Total Energy (speed + height) control for fixed wing vehicles. More...

#include "firmwares/fixedwing/guidance/energy_ctrl.h"
#include "state.h"
#include "subsystems/nav.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/autopilot.h"
#include "subsystems/ahrs.h"
#include "subsystems/imu.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	AIRSPEED_SETPOINT_SLEW 1
#define	V_CTL_THROTTLE_SLEW 1.

Functions
static void	ac_char_average (float *last, float new, int count)
static void	ac_char_update (float throttle, float pitch, float climb, float accelerate)
void	v_ctl_init (void)
void	v_ctl_altitude_loop (void)
	outer loop
static float	low_pass_vdot (float v)
void	v_ctl_climb_loop (void)
	auto throttle inner loop
void	v_ctl_throttle_slew (void)
	Computes slewed throttle from throttle setpoint called at 20Hz.

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
float	v_ctl_altitude_pre_climb
	Path Angle.
float	v_ctl_altitude_pgain
float	v_ctl_airspeed_pgain
float	v_ctl_altitude_error
	in meters, (setpoint - alt) -> positive = too low
float	v_ctl_max_climb
float	v_ctl_max_acceleration = 0.5
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
float	v_ctl_auto_airspeed_setpoint_slew
float	v_ctl_auto_airspeed_controlled
float	v_ctl_auto_groundspeed_setpoint
	in meters per second
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
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 = 1.0 / ((float)CONTROL_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 149 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define STALL_AIRSPEED NOMINAL_AIRSPEED

Definition at line 146 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop().

#define V_CTL_ALTITUDE_MAX_CLIMB 2;

Definition at line 141 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 132 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

#define V_CTL_THROTTLE_SLEW 1.

Definition at line 409 of file energy_ctrl.c.

Referenced by ArduIMU_init(), and v_ctl_throttle_slew().

Function Documentation

static void ac_char_average	(	float *	last,
		float	new,
		int	count
	)

static

Definition at line 165 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 170 of file energy_ctrl.c.

References ac_char_average(), ac_char_climb_count, ac_char_climb_max, ac_char_climb_pitch, ac_char_cruise_count, ac_char_cruise_pitch, ac_char_cruise_throttle, ac_char_descend_count, ac_char_descend_max, ac_char_descend_pitch, stateGetSpeedEnu_f(), and EnuCoor_i::z.

Referenced by v_ctl_climb_loop().

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static float low_pass_vdot ( float v )

static

Definition at line 287 of file energy_ctrl.c.

References lp_vdot.

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 267 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 302 of file energy_ctrl.c.

Referenced by attitude_loop().

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void v_ctl_init ( void )

Definition at line 196 of file energy_ctrl.c.

Referenced by init_ap().

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void v_ctl_throttle_slew ( void )

Computes slewed throttle from throttle setpoint called at 20Hz.

Computes throttle_slewed from throttle_setpoint.

Definition at line 415 of file energy_ctrl.c.

Referenced by attitude_loop().

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Variable Documentation

int ac_char_climb_count = 0

Definition at line 157 of file energy_ctrl.c.

Referenced by ac_char_update().

float ac_char_climb_max = 0.0f

Definition at line 156 of file energy_ctrl.c.

Referenced by ac_char_update().

float ac_char_climb_pitch = 0.0f

Definition at line 155 of file energy_ctrl.c.

Referenced by ac_char_update().

int ac_char_cruise_count = 0

Definition at line 163 of file energy_ctrl.c.

Referenced by ac_char_update().

float ac_char_cruise_pitch = 0.0f

Definition at line 162 of file energy_ctrl.c.

Referenced by ac_char_update().

float ac_char_cruise_throttle = 0.0f

Definition at line 161 of file energy_ctrl.c.

Referenced by ac_char_update().

int ac_char_descend_count = 0

Definition at line 160 of file energy_ctrl.c.

Referenced by ac_char_update().

float ac_char_descend_max = 0.0f

Definition at line 159 of file energy_ctrl.c.

Referenced by ac_char_update().

float ac_char_descend_pitch = 0.0f

Definition at line 158 of file energy_ctrl.c.

Referenced by ac_char_update().

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

Definition at line 260 of file energy_ctrl.c.

Referenced by ahrs_propagate(), baro_event(), baro_ms5611_event(), ms2100_reset_cb(), propagate_ref(), propagate_state(), tcas_periodic_task_1Hz(), v_ctl_altitude_loop(), and v_ctl_climb_loop().

float lp_vdot[5]

Definition at line 284 of file energy_ctrl.c.

Referenced by low_pass_vdot().

float v_ctl_airspeed_pgain

Definition at line 94 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 95 of file energy_ctrl.c.

Referenced by h_ctl_course_loop(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_altitude_pgain

Definition at line 93 of file energy_ctrl.c.

Referenced by gls(), v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_altitude_pre_climb

Path Angle.

Definition at line 92 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 91 of file energy_ctrl.c.

Referenced by flight_benchmark_periodic(), nav_set_altitude(), v_ctl_altitude_loop(), and v_ctl_init().

float v_ctl_auto_airspeed_controlled

Definition at line 126 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_airspeed_setpoint

in meters per second

Definition at line 124 of file energy_ctrl.c.

Referenced by flight_benchmark_periodic(), gls(), v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_airspeed_setpoint_slew

Definition at line 125 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_igain

Definition at line 130 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_pgain

Definition at line 129 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 128 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_auto_groundspeed_sum_err

Definition at line 131 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 116 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 115 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 114 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 109 of file energy_ctrl.c.

Referenced by v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_cruise_throttle

Definition at line 106 of file energy_ctrl.c.

Referenced by formation_flight(), potential_task(), start_formation(), stop_formation(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_init(), and v_ctl_set_throttle().

float v_ctl_auto_throttle_nominal_cruise_pitch

Definition at line 108 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 107 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 113 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 112 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 110 of file energy_ctrl.c.

Referenced by v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_init(), and v_ctl_set_pitch().

uint8_t v_ctl_auto_throttle_submode = V_CTL_CLIMB_MODE_AUTO_THROTTLE

Definition at line 79 of file energy_ctrl.c.

Referenced by h_ctl_course_loop(), nav_periodic_task(), v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), and v_ctl_init().

float v_ctl_auto_throttle_sum_err = 0

Definition at line 80 of file energy_ctrl.c.

Referenced by v_ctl_climb_auto_throttle_loop(), v_ctl_init(), and v_ctl_set_throttle().

uint8_t v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE

Definition at line 78 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_climb_setpoint

Definition at line 101 of file energy_ctrl.c.

Referenced by v_ctl_altitude_loop(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), v_ctl_init(), v_ctl_set_pitch(), and v_ctl_set_throttle().

float v_ctl_desired_acceleration

Definition at line 104 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

float v_ctl_energy_diff_igain

Definition at line 122 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_diff_pgain

Definition at line 121 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_total_igain

Definition at line 119 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_energy_total_pgain

Definition at line 118 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_max_acceleration = 0.5

Definition at line 98 of file energy_ctrl.c.

Referenced by v_ctl_climb_loop().

float v_ctl_max_climb

Definition at line 97 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 77 of file energy_ctrl.c.

Referenced by attitude_loop(), nav_home(), nav_periodic_task(), nav_without_gps(), navigation_task(), v_ctl_climb_loop(), and v_ctl_init().

float v_ctl_pitch_setpoint

Definition at line 136 of file energy_ctrl.c.

Referenced by attitude_loop(), v_ctl_climb_auto_throttle_loop(), v_ctl_climb_loop(), and v_ctl_set_pitch().

pprz_t v_ctl_throttle_setpoint

Definition at line 134 of file energy_ctrl.c.

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

pprz_t v_ctl_throttle_slewed

Definition at line 135 of file energy_ctrl.c.

Referenced by attitude_loop(), and v_ctl_throttle_slew().

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

Function Documentation

Variable Documentation