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[paparazzi-commits] [4104] set saturations in the conf file and possibil
From: |
Gautier Hattenberger |
Subject: |
[paparazzi-commits] [4104] set saturations in the conf file and possibility to adapt slower |
Date: |
Tue, 08 Sep 2009 15:15:11 +0000 |
Revision: 4104
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4104
Author: gautier
Date: 2009-09-08 15:15:11 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
set saturations in the conf file and possibility to adapt slower
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_adpt.h
paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_ref.h
Modified: paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_adpt.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_adpt.h
2009-09-08 12:32:08 UTC (rev 4103)
+++ paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_adpt.h
2009-09-08 15:15:11 UTC (rev 4104)
@@ -64,9 +64,26 @@
/* System and Measuremement noises */
#define B2_GV_ADAPT_SYS_NOISE_F 0.00005
#define B2_GV_ADAPT_SYS_NOISE BFP_OF_REAL(B2_GV_ADAPT_SYS_NOISE_F,
B2_GV_ADAPT_P_FRAC)
-#define B2_GV_ADAPT_MEAS_NOISE_F 2.0
+
+#ifndef USE_ADAPT_HOVER
+
+#define B2_GV_ADAPT_MEAS_NOISE_F 2.0
+#define B2_GV_ADAPT_MEAS_NOISE_HOVER
BFP_OF_REAL(B2_GV_ADAPT_MEAS_NOISE_HOVER_F, B2_GV_ADAPT_P_FRAC)
+
+#else /* USE_ADAPT_HOVER */
+
+#define B2_GV_ADAPT_MEAS_NOISE_HOVER_F 10.0
+#define B2_GV_ADAPT_MEAS_NOISE_HOVER
BFP_OF_REAL(B2_GV_ADAPT_MEAS_NOISE_HOVER_F, B2_GV_ADAPT_P_FRAC)
+#define B2_GV_ADAPT_MEAS_NOISE_F 50.0
#define B2_GV_ADAPT_MEAS_NOISE BFP_OF_REAL(B2_GV_ADAPT_MEAS_NOISE_F,
B2_GV_ADAPT_P_FRAC)
+#define B2_GV_ADAPT_MAX_ACCEL ACCEL_BFP_OF_REAL(4.0)
+#define B2_GV_ADAPT_HOVER_ACCEL ACCEL_BFP_OF_REAL(1.0)
+#define B2_GV_ADAPT_MAX_CMD 180
+#define B2_GV_ADAPT_MIN_CMD 20
+#define B2_GV_ADAPT_HOVER_MAX_CMD 120
+#define B2_GV_ADAPT_HOVER_MIN_CMD 60
+#endif
static inline void b2_gv_adapt_init(void) {
b2_gv_adapt_X = B2_GV_ADAPT_X0;
@@ -87,6 +104,12 @@
b2_gv_adapt_P = b2_gv_adapt_P + B2_GV_ADAPT_SYS_NOISE;
/* Compute our measurement. If zdd_meas is in the range +/-5g, meas is less
than 24 bits */
const int32_t g_m_zdd = ((int32_t)BFP_OF_REAL(9.81, INT32_ACCEL_FRAC) -
zdd_meas)<<(B2_GV_ADAPT_X_FRAC - INT32_ACCEL_FRAC);
+#ifdef USE_ADAPT_HOVER
+ /* Update only if accel and commands are in a valid range */
+ if (thrust_applied < B2_GV_ADAPT_MIN_CMD || thrust_applied >
B2_GV_ADAPT_MAX_CMD
+ || zdd_meas < -B2_GV_ADAPT_MAX_ACCEL || zdd_meas > B2_GV_ADAPT_MAX_ACCEL)
+ return;
+#endif
if ( g_m_zdd > 0)
b2_gv_adapt_Xmeas = (g_m_zdd + (thrust_applied>>1)) / thrust_applied;
else
@@ -94,7 +117,14 @@
/* Compute a residual */
int32_t residual = b2_gv_adapt_Xmeas - b2_gv_adapt_X;
/* Covariance Error */
- int32_t E = b2_gv_adapt_P + B2_GV_ADAPT_MEAS_NOISE;
+ int32_t E = 0;
+#ifdef USE_ADAPT_HOVER
+ if ((thrust_applied > B2_GV_ADAPT_HOVER_MIN_CMD && thrust_applied <
B2_GV_ADAPT_HOVER_MAX_CMD) ||
+ (zdd_meas > -B2_GV_ADAPT_HOVER_ACCEL && zdd_meas <
B2_GV_ADAPT_HOVER_ACCEL))
+ E = b2_gv_adapt_P + B2_GV_ADAPT_MEAS_NOISE_HOVER;
+ else
+#endif
+ E = b2_gv_adapt_P + B2_GV_ADAPT_MEAS_NOISE;
/* Kalman gain */
int32_t K = (b2_gv_adapt_P<<K_FRAC) / E;
/* Update Covariance */
Modified: paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_ref.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_ref.h
2009-09-08 12:32:08 UTC (rev 4103)
+++ paparazzi3/trunk/sw/airborne/booz/guidance/booz2_guidance_v_ref.h
2009-09-08 15:15:11 UTC (rev 4104)
@@ -24,6 +24,7 @@
#ifndef BOOZ2_GUIDANCE_V_REF_H
#define BOOZ2_GUIDANCE_V_REF_H
+#include "airframe.h"
#include "inttypes.h"
#include "math/pprz_algebra.h"
#include "math/pprz_algebra_int.h"
@@ -49,22 +50,37 @@
#define B2_GV_Z_REF_FRAC (B2_GV_ZD_REF_FRAC + B2_GV_FREQ_FRAC)
/* Saturations definition */
-#define B2_GV_MIN_ZDD_F (-2.0*9.81)
-#define B2_GV_MIN_ZDD BFP_OF_REAL(B2_GV_MIN_ZDD_F, B2_GV_ZDD_REF_FRAC)
-#define B2_GV_MAX_ZDD_F ( 0.8*9.81)
-#define B2_GV_MAX_ZDD BFP_OF_REAL(B2_GV_MAX_ZDD_F, B2_GV_ZDD_REF_FRAC)
-#define B2_GV_MIN_ZD_F (-3.)
-#define B2_GV_MIN_ZD BFP_OF_REAL(B2_GV_MIN_ZD_F , B2_GV_ZD_REF_FRAC)
-#define B2_GV_MAX_ZD_F ( 3.)
-#define B2_GV_MAX_ZD BFP_OF_REAL(B2_GV_MAX_ZD_F , B2_GV_ZD_REF_FRAC)
+#ifndef BOOZ2_GUIDANCE_V_REF_MIN_ZDD
+#define BOOZ2_GUIDANCE_V_REF_MIN_ZDD (-2.0*9.81)
+#endif
+#define B2_GV_MIN_ZDD BFP_OF_REAL(BOOZ2_GUIDANCE_V_REF_MIN_ZDD,
B2_GV_ZDD_REF_FRAC)
+#ifndef BOOZ2_GUIDANCE_V_REF_MAX_ZDD
+#define BOOZ2_GUIDANCE_V_REF_MAX_ZDD ( 0.8*9.81)
+#endif
+#define B2_GV_MAX_ZDD BFP_OF_REAL(BOOZ2_GUIDANCE_V_REF_MAX_ZDD,
B2_GV_ZDD_REF_FRAC)
+
+#ifndef BOOZ2_GUIDANCE_V_REF_MIN_ZD
+#define BOOZ2_GUIDANCE_V_REF_MIN_ZD (-3.)
+#endif
+#define B2_GV_MIN_ZD BFP_OF_REAL(BOOZ2_GUIDANCE_V_REF_MIN_ZD ,
B2_GV_ZD_REF_FRAC)
+
+#ifndef BOOZ2_GUIDANCE_V_REF_MAX_ZD
+#define BOOZ2_GUIDANCE_V_REF_MAX_ZD ( 3.)
+#endif
+#define B2_GV_MAX_ZD BFP_OF_REAL(BOOZ2_GUIDANCE_V_REF_MAX_ZD ,
B2_GV_ZD_REF_FRAC)
+
/* second order model natural frequency and damping */
-#define B2_GV_OMEGA RadOfDeg(100.)
-#define B2_GV_ZETA 0.85
+#ifndef BOOZ2_GUIDANCE_V_REF_OMEGA
+#define BOOZ2_GUIDANCE_V_REF_OMEGA RadOfDeg(100.)
+#endif
+#ifndef BOOZ2_GUIDANCE_V_REF_ZETA
+#define BOOZ2_GUIDANCE_V_REF_ZETA 0.85
+#endif
#define B2_GV_ZETA_OMEGA_FRAC 10
-#define B2_GV_ZETA_OMEGA BFP_OF_REAL((B2_GV_ZETA*B2_GV_OMEGA),
B2_GV_ZETA_OMEGA_FRAC)
+#define B2_GV_ZETA_OMEGA
BFP_OF_REAL((BOOZ2_GUIDANCE_V_REF_ZETA*BOOZ2_GUIDANCE_V_REF_OMEGA),
B2_GV_ZETA_OMEGA_FRAC)
#define B2_GV_OMEGA_2_FRAC 7
-#define B2_GV_OMEGA_2 BFP_OF_REAL((B2_GV_OMEGA*B2_GV_OMEGA),
B2_GV_OMEGA_2_FRAC)
+#define B2_GV_OMEGA_2
BFP_OF_REAL((BOOZ2_GUIDANCE_V_REF_OMEGA*BOOZ2_GUIDANCE_V_REF_OMEGA),
B2_GV_OMEGA_2_FRAC)
/* first order time constant */
#define B2_GV_REF_THAU_F 0.25
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