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Commit c4a26763 authored by beuchatp's avatar beuchatp
Browse files

Fixed abs() int casting causing errors for default controller state changes.... 

Fixed abs() int casting causing errors for default controller state changes. Added integrator to default controller. Needs testing and adding buttons to GUI for run integrator and reset integrator.
parent b94eab7d
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dfall_ws/src/dfall_pkg/include/nodes/DefaultControllerService.h
View file @ c4a26763
......@@ -144,7 +144,10 @@ using namespace dfall_pkg;
#define ESTIMATOR_METHOD_POINT_MASS_PER_DIMENSION 2 // (DEFAULT)
// These constants deine the behaviour of the intergrator
#define INTEGRATOR_FLAG_ON 1
#define INTEGRATOR_FLAG_OFF 2
#define INTEGRATOR_FLAG_RESET 3
......@@ -247,7 +250,6 @@ bool m_shouldSmoothSetpointChanges = true;
// ------------------------------------------------------
// VARIABLES THAT ARE STANDARD FOR A "CONTROLLER SERVICE"
......@@ -314,6 +316,10 @@ float yaml_gainRollRate_fromAngle = 4.00;
float yaml_gainPitchRate_fromAngle = 4.00;
// The LQR Controller parameters for yaw
float yaml_gainYawRate_fromAngle = 2.30;
// Integrator gains
float yaml_integratorGain_forThrust = 0.0;
float yaml_integratorGain_forTauXY = 0.0;
float yaml_integratorGain_forTauYaw = 0.0;
// VARIABLES FOR THE ESTIMATOR
......@@ -413,15 +419,14 @@ void computeResponse_for_takeoff_integrator_on(Controller::Response &response);
void computeResponse_for_landing_move_down(Controller::Response &response);
void computeResponse_for_landing_spin_motors(Controller::Response &response);
// SMOOTHING SETPOINT CHANGES
void smoothSetpointChanges( float target_setpoint[4] , float (&current_setpoint)[4] );
// > This function constructs the error in the body frame
// before calling the appropriate control function
void calculateControlOutput_viaLQR_givenSetpoint(float setpoint[4], float stateInertial[12], Controller::Response &response);
void calculateControlOutput_viaLQR_givenSetpoint(float setpoint[4], float stateInertial[9], Controller::Response &response, int integrator_flag);
// > The various functions that implement an LQR controller
void calculateControlOutput_viaLQR_givenError(float stateErrorBody[12], Controller::Response &response);
void calculateControlOutput_viaLQR_givenError(float stateErrorBody[9], Controller::Response &response, int integrator_flag);
// ESTIMATOR COMPUTATIONS
void performEstimatorUpdate_forStateInterial(Controller::Request &request);
......
dfall_ws/src/dfall_pkg/param/DefaultController.yaml
View file @ c4a26763
......@@ -102,6 +102,10 @@ gainRollRate_fromAngle : 4.00
gainPitchRate_fromAngle : 4.00
# The LQR Controller parameters for yaw
gainYawRate_fromAngle : 2.30
# Integrator gains
integratorGain_forThrust : 0.01
integratorGain_forTauXY : 0.01
integratorGain_forTauYaw : 0.01
......
dfall_ws/src/dfall_pkg/src/nodes/DefaultControllerService.cpp
View file @ c4a26763
......@@ -226,9 +226,13 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// Change to standby state if the {roll,pitch}
// angles exceed the threshold
if (
(abs(m_current_stateInertialEstimate[6]) > yaml_threshold_roll_pitch_for_turn_off_radians)
(m_current_stateInertialEstimate[6] > yaml_threshold_roll_pitch_for_turn_off_radians)
or
(abs(m_current_stateInertialEstimate[7]) > yaml_threshold_roll_pitch_for_turn_off_radians)
(m_current_stateInertialEstimate[6] < -yaml_threshold_roll_pitch_for_turn_off_radians)
or
(m_current_stateInertialEstimate[7] > yaml_threshold_roll_pitch_for_turn_off_radians)
or
(m_current_stateInertialEstimate[7] < -yaml_threshold_roll_pitch_for_turn_off_radians)
)
{
// Inform the user
......@@ -313,7 +317,7 @@ void computeResponse_for_normal(Controller::Response &response)
smoothSetpointChanges( m_setpoint , m_setpoint_for_controller );
// Call the LQR control function
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response);
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response, INTEGRATOR_FLAG_OFF);
}
......@@ -411,7 +415,7 @@ void computeResponse_for_takeoff_move_up(Controller::Response &response)
m_setpoint_for_controller[3] = initial_yaw + time_elapsed_proportion * yaw_start_to_end_diff;
// Call the LQR control function
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response);
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response, INTEGRATOR_FLAG_OFF);
// Change to next state after specified time
if (m_time_in_seconds > yaml_takoff_move_up_time)
......@@ -455,24 +459,25 @@ void computeResponse_for_takeoff_goto_setpoint(Controller::Response &response)
smoothSetpointChanges( m_setpoint , m_setpoint_for_controller );
// Call the LQR control function
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response);
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response, INTEGRATOR_FLAG_OFF);
// Check if within the "integrator on" box of the setpoint
// > First, compute the current errors
float error_x = m_setpoint[0] - m_current_stateInertialEstimate[0];
float error_y = m_setpoint[1] - m_current_stateInertialEstimate[1];
float error_z = m_setpoint[2] - m_current_stateInertialEstimate[2];
float abs_error_x = m_setpoint[0] - m_current_stateInertialEstimate[0];
float abs_error_y = m_setpoint[1] - m_current_stateInertialEstimate[1];
float abs_error_z = m_setpoint[2] - m_current_stateInertialEstimate[2];
if (abs_error_x<0.0){abs_error_x=-abs_error_x;}
if (abs_error_y<0.0){abs_error_y=-abs_error_y;}
if (abs_error_z<0.0){abs_error_z=-abs_error_z;}
// > Then perform the check
if (
(!box_reached)
&&
((error_x) < yaml_takoff_integrator_on_box_horizontal)
&&
((-error_x) < yaml_takoff_integrator_on_box_horizontal)
&&
(abs(error_y) < yaml_takoff_integrator_on_box_horizontal)
&&
(abs(error_z) < yaml_takoff_integrator_on_box_vertical)
and
(abs_error_x < yaml_takoff_integrator_on_box_horizontal)
and
(abs_error_y < yaml_takoff_integrator_on_box_horizontal)
and
(abs_error_z < yaml_takoff_integrator_on_box_vertical)
)
{
// Give it another "yaml_takoff_goto_setpoint_nearby_time"
......@@ -482,6 +487,8 @@ void computeResponse_for_takeoff_goto_setpoint(Controller::Response &response)
box_reached = true;
}
ROS_INFO_STREAM("[DEFAULT CONTROLLER] time = " << m_time_in_seconds << ", switch at = " << time_to_switch << " abs error (x,y,z) = ( " << abs_error_x << ", " << abs_error_y << ", " << abs_error_z << ")" );
if (m_time_in_seconds > time_to_switch)
{
// Inform the user
......@@ -527,7 +534,7 @@ void computeResponse_for_takeoff_integrator_on(Controller::Response &response)
}
// Call the LQR control function
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response);
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response , INTEGRATOR_FLAG_ON);
// Change to next state after specified time
if (m_time_in_seconds > yaml_takoff_integrator_on_time)
......@@ -576,7 +583,7 @@ void computeResponse_for_landing_move_down(Controller::Response &response)
m_setpoint_for_controller[2] = initial_height + time_elapsed_proportion * (yaml_landing_move_down_end_height_setpoint-initial_height);
// Call the LQR control function
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response);
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response, INTEGRATOR_FLAG_OFF);
// // Check if within the threshold of zero
// if (m_current_stateInertialEstimate[2] < yaml_landing_move_down_end_height_threshold)
......@@ -628,7 +635,7 @@ void computeResponse_for_landing_spin_motors(Controller::Response &response)
if (time_elapsed_proportion<0.5)
{
// Call the LQR control function
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response);
calculateControlOutput_viaLQR_givenSetpoint(m_setpoint_for_controller, m_current_stateInertialEstimate, response, INTEGRATOR_FLAG_OFF);
// Compute the desired "spinning" thrust
float thrust_for_spinning =
(1.0-time_elapsed_proportion)
......@@ -670,6 +677,9 @@ void computeResponse_for_landing_spin_motors(Controller::Response &response)
}
// ------------------------------------------------------------------------------
// SSSS M M OOO OOO TTTTT H H
// S MM MM O O O O T H H
......@@ -875,7 +885,7 @@ void performEstimatorUpdate_forStateInterial_viaPointMassKalmanFilter()
// > This function constructs the error in the body frame
// before calling the appropriate control function
void calculateControlOutput_viaLQR_givenSetpoint(float setpoint[4], float stateInertial[12], Controller::Response &response)
void calculateControlOutput_viaLQR_givenSetpoint(float setpoint[4], float stateInertial[9], Controller::Response &response, int integrator_flag )
{
// Store the current YAW in a local variable
float temp_stateInertial_yaw = stateInertial[8];
......@@ -915,13 +925,20 @@ void calculateControlOutput_viaLQR_givenSetpoint(float setpoint[4], float stateI
// the Inertial frame into the Body frame
convertIntoBodyFrame(stateInertial, bodyFrameError, temp_stateInertial_yaw);
calculateControlOutput_viaLQR_givenError(bodyFrameError, response);
calculateControlOutput_viaLQR_givenError(bodyFrameError, response, integrator_flag);
}
void calculateControlOutput_viaLQR_givenError(float stateErrorBody[12], Controller::Response &response)
void calculateControlOutput_viaLQR_givenError(float stateErrorBody[9], Controller::Response &response, int integrator_flag)
{
// PERFORM THE "u=Kx" LQR CONTROLLER COMPUTATION
// Initialise static variables for the integral
static float newtons_int = 0.0;
static float tau_x = 0.0;
static float tau_y = 0.0;
static float tau_z = 0.0;
// Compute the Z-CONTROLLER
// > provides the total thrust adjustment
float thrustAdjustment =
......@@ -1003,6 +1020,21 @@ void calculateControlOutput_viaLQR_givenError(float stateErrorBody[12], Controll
}
// PERFORM THE INTEGRATOR COMPUTATIONS
if (integrator_flag == INTEGRATOR_FLAG_ON)
{
newtons_int -= yaml_integratorGain_forThrust * stateErrorBody[2] / yaml_control_frequency;
tau_x += yaml_integratorGain_forTauXY * stateErrorBody[1] / yaml_control_frequency;
tau_y -= yaml_integratorGain_forTauXY * stateErrorBody[0] / yaml_control_frequency;
tau_z -= yaml_integratorGain_forTauYaw * stateErrorBody[8] / yaml_control_frequency;
}
else if (integrator_flag == INTEGRATOR_FLAG_RESET)
{
newtons_int = 0.0;
tau_x = 0.0;
tau_y = 0.0;
tau_z = 0.0;
}
// UPDATE THE "RETURN" THE VARIABLE NAMED "response"
......@@ -1017,12 +1049,12 @@ void calculateControlOutput_viaLQR_givenError(float stateErrorBody[12], Controll
// controller needed to be divided by 4 or not.
thrustAdjustment = thrustAdjustment / 4.0;
// > Compute the feed-forward force
float feed_forward_thrust_per_motor = m_cf_weight_in_newtons / 4.0;
float feed_forward_thrust_per_motor = m_cf_weight_in_newtons / 4.0 + newtons_int;
// > Put in the per motor commands
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor);
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor - tau_x - tau_y - tau_z);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor - tau_x + tau_y + tau_z);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor + tau_x + tau_y - tau_z);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustAdjustment + feed_forward_thrust_per_motor + tau_x - tau_y + tau_z);
// Specify that this controller is a rate controller
......@@ -1325,10 +1357,13 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
// > FOR CUSTOM BUTTON 1
case 1:
{
// Let the user know that this part of the code was triggered
ROS_INFO("[DEFAULT CONTROLLER] Button 1 received in controller.");
// Code here to respond to custom button 1
// Inform the user
ROS_INFO("[DEFAULT CONTROLLER] Received request to run integrator. Switch to state: take-off goto-setpoint");
// Reset the time variable
m_time_in_seconds = 0.0;
// Update the state accordingly
m_current_state = DEFAULT_CONTROLLER_STATE_TAKEOFF_GOTO_SETPOINT;
m_current_state_changed = true;
break;
}
......@@ -1336,8 +1371,11 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
case 2:
{
// Let the user know that this part of the code was triggered
ROS_INFO("[DEFAULT CONTROLLER] Button 2 received in controller.");
// Code here to respond to custom button 2
ROS_INFO("[DEFAULT CONTROLLER] Received request to reset the integrator.");
// Call the controller function with the reset flag
float tempStateBodyError[9];
Controller::Response temp_response;
calculateControlOutput_viaLQR_givenError(tempStateBodyError, temp_response, INTEGRATOR_FLAG_RESET);
break;
}
......@@ -1590,6 +1628,11 @@ void fetchDefaultControllerYamlParameters(ros::NodeHandle& nodeHandle)
yaml_gainPitchRate_fromAngle = getParameterFloat(nodeHandle_for_paramaters, "gainPitchRate_fromAngle");
// The LQR Controller parameters for yaw
yaml_gainYawRate_fromAngle = getParameterFloat(nodeHandle_for_paramaters, "gainYawRate_fromAngle");
// Integrator gains
yaml_integratorGain_forThrust = getParameterFloat(nodeHandle_for_paramaters, "integratorGain_forThrust");
yaml_integratorGain_forTauXY = getParameterFloat(nodeHandle_for_paramaters, "integratorGain_forTauXY");
yaml_integratorGain_forTauYaw = getParameterFloat(nodeHandle_for_paramaters, "integratorGain_forTauYaw");
// A flag for which estimator to use:
yaml_estimator_method = getParameterInt( nodeHandle_for_paramaters , "estimator_method" );
......@@ -1760,6 +1803,7 @@ int main(int argc, char* argv[])
// PUBLISHERS AND SUBSCRIBERS
// Instantiate the class variable "m_debugPublisher" to be a
......
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