ArduCopter/mode_systemid.cpp

   1 #include "Copter.h"
   2 #include <AP_Math/control.h>
   3
   4 #if MODE_SYSTEMID_ENABLED
   5
   6 /*
   7  * Init and run calls for systemId, flight mode
   8  */
   9
  10 const AP_Param::GroupInfo ModeSystemId::var_info[] = {
  11
  12     // @Param: _AXIS
  13     // @DisplayName: System identification axis
  14     // @Description: Controls which axis are being excited.  Set to non-zero to see more parameters
  15     // @User: Standard
  16     // @Values: 0:None, 1:Input Roll Angle, 2:Input Pitch Angle, 3:Input Yaw Angle, 4:Recovery Roll Angle, 5:Recovery Pitch Angle, 6:Recovery Yaw Angle, 7:Rate Roll, 8:Rate Pitch, 9:Rate Yaw, 10:Mixer Roll, 11:Mixer Pitch, 12:Mixer Yaw, 13:Mixer Thrust, 14:Measured Lateral Position, 15:Measured Longitudinal Position, 16:Measured Lateral Velocity, 17:Measured Longitudinal Velocity, 18:Input Lateral Velocity, 19:Input Longitudinal Velocity
  17     AP_GROUPINFO_FLAGS("_AXIS", 1, ModeSystemId, axis, 0, AP_PARAM_FLAG_ENABLE),
  18
  19     // @Param: _MAGNITUDE
  20     // @DisplayName: System identification Chirp Magnitude
  21     // @Description: Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.
  22     // @User: Standard
  23     AP_GROUPINFO("_MAGNITUDE", 2, ModeSystemId, waveform_magnitude, 15),
  24
  25     // @Param: _F_START_HZ
  26     // @DisplayName: System identification Start Frequency
  27     // @Description: Frequency at the start of the sweep
  28     // @Range: 0.01 100
  29     // @Units: Hz
  30     // @User: Standard
  31     AP_GROUPINFO("_F_START_HZ", 3, ModeSystemId, frequency_start, 0.5f),
  32
  33     // @Param: _F_STOP_HZ
  34     // @DisplayName: System identification Stop Frequency
  35     // @Description: Frequency at the end of the sweep
  36     // @Range: 0.01 100
  37     // @Units: Hz
  38     // @User: Standard
  39     AP_GROUPINFO("_F_STOP_HZ", 4, ModeSystemId, frequency_stop, 40),
  40
  41     // @Param: _T_FADE_IN
  42     // @DisplayName: System identification Fade in time
  43     // @Description: Time to reach maximum amplitude of sweep
  44     // @Range: 0 20
  45     // @Units: s
  46     // @User: Standard
  47     AP_GROUPINFO("_T_FADE_IN", 5, ModeSystemId, time_fade_in, 15),
  48
  49     // @Param: _T_REC
  50     // @DisplayName: System identification Total Sweep length
  51     // @Description: Time taken to complete the sweep
  52     // @Range: 0 255
  53     // @Units: s
  54     // @User: Standard
  55     AP_GROUPINFO("_T_REC", 6, ModeSystemId, time_record, 70),
  56
  57     // @Param: _T_FADE_OUT
  58     // @DisplayName: System identification Fade out time
  59     // @Description: Time to reach zero amplitude at the end of the sweep
  60     // @Range: 0 5
  61     // @Units: s
  62     // @User: Standard
  63     AP_GROUPINFO("_T_FADE_OUT", 7, ModeSystemId, time_fade_out, 2),
  64
  65     AP_GROUPEND
  66 };
  67
  68 ModeSystemId::ModeSystemId(void) : Mode()
  69 {
  70     AP_Param::setup_object_defaults(this, var_info);
  71 }
  72
  73 #define SYSTEM_ID_DELAY     1.0f      // time in seconds waited after system id mode change for frequency sweep injection
  74
  75 // systemId_init - initialise systemId controller
  76 bool ModeSystemId::init(bool ignore_checks)
  77 {
  78     // check if enabled
  79     if (axis == 0) {
  80         gcs().send_text(MAV_SEVERITY_WARNING, "No axis selected, SID_AXIS = 0");
  81         return false;
  82     }
  83
  84     // ensure we are flying
  85     if (!copter.motors->armed() || !copter.ap.auto_armed || copter.ap.land_complete) {
  86         gcs().send_text(MAV_SEVERITY_WARNING, "Aircraft must be flying");
  87         return false;
  88     }
  89
  90     if (!is_poscontrol_axis_type()) {
  91
  92         // System ID is being done on the attitude control loops
  93
  94         // Can only switch into System ID Axes 1-13 with a flight mode that has manual throttle
  95         if (!copter.flightmode->has_manual_throttle()) {
  96             gcs().send_text(MAV_SEVERITY_WARNING, "Axis requires manual throttle");
  97             return false;
  98         }
  99
 100 #if FRAME_CONFIG == HELI_FRAME
 101         copter.input_manager.set_use_stab_col(true);
 102 #endif
 103
 104     } else {
 105
 106         // System ID is being done on the position control loops
 107
 108         // Can only switch into System ID Axes 14-19 from Loiter flight mode
 109         if (copter.flightmode->mode_number() != Mode::Number::LOITER) {
 110             gcs().send_text(MAV_SEVERITY_WARNING, "Axis requires switch from Loiter");
 111             return false;
 112         }
 113
 114         // set horizontal speed and acceleration limits
 115         pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
 116         pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
 117
 118         // initialise the horizontal position controller
 119         if (!pos_control->is_active_xy()) {
 120             pos_control->init_xy_controller();
 121         }
 122
 123         // set vertical speed and acceleration limits
 124         pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
 125         pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
 126
 127         // initialise the vertical position controller
 128         if (!pos_control->is_active_z()) {
 129             pos_control->init_z_controller();
 130         }
 131         Vector3f curr_pos;
 132         curr_pos = inertial_nav.get_position_neu_cm();
 133         target_pos = curr_pos.xy();
 134     }
 135
 136     att_bf_feedforward = attitude_control->get_bf_feedforward();
 137     waveform_time = 0.0f;
 138     time_const_freq = 2.0f / frequency_start; // Two full cycles at the starting frequency
 139     systemid_state = SystemIDModeState::SYSTEMID_STATE_TESTING;
 140     log_subsample = 0;
 141
 142     chirp_input.init(time_record, frequency_start, frequency_stop, time_fade_in, time_fade_out, time_const_freq);
 143
 144     gcs().send_text(MAV_SEVERITY_INFO, "SystemID Starting: axis=%d", (unsigned)axis);
 145
 146 #if HAL_LOGGING_ENABLED
 147     copter.Log_Write_SysID_Setup(axis, waveform_magnitude, frequency_start, frequency_stop, time_fade_in, time_const_freq, time_record, time_fade_out);
 148 #endif
 149
 150     return true;
 151 }
 152
 153 // systemId_exit - clean up systemId controller before exiting
 154 void ModeSystemId::exit()
 155 {
 156     // reset the feedforward enabled parameter to the initialized state
 157     attitude_control->bf_feedforward(att_bf_feedforward);
 158 }
 159
 160 // systemId_run - runs the systemId controller
 161 // should be called at 100hz or more
 162 void ModeSystemId::run()
 163 {
 164     float target_roll, target_pitch;
 165     float target_yaw_rate = 0.0f;
 166     float pilot_throttle_scaled = 0.0f;
 167     float target_climb_rate = 0.0f;
 168     Vector2f input_vel;
 169
 170     if (!is_poscontrol_axis_type()) {
 171
 172         // apply simple mode transform to pilot inputs
 173         update_simple_mode();
 174
 175         // convert pilot input to lean angles
 176         get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
 177
 178         // get pilot's desired yaw rate
 179         target_yaw_rate = get_pilot_desired_yaw_rate();
 180
 181         if (!motors->armed()) {
 182             // Motors should be Stopped
 183             motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
 184         // Tradheli doesn't set spool state to ground idle when throttle stick is zero.  Ground idle only set when
 185         // motor interlock is disabled.
 186         } else if (copter.ap.throttle_zero && !copter.is_tradheli()) {
 187             // Attempting to Land
 188             motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
 189         } else {
 190             motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 191         }
 192
 193         switch (motors->get_spool_state()) {
 194         case AP_Motors::SpoolState::SHUT_DOWN:
 195             // Motors Stopped
 196             attitude_control->reset_yaw_target_and_rate();
 197             attitude_control->reset_rate_controller_I_terms();
 198             break;
 199
 200         case AP_Motors::SpoolState::GROUND_IDLE:
 201             // Landed
 202             // Tradheli initializes targets when going from disarmed to armed state.
 203             // init_targets_on_arming is always set true for multicopter.
 204             if (motors->init_targets_on_arming()) {
 205                 attitude_control->reset_yaw_target_and_rate();
 206                 attitude_control->reset_rate_controller_I_terms_smoothly();
 207             }
 208             break;
 209
 210         case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
 211             // clear landing flag above zero throttle
 212             if (!motors->limit.throttle_lower) {
 213                 set_land_complete(false);
 214             }
 215             break;
 216
 217         case AP_Motors::SpoolState::SPOOLING_UP:
 218         case AP_Motors::SpoolState::SPOOLING_DOWN:
 219             // do nothing
 220             break;
 221         }
 222
 223         // get pilot's desired throttle
 224 #if FRAME_CONFIG == HELI_FRAME
 225         pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
 226 #else
 227         pilot_throttle_scaled = get_pilot_desired_throttle();
 228 #endif
 229
 230     }
 231
 232     if ((systemid_state == SystemIDModeState::SYSTEMID_STATE_TESTING) &&
 233         (!is_positive(frequency_start) || !is_positive(frequency_stop) || is_negative(time_fade_in) || !is_positive(time_record) || is_negative(time_fade_out) || (time_record <= time_const_freq))) {
 234         systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
 235         gcs().send_text(MAV_SEVERITY_INFO, "SystemID Parameter Error");
 236     }
 237
 238     waveform_time += G_Dt;
 239     waveform_sample = chirp_input.update(waveform_time - SYSTEM_ID_DELAY, waveform_magnitude);
 240     waveform_freq_rads = chirp_input.get_frequency_rads();
 241     Vector2f disturb_state;
 242     switch (systemid_state) {
 243         case SystemIDModeState::SYSTEMID_STATE_STOPPED:
 244             attitude_control->bf_feedforward(att_bf_feedforward);
 245             break;
 246         case SystemIDModeState::SYSTEMID_STATE_TESTING:
 247
 248             if (copter.ap.land_complete) {
 249                 systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
 250                 gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: Landed");
 251                 break;
 252             }
 253             if (attitude_control->lean_angle_deg()*100 > attitude_control->lean_angle_max_cd()) {
 254                 systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
 255                 gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: lean=%f max=%f", (double)attitude_control->lean_angle_deg(), (double)attitude_control->lean_angle_max_cd());
 256                 break;
 257             }
 258             if (waveform_time > SYSTEM_ID_DELAY + time_fade_in + time_const_freq + time_record + time_fade_out) {
 259                 systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
 260                 gcs().send_text(MAV_SEVERITY_INFO, "SystemID Finished");
 261                 break;
 262             }
 263
 264             switch ((AxisType)axis.get()) {
 265                 case AxisType::NONE:
 266                     systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
 267                     gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: axis = 0");
 268                     break;
 269                 case AxisType::INPUT_ROLL:
 270                     target_roll += waveform_sample*100.0f;
 271                     break;
 272                 case AxisType::INPUT_PITCH:
 273                     target_pitch += waveform_sample*100.0f;
 274                     break;
 275                 case AxisType::INPUT_YAW:
 276                     target_yaw_rate += waveform_sample*100.0f;
 277                     break;
 278                 case AxisType::RECOVER_ROLL:
 279                     target_roll += waveform_sample*100.0f;
 280                     attitude_control->bf_feedforward(false);
 281                     break;
 282                 case AxisType::RECOVER_PITCH:
 283                     target_pitch += waveform_sample*100.0f;
 284                     attitude_control->bf_feedforward(false);
 285                     break;
 286                 case AxisType::RECOVER_YAW:
 287                     target_yaw_rate += waveform_sample*100.0f;
 288                     attitude_control->bf_feedforward(false);
 289                     break;
 290                 case AxisType::RATE_ROLL:
 291                     attitude_control->rate_bf_roll_sysid(radians(waveform_sample));
 292                     break;
 293                 case AxisType::RATE_PITCH:
 294                     attitude_control->rate_bf_pitch_sysid(radians(waveform_sample));
 295                     break;
 296                 case AxisType::RATE_YAW:
 297                     attitude_control->rate_bf_yaw_sysid(radians(waveform_sample));
 298                     break;
 299                 case AxisType::MIX_ROLL:
 300                     attitude_control->actuator_roll_sysid(waveform_sample);
 301                     break;
 302                 case AxisType::MIX_PITCH:
 303                     attitude_control->actuator_pitch_sysid(waveform_sample);
 304                     break;
 305                 case AxisType::MIX_YAW:
 306                     attitude_control->actuator_yaw_sysid(waveform_sample);
 307                     break;
 308                 case AxisType::MIX_THROTTLE:
 309                     pilot_throttle_scaled += waveform_sample;
 310                     break;
 311                 case AxisType::DISTURB_POS_LAT:
 312                     disturb_state.x = 0.0f;
 313                     disturb_state.y = waveform_sample * 100.0f;
 314                     disturb_state.rotate(attitude_control->get_att_target_euler_rad().z);
 315                     pos_control->set_disturb_pos_cm(disturb_state);
 316                     break;
 317                 case AxisType::DISTURB_POS_LONG:
 318                     disturb_state.x = waveform_sample * 100.0f;
 319                     disturb_state.y = 0.0f;
 320                     disturb_state.rotate(attitude_control->get_att_target_euler_rad().z);
 321                     pos_control->set_disturb_pos_cm(disturb_state);
 322                     break;
 323                 case AxisType::DISTURB_VEL_LAT:
 324                     disturb_state.x = 0.0f;
 325                     disturb_state.y = waveform_sample * 100.0f;
 326                     disturb_state.rotate(attitude_control->get_att_target_euler_rad().z);
 327                     pos_control->set_disturb_vel_cms(disturb_state);
 328                     break;
 329                 case AxisType::DISTURB_VEL_LONG:
 330                     disturb_state.x = waveform_sample * 100.0f;
 331                     disturb_state.y = 0.0f;
 332                     disturb_state.rotate(attitude_control->get_att_target_euler_rad().z);
 333                     pos_control->set_disturb_vel_cms(disturb_state);
 334                     break;
 335                 case AxisType::INPUT_VEL_LAT:
 336                     input_vel.x = 0.0f;
 337                     input_vel.y = waveform_sample * 100.0f;
 338                     input_vel.rotate(attitude_control->get_att_target_euler_rad().z);
 339                     break;
 340                 case AxisType::INPUT_VEL_LONG:
 341                     input_vel.x = waveform_sample * 100.0f;
 342                     input_vel.y = 0.0f;
 343                     input_vel.rotate(attitude_control->get_att_target_euler_rad().z);
 344                     break;
 345             }
 346             break;
 347     }
 348
 349     if (!is_poscontrol_axis_type()) {
 350
 351         // call attitude controller
 352         attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 353
 354         // output pilot's throttle
 355         attitude_control->set_throttle_out(pilot_throttle_scaled, !copter.is_tradheli(), g.throttle_filt);
 356
 357     } else {
 358
 359         // relax loiter target if we might be landed
 360         if (copter.ap.land_complete_maybe) {
 361             pos_control->soften_for_landing_xy();
 362         }
 363
 364         Vector2f accel;
 365         target_pos += input_vel * G_Dt;
 366         if (is_positive(G_Dt)) {
 367             accel = (input_vel - input_vel_last) / G_Dt;
 368             input_vel_last = input_vel;
 369         }
 370         pos_control->set_pos_vel_accel_xy(target_pos.topostype(), input_vel, accel);
 371
 372         // run pos controller
 373         pos_control->update_xy_controller();
 374
 375         // call attitude controller
 376         attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), target_yaw_rate, false);
 377
 378         // Send the commanded climb rate to the position controller
 379         pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
 380
 381         // run the vertical position controller and set output throttle
 382         pos_control->update_z_controller();
 383     }
 384
 385     if (log_subsample <= 0) {
 386         log_data();
 387         if (copter.should_log(MASK_LOG_ATTITUDE_FAST) && copter.should_log(MASK_LOG_ATTITUDE_MED)) {
 388             log_subsample = 1;
 389         } else if (copter.should_log(MASK_LOG_ATTITUDE_FAST)) {
 390             log_subsample = 2;
 391         } else if (copter.should_log(MASK_LOG_ATTITUDE_MED)) {
 392             log_subsample = 4;
 393         } else {
 394             log_subsample = 8;
 395         }
 396     }
 397     log_subsample -= 1;
 398 }
 399
 400 // log system id and attitude
 401 void ModeSystemId::log_data() const
 402 {
 403     Vector3f delta_angle;
 404     float delta_angle_dt;
 405     copter.ins.get_delta_angle(delta_angle, delta_angle_dt);
 406
 407     Vector3f delta_velocity;
 408     float delta_velocity_dt;
 409     copter.ins.get_delta_velocity(delta_velocity, delta_velocity_dt);
 410
 411     if (is_positive(delta_angle_dt) && is_positive(delta_velocity_dt)) {
 412         copter.Log_Write_SysID_Data(waveform_time, waveform_sample, waveform_freq_rads / (2 * M_PI), degrees(delta_angle.x / delta_angle_dt), degrees(delta_angle.y / delta_angle_dt), degrees(delta_angle.z / delta_angle_dt), delta_velocity.x / delta_velocity_dt, delta_velocity.y / delta_velocity_dt, delta_velocity.z / delta_velocity_dt);
 413     }
 414
 415     // Full rate logging of attitude, rate and pid loops
 416     copter.Log_Write_Attitude();
 417     copter.Log_Write_Rate();
 418     copter.Log_Write_PIDS();
 419
 420     if (is_poscontrol_axis_type()) {
 421         pos_control->write_log();
 422         copter.logger.Write_PID(LOG_PIDN_MSG, pos_control->get_vel_xy_pid().get_pid_info_x());
 423         copter.logger.Write_PID(LOG_PIDE_MSG, pos_control->get_vel_xy_pid().get_pid_info_y());
 424
 425     }
 426 }
 427
 428 bool ModeSystemId::is_poscontrol_axis_type() const
 429 {
 430     bool ret = false;
 431
 432     switch ((AxisType)axis.get()) {
 433         case AxisType::DISTURB_POS_LAT:
 434         case AxisType::DISTURB_POS_LONG:
 435         case AxisType::DISTURB_VEL_LAT:
 436         case AxisType::DISTURB_VEL_LONG:
 437         case AxisType::INPUT_VEL_LAT:
 438         case AxisType::INPUT_VEL_LONG:
 439             ret = true;
 440             break;
 441         default:
 442             break;
 443         }
 444
 445     return ret;
 446 }
 447
 448 #endif