff_q
float oneloop_andi_filt_cutoff_a
static float chirp_pos_j_ref(float delta_t, float f0, float k, float A)
Function to calculate the jerk reference during the chirp.
#define ONELOOP_ANDI_MAX_PHI
static Butterworth2LowPass filt_veloc_ned[3]
void oneloop_from_nav(bool in_flight)
Function that maps navigation inputs to the oneloop controller for the generated autopilot.
struct PolePlacement p_alt_rm
void ec_3rd_att(float y_4d[3], float x_ref[3], float x_d_ref[3], float x_2d_ref[3], float x_3d_ref[3], float x[3], float x_d[3], float x_2d[3], float k1_e[3], float k2_e[3], float k3_e[3], float max_ang_jerk)
Error Controller Definition for 3rd order system specific to attitude.
static float positive_non_zero(float input)
Function to make sure that inputs are positive non zero vaues.
static void send_eff_mat_stab_oneloop_andi(struct transport_tx *trans, struct link_device *dev)
void rm_3rd(float dt, float *x_ref, float *x_d_ref, float *x_2d_ref, float *x_3d_ref, float x_des, float k1_rm, float k2_rm, float k3_rm)
Reference Model Definition for 3rd order system.
float andi_u[ANDI_NUM_ACT_TOT]
void calc_normalization(void)
Calculate Normalization of actuators and discrete actuator dynamics
static float model_pred_ar[3]
struct Gains3rdOrder k_pos_e_indi
void oneloop_andi_run(bool in_flight, bool half_loop, struct FloatVect3 PSA_des, int rm_order_h, int rm_order_v)
Main function that runs the controller and performs control allocation.
struct PolePlacement p_att_e
static void send_eff_mat_guid_oneloop_andi(struct transport_tx *trans, struct link_device *dev)
static void debug_vect(struct transport_tx *trans, struct link_device *dev, char *name, float *data, int datasize)
struct PolePlacement p_alt_e
void rm_2nd_pos(float dt, float x_d_ref[], float x_2d_ref[], float x_3d_ref[], float x_d_des[], float k2_rm[], float k3_rm[], float x_2d_bound, float x_3d_bound, int n)
Reference Model Definition for 3rd order system specific to positioning with bounds.
float bound_v_from_a(float e_x[], float v_bound, float a_bound, int n)
Calculate velocity limit based on acceleration limit.
static float andi_du_n[ANDI_NUM_ACT_TOT]
void get_act_state_oneloop(void)
Function to reconstruct actuator state using first order dynamics.
struct PolePlacement p_head_e
static float chirp_pos_p_ref(float delta_t, float f0, float k, float A)
Function to calculate the position reference during the chirp.
float andi_du[ANDI_NUM_ACT_TOT]
static float chirp_pos_v_ref(float delta_t, float f0, float k, float A)
Function to calculate the velocity reference during the chirp.
struct Int32Quat stab_att_sp_quat_1l
static float nav_target[3]
void err_nd(float err[], float a[], float b[], float k[], int n)
Calculate Scaled Error between two 3D arrays.
static Butterworth2LowPass model_pred_ar_filt[3]
static float k_e_1_3_f_v2(float omega_n, UNUSED float zeta, float p1)
#define ONELOOP_ANDI_AIRSPEED_SWITCH_THRESHOLD
void calc_model(void)
Function that calculates the model prediction for the complementary filter.
struct OneloopGeneral oneloop_andi
struct Gains3rdOrder k_pos_rm
bool autopilot_in_flight_end_detection(bool motors_on UNUSED)
Quadplanes can still be in-flight with COMMAND_THRUST==0 and can even soar not descending in updrafts...
static float use_increment
static float Wv[ANDI_OUTPUTS]
void chirp_call(bool *chirp_on, bool *chirp_first_call, float *t_0_chirp, float *time_elapsed, float f0, float f1, float t_chirp, float A, int8_t n, float psi, float p_ref[], float v_ref[], float a_ref[], float j_ref[], float p_ref_0[])
void init_controller(void)
Initialize Controller Gains FIXME: Calculate the gains dynamically for transition.
void G1G2_oneloop(int ctrl_type)
Function that samples and scales the effectiveness matrix FIXME: make this function into a for loop t...
static void send_guidance_oneloop_andi(struct transport_tx *trans, struct link_device *dev)
float act_max[ANDI_NUM_ACT_TOT]
void rm_3rd_head(float dt, float *x_ref, float *x_d_ref, float *x_2d_ref, float *x_3d_ref, float x_des, float k1_rm, float k2_rm, float k3_rm)
Reference Model Definition for 3rd order system specific to the heading angle.
void normalize_nu(void)
Function to normalize the pseudo control vector.
void rm_3rd_pos(float dt, float x_ref[], float x_d_ref[], float x_2d_ref[], float x_3d_ref[], float x_des[], float k1_rm[], float k2_rm[], float k3_rm[], float x_d_bound, float x_2d_bound, float x_3d_bound, int n)
Reference Model Definition for 3rd order system specific to positioning with bounds.
struct FloatEulers eulers_zxy
void oneloop_andi_init(void)
Init function of Oneloop ANDI controller
static float Wu[ANDI_NUM_ACT_TOT]
void float_rates_of_euler_dot_vec(float r[3], float e[3], float edot[3])
Attitude Rates to Euler Conversion Function.
float oneloop_andi_filt_cutoff_p
static Butterworth2LowPass filt_accel_ned[3]
static float k_rm_1_3_f(float omega_n, float zeta, float p1)
Reference Model Gain Design.
static float k_e_2_2_f_v2(float omega, float zeta)
float oneloop_andi_filt_cutoff_r
struct PolePlacement p_pos_rm
float ratio_vn_v[ANDI_OUTPUTS]
void ec_3rd_pos(float y_4d[], float x_ref[], float x_d_ref[], float x_2d_ref[], float x_3d_ref[], float x[], float x_d[], float x_2d[], float k1_e[], float k2_e[], float k3_e[], float x_d_bound, float x_2d_bound, float x_3d_bound, int n)
static float chirp_pos_a_ref(float delta_t, float f0, float k, float A)
Function to calculate the acceleration reference during the chirp.
#define ONELOOP_ANDI_MAX_BANK
void vect_bound_nd(float vect[], float bound, int n)
Scale a 3D array to within a 3D bound.
void err_sum_nd(float err[], float a[], float b[], float k[], float c[], int n)
Calculate Scaled Error between two 3D arrays.
void integrate_nd(float dt, float a[], float a_dot[], int n)
Integrate in time 3D array.
static void send_oneloop_andi(struct transport_tx *trans, struct link_device *dev)
struct Gains3rdOrder k_att_e_indi
void rm_3rd_attitude(float dt, float x_ref[3], float x_d_ref[3], float x_2d_ref[3], float x_3d_ref[3], float x_des[3], bool ow_psi, float psi_overwrite[4], float k1_rm[3], float k2_rm[3], float k3_rm[3], float max_ang_jerk)
Reference Model Definition for 3rd order system with attitude conversion functions.
static void send_oneloop_debug(struct transport_tx *trans, struct link_device *dev)
float act_min[ANDI_NUM_ACT_TOT]
float actuator_state_1l[ANDI_NUM_ACT]
float oneloop_andi_filt_cutoff_pos
void rm_2nd(float dt, float *x_ref, float *x_d_ref, float *x_2d_ref, float x_des, float k1_rm, float k2_rm)
Reference Model Definition for 2nd order system.
void acc_body_bound(struct FloatVect2 *vect, float bound)
Scale a 3D array to within a 3D bound.
float * bwls_1l[ANDI_OUTPUTS]
static float k_rm_2_3_f(float omega_n, float zeta, float p1)
static float nav_target_new[3]
static Butterworth2LowPass rates_filt_bt[3]
static float u_pref[ANDI_NUM_ACT_TOT]
static Butterworth2LowPass model_pred_aa_filt[3]
float oneloop_andi_filt_cutoff
static Butterworth2LowPass ang_rate_lowpass_filters[3]
struct OneloopGuidanceState gui_state
struct OneloopStabilizationState sta_state
struct OneloopGuidanceRef gui_ref
#define CTRL_ANDI
Control types.
struct OneloopStabilizationRef sta_ref
Paparazzi floating point algebra.
vector in North East Down coordinates Units: meters
struct RadioControl radio_control
Generic interface for radio control modules.
pprz_t values[RADIO_CONTROL_NB_CHANNEL]
static pprz_t radio_control_get(uint8_t idx)
Get a radio control channel value.
#define RADIO_ROLL
Redefining RADIO_* Do not use with radio.h (ppm rc)
#define AP_MODE_ATTITUDE_DIRECT
struct RotorcraftNavigation nav
Rotorcraft navigation functions.
struct EnuCoor_f speed
speed setpoint (in m/s)
float climb
climb setpoint (in m/s)
#define NAV_SETPOINT_MODE_SPEED
#define NAV_VERTICAL_MODE_CLIMB
float nav_altitude
current altitude setpoint (in meters): might differ from fp_altitude depending on altitude shift from...
#define NAV_VERTICAL_MODE_ALT
#define NAV_SETPOINT_MODE_POS
Nav setpoint modes these modes correspond to submodes defined by navigation routines to tell which se...
struct EnuCoor_f target
final target position (in meters)
struct RotWingStateSettings rotwing_state_settings
struct Stabilization stabilization
int32_t cmd[COMMANDS_NB]
output command vector, range from [-MAX_PPRZ:MAX_PPRZ] (store for messages)
API to get/set the generic vehicle states.
static const struct usb_device_descriptor dev
static float get_sys_time_float(void)
Get the time in seconds since startup.
int8_t register_periodic_telemetry(struct periodic_telemetry *_pt, uint8_t _id, telemetry_cb _cb)
Register a telemetry callback function.
Periodic telemetry system header (includes downlink utility and generated code).
#define DefaultPeriodic
Set default periodic telemetry.
short int16_t
Typedef defining 16 bit short type.
signed char int8_t
Typedef defining 8 bit char type.
void wls_alloc(struct WLS_t *WLS_p, float **B, float *u_guess, float *W_init, int imax)
active set algorithm for control allocation