AttitudeControl.hpp
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file AttitudeControl.hpp
*
* A quaternion based attitude controller.
*
* @author Matthias Grob <maetugr@gmail.com>
*
* Publication documenting the implemented Quaternion Attitude Control:
* Nonlinear Quadrocopter Attitude Control (2013)
* by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
* Institute for Dynamic Systems and Control (IDSC), ETH Zurich
*
* https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
*/
#pragma once
#include <matrix/matrix/math.hpp>
#include <mathlib/math/Limits.hpp>
class AttitudeControl
{
public:
AttitudeControl() = default;
~AttitudeControl() = default;
/**
* Set proportional attitude control gain
* @param proportional_gain 3D vector containing gains for roll, pitch, yaw
* @param yaw_weight A fraction [0,1] deprioritizing yaw compared to roll and pitch
*/
void setProportionalGain(const matrix::Vector3f &proportional_gain, const float yaw_weight);
/**
* Set hard limit for output rate setpoints
* @param rate_limit [rad/s] 3D vector containing limits for roll, pitch, yaw
*/
void setRateLimit(const matrix::Vector3f &rate_limit) { _rate_limit = rate_limit; }
/**
* Set a new attitude setpoint replacing the one tracked before
* @param qd desired vehicle attitude setpoint
* @param yawspeed_setpoint [rad/s] yaw feed forward angular rate in world frame
*/
void setAttitudeSetpoint(const matrix::Quatf &qd, const float yawspeed_setpoint) { _attitude_setpoint_q = qd; _attitude_setpoint_q.normalize(); _yawspeed_setpoint = yawspeed_setpoint; }
/**
* Adjust last known attitude setpoint by a delta rotation
* Optional use to avoid glitches when attitude estimate reference e.g. heading changes.
* @param q_delta delta rotation to apply
*/
void adaptAttitudeSetpoint(const matrix::Quatf &q_delta) { _attitude_setpoint_q = q_delta * _attitude_setpoint_q; }
/**
* Run one control loop cycle calculation
* @param q estimation of the current vehicle attitude unit quaternion
* @return [rad/s] body frame 3D angular rate setpoint vector to be executed by the rate controller
*/
matrix::Vector3f update(const matrix::Quatf &q) const;
private:
matrix::Vector3f _proportional_gain;
matrix::Vector3f _rate_limit;
float _yaw_w{0.f}; ///< yaw weight [0,1] to deprioritize caompared to roll and pitch
matrix::Quatf _attitude_setpoint_q; ///< latest known attitude setpoint e.g. from position control
float _yawspeed_setpoint{0.f}; ///< latest known yawspeed feed-forward setpoint
};