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Merge pull request #1978 from iNavFlight/de_fw_tecs_1

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Fixed wing TECS controller preparation (stage 1)
This commit is contained in:
Konstantin Sharlaimov 2017-09-06 10:08:39 +10:00 • committed by GitHub
commit d40fb2bdf4
4 changed files with 44 additions and 16 deletions
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36
src/main/navigation/navigation_fixedwing.c
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@ -103,19 +103,39 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
// On a fixed wing we might not have a reliable climb rate source (if no BARO available), so we can't apply PID controller to
// velocity error. We use PID controller on altitude error and calculate desired pitch angle
// Here we use negative values for dive for better clarity
int maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle);
int minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle);
// Update energies
const float demSPE = (posControl.desiredState.pos.V.Z / 100.0f) * GRAVITY_MSS;
const float demSKE = 0.0f;
float targetPitchAngle = navPidApply2(&posControl.pids.fw_alt, posControl.desiredState.pos.V.Z, posControl.actualState.pos.V.Z, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0);
const float estSPE = (posControl.actualState.pos.V.Z / 100.0f) * GRAVITY_MSS;
const float estSKE = 0.0f;
// speedWeight controls balance between potential and kinetic energy used for pitch controller
// speedWeight = 1.0 : pitch will only control airspeed and won't control altitude
// speedWeight = 0.5 : pitch will be used to control both airspeed and altitude
// speedWeight = 0.0 : pitch will only control altitude
const float speedWeight = 0.0f; // no speed sensing for now
const float demSEB = demSPE * (1.0f - speedWeight) - demSKE * speedWeight;
const float estSEB = estSPE * (1.0f - speedWeight) - estSKE * speedWeight;
// SEB to pitch angle gain to account for airspeed (with respect to specified reference (tuning) speed
const float pitchGainInv = 1.0f / 1.0f;
// Here we use negative values for dive for better clarity
const float maxClimbDeciDeg = DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle);
const float minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle);
// PID controller to translate energy balance error [J] into pitch angle [decideg]
float targetPitchAngle = navPidApply3(&posControl.pids.fw_alt, demSEB, estSEB, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0, pitchGainInv);
targetPitchAngle = pt1FilterApply4(&velzFilterState, targetPitchAngle, NAV_FW_PITCH_CUTOFF_FREQENCY_HZ, US2S(deltaMicros));
// Calculate climb angle ( >0 - climb, <0 - dive)
// Reconstrain pitch angle ( >0 - climb, <0 - dive)
targetPitchAngle = constrainf(targetPitchAngle, minDiveDeciDeg, maxClimbDeciDeg);
posControl.rcAdjustment[PITCH] = targetPitchAngle;
}
void applyFixedWingAltitudeController(timeUs_t currentTimeUs)
void applyFixedWingAltitudeAndThrottleController(timeUs_t currentTimeUs)
{
static timeUs_t previousTimePositionUpdate; // Occurs @ altitude sensor update rate (max MAX_ALTITUDE_UPDATE_RATE_HZ)
static timeUs_t previousTimeUpdate; // Occurs @ looptime rate
@ -534,7 +554,7 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
// Don't apply anything if ground speed is too low (<3m/s)
if (posControl.actualState.velXY > 300) {
if (navStateFlags & NAV_CTL_ALT)
applyFixedWingAltitudeController(currentTimeUs);
applyFixedWingAltitudeAndThrottleController(currentTimeUs);
if (navStateFlags & NAV_CTL_POS)
applyFixedWingPositionController(currentTimeUs);
@ -545,7 +565,7 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
}
#else
if (navStateFlags & NAV_CTL_ALT)
applyFixedWingAltitudeController(currentTimeUs);
applyFixedWingAltitudeAndThrottleController(currentTimeUs);
if (navStateFlags & NAV_CTL_POS)
applyFixedWingPositionController(currentTimeUs);