Paparazzi UAS  v6.2_unstable
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stabilization_indi.c File Reference
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Macros

#define INDI_ALLOWED_G_FACTOR   2.0
 
#define STABILIZATION_INDI_FILT_CUTOFF_P   20.0
 
#define STABILIZATION_INDI_FILT_CUTOFF_Q   20.0
 
#define STABILIZATION_INDI_FILT_CUTOFF_R   20.0
 

Functions

static void lms_estimation (void)
 Function that estimates the control effectiveness of each actuator online. More...
 
static void get_actuator_state (void)
 Function that tries to get actuator feedback. More...
 
static void calc_g1_element (float dx_error, int8_t i, int8_t j, float mu_extra)
 
static void calc_g2_element (float dx_error, int8_t j, float mu_extra)
 
static void calc_g1g2_pseudo_inv (void)
 Function that calculates the pseudo-inverse of (G1+G2). More...
 
static void bound_g_mat (void)
 
static void rpm_cb (uint8_t sender_id, uint16_t *rpm, uint8_t num_act)
 
static void thrust_cb (uint8_t sender_id, float thrust_increment)
 
void init_filters (void)
 Function that resets the filters to zeros. More...
 
static void send_indi_g (struct transport_tx *trans, struct link_device *dev)
 
static void send_ahrs_ref_quat (struct transport_tx *trans, struct link_device *dev)
 
void stabilization_indi_init (void)
 Function that initializes important values upon engaging INDI. More...
 
void stabilization_indi_enter (void)
 Function that resets important values upon engaging INDI. More...
 
void stabilization_indi_set_failsafe_setpoint (void)
 Function that calculates the failsafe setpoint. More...
 
void stabilization_indi_set_rpy_setpoint_i (struct Int32Eulers *rpy)
 
void stabilization_indi_set_earth_cmd_i (struct Int32Vect2 *cmd, int32_t heading)
 
void stabilization_indi_rate_run (struct FloatRates rate_sp, bool in_flight)
 
void stabilization_indi_attitude_run (struct Int32Quat quat_sp, bool in_flight)
 
void stabilization_indi_read_rc (bool in_flight, bool in_carefree, bool coordinated_turn)
 
static void rpm_cb (uint8_t sender_id, uint16_t UNUSED *rpm, uint8_t UNUSED num_act)
 
static void thrust_cb (uint8_t UNUSED sender_id, float thrust_increment)
 ABI callback that obtains the thrust increment from guidance INDI. More...
 

Variables

float du_min [INDI_NUM_ACT]
 
float du_max [INDI_NUM_ACT]
 
float du_pref [INDI_NUM_ACT]
 
float indi_v [INDI_OUTPUTS]
 
float * Bwls [INDI_OUTPUTS]
 
int num_iter = 0
 
int32_t stabilization_att_indi_cmd [COMMANDS_NB]
 
struct Indi_gains indi_gains
 
bool indi_use_adaptive = false
 
bool act_is_servo [INDI_NUM_ACT] = {0}
 
float act_pref [INDI_NUM_ACT] = {0.0}
 
float act_dyn [INDI_NUM_ACT] = STABILIZATION_INDI_ACT_DYN
 
static float Wv [INDI_OUTPUTS] = {1000, 1000, 1, 100}
 
float actuator_state_filt_vect [INDI_NUM_ACT]
 
struct FloatRates angular_accel_ref = {0., 0., 0.}
 
float angular_acceleration [3] = {0., 0., 0.}
 
float actuator_state [INDI_NUM_ACT]
 
float indi_u [INDI_NUM_ACT]
 
float indi_du [INDI_NUM_ACT]
 
float g2_times_du
 
float q_filt = 0.0
 
float r_filt = 0.0
 
float g1g2_trans_mult [INDI_OUTPUTS][INDI_OUTPUTS]
 
float g1g2inv [INDI_OUTPUTS][INDI_OUTPUTS]
 
float actuator_state_filt_vectd [INDI_NUM_ACT]
 
float actuator_state_filt_vectdd [INDI_NUM_ACT]
 
float estimation_rate_d [INDI_NUM_ACT]
 
float estimation_rate_dd [INDI_NUM_ACT]
 
float du_estimation [INDI_NUM_ACT]
 
float ddu_estimation [INDI_NUM_ACT]
 
float mu1 [INDI_OUTPUTS] = {0.00001, 0.00001, 0.000003, 0.000002}
 
float mu2 = 0.002
 
float act_obs [INDI_NUM_ACT]
 
int32_t num_thrusters
 
struct Int32Eulers stab_att_sp_euler
 with INT32_ANGLE_FRAC More...
 
struct Int32Quat stab_att_sp_quat
 with INT32_QUAT_FRAC More...
 
abi_event rpm_ev
 
abi_event thrust_ev
 
float indi_thrust_increment
 
bool indi_thrust_increment_set = false
 
float g1g2_pseudo_inv [INDI_NUM_ACT][INDI_OUTPUTS]
 
float g2 [INDI_NUM_ACT] = STABILIZATION_INDI_G2
 
float g1 [INDI_OUTPUTS][INDI_NUM_ACT]
 
float g1g2 [INDI_OUTPUTS][INDI_NUM_ACT]
 
float g1_est [INDI_OUTPUTS][INDI_NUM_ACT]
 
float g2_est [INDI_NUM_ACT]
 
float g1_init [INDI_OUTPUTS][INDI_NUM_ACT]
 
float g2_init [INDI_NUM_ACT]
 
Butterworth2LowPass actuator_lowpass_filters [INDI_NUM_ACT]
 
Butterworth2LowPass estimation_input_lowpass_filters [INDI_NUM_ACT]
 
Butterworth2LowPass measurement_lowpass_filters [3]
 
Butterworth2LowPass estimation_output_lowpass_filters [3]
 
Butterworth2LowPass acceleration_lowpass_filter
 
static struct FirstOrderLowPass rates_filt_fo [3]
 
struct FloatVect3 body_accel_f
 

Macro Definition Documentation

◆ INDI_ALLOWED_G_FACTOR

#define INDI_ALLOWED_G_FACTOR   2.0

Definition at line 49 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILT_CUTOFF_P

#define STABILIZATION_INDI_FILT_CUTOFF_P   20.0

Definition at line 54 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILT_CUTOFF_Q

#define STABILIZATION_INDI_FILT_CUTOFF_Q   20.0

Definition at line 60 of file stabilization_indi.c.

◆ STABILIZATION_INDI_FILT_CUTOFF_R

#define STABILIZATION_INDI_FILT_CUTOFF_R   20.0

Definition at line 66 of file stabilization_indi.c.

Function Documentation

◆ bound_g_mat()

static void bound_g_mat ( void  )
static

Definition at line 821 of file stabilization_indi.c.

References g1_est, g1_init, g2_est, g2_init, and INDI_ALLOWED_G_FACTOR.

Referenced by lms_estimation().

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◆ calc_g1_element()

void calc_g1_element ( float  ddx_error,
int8_t  i,
int8_t  j,
float  mu 
)
static
Parameters
ddx_errorerror in output change
irow of the matrix element
jcolumn of the matrix element
mulearning rate

Function that calculates an element of the G1 matrix. The elements are stored in a different matrix, because the old matrix is necessary to caclulate more elements.

Definition at line 644 of file stabilization_indi.c.

References du_estimation, g1_est, and mu.

Referenced by lms_estimation().

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◆ calc_g1g2_pseudo_inv()

void calc_g1g2_pseudo_inv ( void  )
static

Function that calculates the pseudo-inverse of (G1+G2).

Definition at line 747 of file stabilization_indi.c.

References float_mat_inv_4d(), float_vect_scale(), g1, g1g2, g1g2_pseudo_inv, g1g2_trans_mult, g1g2inv, g2, and INDI_G_SCALING.

Referenced by lms_estimation(), and stabilization_indi_init().

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◆ calc_g2_element()

void calc_g2_element ( float  ddx_error,
int8_t  j,
float  mu 
)
static
Parameters
ddx_errorerror in output change
jcolumn of the matrix element
mulearning rate

Function that calculates an element of the G2 matrix. The elements are stored in a different matrix, because the old matrix is necessary to caclulate more elements.

Definition at line 658 of file stabilization_indi.c.

References ddu_estimation, g2_est, and mu.

Referenced by lms_estimation().

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◆ get_actuator_state()

void get_actuator_state ( void  )
static

Function that tries to get actuator feedback.

If this is not available it will use a first order filter to approximate the actuator state. It is also possible to model rate limits (unit: PPRZ/loop cycle)

Definition at line 608 of file stabilization_indi.c.

References act_dyn, act_obs, actuator_state, float_vect_copy(), indi_u, and UNUSED.

Referenced by stabilization_indi_rate_run().

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◆ init_filters()

◆ lms_estimation()

void lms_estimation ( void  )
static

Function that estimates the control effectiveness of each actuator online.

It is assumed that disturbances do not play a large role. All elements of the G1 and G2 matrices are be estimated.

Definition at line 668 of file stabilization_indi.c.

References acceleration_lowpass_filter, ACCELS_FLOAT_OF_BFP, actuator_state_filt_vectd, actuator_state_filt_vectdd, body_accel_f, bound_g_mat(), calc_g1_element(), calc_g1g2_pseudo_inv(), calc_g2_element(), ddu_estimation, du_estimation, estimation_rate_dd, float_vect_copy(), float_vect_smul(), g1, g1_est, g2, g2_est, mu1, mu2, SecondOrderLowPass::o, stateGetAccelBody_i(), update_butterworth_2_low_pass(), and FloatVect3::z.

Referenced by stabilization_indi_rate_run().

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◆ rpm_cb() [1/2]

static void rpm_cb ( uint8_t  sender_id,
uint16_t rpm,
uint8_t  num_act 
)
static

Referenced by stabilization_indi_init().

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◆ rpm_cb() [2/2]

static void rpm_cb ( uint8_t  sender_id,
uint16_t UNUSED rpm,
uint8_t UNUSED  num_act 
)
static

Definition at line 800 of file stabilization_indi.c.

References act_obs, MAX_PPRZ, and rpm.

◆ send_ahrs_ref_quat()

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

Definition at line 207 of file stabilization_indi.c.

References dev, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, stab_att_sp_quat, and stateGetNedToBodyQuat_i().

Referenced by stabilization_indi_init().

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◆ send_indi_g()

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

Definition at line 198 of file stabilization_indi.c.

References dev, g1_est, and g2_est.

Referenced by stabilization_indi_init().

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◆ stabilization_indi_attitude_run()

void stabilization_indi_attitude_run ( struct Int32Quat  quat_sp,
bool  in_flight 
)
Parameters
enable_integrator
rate_controlboolean that determines if we are in rate control or attitude control

Function that should be called to run the INDI controller

Definition at line 546 of file stabilization_indi.c.

Referenced by stabilization_attitude_run().

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◆ stabilization_indi_enter()

void stabilization_indi_enter ( void  )

Function that resets important values upon engaging INDI.

Don't reset inputs and filters, because it is unlikely to switch stabilization in flight, and there are multiple modes that use (the same) stabilization. Resetting the controller is not so nice when you are flying. FIXME: Ideally we should detect when coming from something that is not INDI

Definition at line 275 of file stabilization_indi.c.

Referenced by stabilization_attitude_enter(), and stabilization_rate_enter().

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◆ stabilization_indi_init()

void stabilization_indi_init ( void  )

Function that initializes important values upon engaging INDI.

Definition at line 225 of file stabilization_indi.c.

Referenced by stabilization_attitude_init(), and stabilization_rate_init().

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◆ stabilization_indi_rate_run()

void stabilization_indi_rate_run ( struct FloatRates  rate_sp,
bool  in_flight 
)
Parameters
att_errattitude error
rate_controlboolean that states if we are in rate control or attitude control
in_flightboolean that states if the UAV is in flight or not

Function that calculates the INDI commands

Definition at line 373 of file stabilization_indi.c.

Referenced by stabilization_indi_attitude_run(), and stabilization_rate_run().

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◆ stabilization_indi_read_rc()

void stabilization_indi_read_rc ( bool  in_flight,
bool  in_carefree,
bool  coordinated_turn 
)

Definition at line 590 of file stabilization_indi.c.

Referenced by stabilization_attitude_read_rc().

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◆ stabilization_indi_set_earth_cmd_i()

void stabilization_indi_set_earth_cmd_i ( struct Int32Vect2 cmd,
int32_t  heading 
)
Parameters
cmd2D command in North East axes
headingHeading of the setpoint

Function that calculates the setpoint quaternion from a command in earth axes

Definition at line 349 of file stabilization_indi.c.

Referenced by stabilization_attitude_set_earth_cmd_i().

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◆ stabilization_indi_set_failsafe_setpoint()

void stabilization_indi_set_failsafe_setpoint ( void  )

Function that calculates the failsafe setpoint.

Definition at line 320 of file stabilization_indi.c.

Referenced by stabilization_attitude_set_failsafe_setpoint().

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◆ stabilization_indi_set_rpy_setpoint_i()

void stabilization_indi_set_rpy_setpoint_i ( struct Int32Eulers rpy)
Parameters
rpyrpy from which to calculate quaternion setpoint

Function that calculates the setpoint quaternion from rpy

Definition at line 335 of file stabilization_indi.c.

Referenced by stabilization_attitude_set_rpy_setpoint_i().

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◆ thrust_cb() [1/2]

static void thrust_cb ( uint8_t  sender_id,
float  thrust_increment 
)
static

Referenced by stabilization_indi_init().

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◆ thrust_cb() [2/2]

static void thrust_cb ( uint8_t UNUSED  sender_id,
float  thrust_increment 
)
static

ABI callback that obtains the thrust increment from guidance INDI.

Definition at line 815 of file stabilization_indi.c.

References indi_thrust_increment, and indi_thrust_increment_set.

Variable Documentation

◆ acceleration_lowpass_filter

Butterworth2LowPass acceleration_lowpass_filter

Definition at line 189 of file stabilization_indi.c.

Referenced by init_filters(), and lms_estimation().

◆ act_dyn

float act_dyn[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_DYN

Definition at line 121 of file stabilization_indi.c.

Referenced by get_actuator_state().

◆ act_is_servo

bool act_is_servo[INDI_NUM_ACT] = {0}

Definition at line 110 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ act_obs

float act_obs[INDI_NUM_ACT]

Definition at line 158 of file stabilization_indi.c.

Referenced by get_actuator_state(), and rpm_cb().

◆ act_pref

float act_pref[INDI_NUM_ACT] = {0.0}

Definition at line 118 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ actuator_lowpass_filters

Butterworth2LowPass actuator_lowpass_filters[INDI_NUM_ACT]

Definition at line 185 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ actuator_state

float actuator_state[INDI_NUM_ACT]

Definition at line 134 of file stabilization_indi.c.

Referenced by get_actuator_state(), and stabilization_indi_rate_run().

◆ actuator_state_filt_vect

float actuator_state_filt_vect[INDI_NUM_ACT]

◆ actuator_state_filt_vectd

float actuator_state_filt_vectd[INDI_NUM_ACT]

◆ actuator_state_filt_vectdd

float actuator_state_filt_vectdd[INDI_NUM_ACT]

◆ angular_accel_ref

struct FloatRates angular_accel_ref = {0., 0., 0.}

Definition at line 132 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ angular_acceleration

float angular_acceleration[3] = {0., 0., 0.}

Definition at line 133 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ body_accel_f

struct FloatVect3 body_accel_f

Definition at line 192 of file stabilization_indi.c.

Referenced by lms_estimation().

◆ Bwls

float* Bwls[INDI_OUTPUTS]

◆ ddu_estimation

float ddu_estimation[INDI_NUM_ACT]

Definition at line 150 of file stabilization_indi.c.

Referenced by calc_g2_element(), lms_estimation(), and stabilization_indi_enter().

◆ du_estimation

float du_estimation[INDI_NUM_ACT]

Definition at line 149 of file stabilization_indi.c.

Referenced by calc_g1_element(), lms_estimation(), and stabilization_indi_enter().

◆ du_max

float du_max[INDI_NUM_ACT]

Definition at line 70 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ du_min

float du_min[INDI_NUM_ACT]

Definition at line 69 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ du_pref

float du_pref[INDI_NUM_ACT]

Definition at line 71 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ estimation_input_lowpass_filters

Butterworth2LowPass estimation_input_lowpass_filters[INDI_NUM_ACT]

Definition at line 186 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ estimation_output_lowpass_filters

Butterworth2LowPass estimation_output_lowpass_filters[3]

Definition at line 188 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ estimation_rate_d

float estimation_rate_d[INDI_NUM_ACT]

Definition at line 147 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ estimation_rate_dd

float estimation_rate_dd[INDI_NUM_ACT]

◆ g1

float g1[INDI_OUTPUTS][INDI_NUM_ACT]
Initial value:
= {STABILIZATION_INDI_G1_ROLL,
STABILIZATION_INDI_G1_PITCH, STABILIZATION_INDI_G1_YAW, STABILIZATION_INDI_G1_THRUST
}

Definition at line 176 of file stabilization_indi.c.

Referenced by calc_g1g2_pseudo_inv(), gain_scheduling_periodic(), lms_estimation(), and stabilization_indi_init().

◆ g1_est

float g1_est[INDI_OUTPUTS][INDI_NUM_ACT]

◆ g1_init

float g1_init[INDI_OUTPUTS][INDI_NUM_ACT]

Definition at line 182 of file stabilization_indi.c.

Referenced by bound_g_mat(), and stabilization_indi_init().

◆ g1g2

float g1g2[INDI_OUTPUTS][INDI_NUM_ACT]

◆ g1g2_pseudo_inv

float g1g2_pseudo_inv[INDI_NUM_ACT][INDI_OUTPUTS]

Definition at line 174 of file stabilization_indi.c.

Referenced by calc_g1g2_pseudo_inv(), and stabilization_indi_rate_run().

◆ g1g2_trans_mult

float g1g2_trans_mult[INDI_OUTPUTS][INDI_OUTPUTS]

Definition at line 143 of file stabilization_indi.c.

Referenced by calc_g1g2_pseudo_inv().

◆ g1g2inv

float g1g2inv[INDI_OUTPUTS][INDI_OUTPUTS]

Definition at line 144 of file stabilization_indi.c.

Referenced by calc_g1g2_pseudo_inv().

◆ g2

float g2[INDI_NUM_ACT] = STABILIZATION_INDI_G2

◆ g2_est

float g2_est[INDI_NUM_ACT]

◆ g2_init

float g2_init[INDI_NUM_ACT]

Definition at line 183 of file stabilization_indi.c.

Referenced by bound_g_mat(), and stabilization_indi_init().

◆ g2_times_du

float g2_times_du

Definition at line 137 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ indi_du

float indi_du[INDI_NUM_ACT]

Definition at line 136 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ indi_gains

struct Indi_gains indi_gains
Initial value:
= {
.att = {
STABILIZATION_INDI_REF_ERR_P,
STABILIZATION_INDI_REF_ERR_Q,
STABILIZATION_INDI_REF_ERR_R
},
.rate = {
STABILIZATION_INDI_REF_RATE_P,
STABILIZATION_INDI_REF_RATE_Q,
STABILIZATION_INDI_REF_RATE_R
},
}

Definition at line 84 of file stabilization_indi.c.

Referenced by ctrl_eff_scheduling_periodic_b(), stabilization_indi_attitude_run(), and stabilization_indi_rate_run().

◆ indi_thrust_increment

float indi_thrust_increment

Definition at line 171 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run(), and thrust_cb().

◆ indi_thrust_increment_set

bool indi_thrust_increment_set = false

◆ indi_u

float indi_u[INDI_NUM_ACT]

Definition at line 135 of file stabilization_indi.c.

Referenced by get_actuator_state(), and stabilization_indi_rate_run().

◆ indi_use_adaptive

bool indi_use_adaptive = false

Definition at line 100 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ indi_v

float indi_v[INDI_OUTPUTS]

Definition at line 72 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ measurement_lowpass_filters

Butterworth2LowPass measurement_lowpass_filters[3]

Definition at line 187 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ mu1

float mu1[INDI_OUTPUTS] = {0.00001, 0.00001, 0.000003, 0.000002}

Definition at line 153 of file stabilization_indi.c.

Referenced by lms_estimation().

◆ mu2

float mu2 = 0.002

Definition at line 155 of file stabilization_indi.c.

Referenced by lms_estimation().

◆ num_iter

int num_iter = 0

Definition at line 74 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run().

◆ num_thrusters

int32_t num_thrusters

Definition at line 161 of file stabilization_indi.c.

Referenced by stabilization_indi_init(), and stabilization_indi_rate_run().

◆ q_filt

float q_filt = 0.0

Definition at line 139 of file stabilization_indi.c.

◆ r_filt

float r_filt = 0.0

Definition at line 140 of file stabilization_indi.c.

◆ rates_filt_fo

struct FirstOrderLowPass rates_filt_fo[3]
static

Definition at line 190 of file stabilization_indi.c.

Referenced by init_filters(), and stabilization_indi_rate_run().

◆ rpm_ev

abi_event rpm_ev

Definition at line 166 of file stabilization_indi.c.

Referenced by stabilization_indi_init().

◆ stab_att_sp_euler

◆ stab_att_sp_quat

◆ stabilization_att_indi_cmd

int32_t stabilization_att_indi_cmd[COMMANDS_NB]

Definition at line 83 of file stabilization_indi.c.

◆ thrust_ev

abi_event thrust_ev

Definition at line 169 of file stabilization_indi.c.

Referenced by stabilization_indi_init().

◆ Wv

float Wv[INDI_OUTPUTS] = {1000, 1000, 1, 100}
static

Definition at line 127 of file stabilization_indi.c.

Referenced by stabilization_indi_rate_run(), and wls_alloc().