Diff: servo.cpp

Revision:

143:53808e4e684c

Parent:

141:725321fe2949

Child:

144:b3a713b4f1c4

--- a/servo.cpp	Fri Dec 10 11:20:13 2021 +0000
+++ b/servo.cpp	Fri Jun 24 05:44:34 2022 +0000
@@ -11,47 +11,93 @@
     
     //姿勢角の所得
     euler = eskf.computeAngles();
-    rpy = euler;
-
+    
+    Vector3f vihat = eskf.getVihat();
+    Vector3f gyroBias = eskf.getGyroBias();
     //PIDへの状態量のセット
-    pitchPID.setProcessValue(rpy(1));
-    pitchratePID.setProcessValue(gyro(1));
-    rollPID.setProcessValue(rpy(0));
-    rollratePID.setProcessValue(gyro(0));
+    pitchPID.setProcessValue(euler(1));
+    pitchratePID.setProcessValue(gyro(1)-gyroBias(1));
+    rollPID.setProcessValue(euler(0));
+    rollratePID.setProcessValue(gyro(0)-gyroBias(0));
+    yawratePID.setProcessValue(gyro(2)-gyroBias(2));
+    climbratePID.setProcessValue(vihat(2));
     
     dT = rc[2];
     
+    // ゲイン切り替え
+    float vihat_norm = vihat.squaredNorm();
+    if (rc[5] < 0.3f){
+        // Hinf
+        hinf_flag = true;
+        if (vihat_norm < 9.0f || rc[2] < -0.8f){
+            pitchPID.setGain(4.55f, 0.0f, 0.0f);
+            pitchratePID.setGain(0.363f, 0.0f, 0.0f);
+            rollPID.setGain(1.34f, 0.0f, 0.0f);
+            rollratePID.setGain(0.219f, 0.0f,0.0f);
+            pitchPID.resetIntError();
+            rollPID.resetIntError();
+        }else{
+            pitchPID.setGain(4.55f, 9.7f, 0.0f);
+            pitchratePID.setGain(0.363f, 0.0f, 0.0f);
+            rollPID.setGain(1.34f, 0.007f, 0.0f);
+            rollratePID.setGain(0.219f, 0.0f,0.0f);
+        }
+    }else{
+        // 従来
+        hinf_flag = false;
+        if (vihat_norm < 9.0f || rc[2] < -0.8f){
+            pitchPID.setGain(10.0f, 0.0f, 0.0f);
+            pitchratePID.setGain(1.0f, 0.0f, 0.0f);//rad/s
+            rollPID.setGain(5.0f, 0.0f, 0.0f);
+            rollratePID.setGain(0.05f, 0.0f, 0.0f);//rad/s
+            pitchPID.resetIntError();
+            rollPID.resetIntError();
+        }else{
+            pitchPID.setGain(10.0f, 0.0f, 0.0f);
+            pitchratePID.setGain(1.0f, 0.0f, 0.0f);//rad/s
+            rollPID.setGain(5.0f, 0.0f, 0.0f);
+            rollratePID.setGain(0.05f, 0.0f, 0.0f);//rad/s
+        }
+    }
+    
     if (rc[4]>-0.3f && rc[6] < -0.3f)
     {
         //level_flight();
         //point_guide();
-        climb();
+        //climb();
+        
+        turning();
         rollPID.setSetPoint(roll_obj);
         pitchPID.setSetPoint(pitch_obj);
         dT += dT_obj;
+        de = pitchPID.compute()-(rc[0]-rc[1])/2.0f;
+        da = rollPID.compute() -(rc[0]+rc[1])/2.0f;
     }else{
-        rollPID.setSetPoint(0.0f);
-        pitchPID.setSetPoint(0.0f);
+        yawratePID.setSetPoint(0.0f);
+        roll_obj = yawratePID.compute()*30.0f*M_PI/180.0f;
+        rollPID.setSetPoint(roll_obj);
+        climbratePID.setSetPoint(0.0f);
+        pitch_obj = -climbratePID.compute()*10.0f*M_PI/180.0f;
+        pitchPID.setSetPoint(pitch_obj);
+        de = pitchPID.compute() -(rc[0]-rc[1])/2.0f*2.0f;
+        da = rollPID.compute() -(rc[0]+rc[1])/2.0f*3.0f;
     }
     
     //舵角計算
     if(rc[4]<-0.3f){
-        de = (rc[0]-rc[1])/2.0f;
-        da = (rc[0]+rc[1])/2.0f;
-    }else{
-        de = (pitchPID.compute()+pitchratePID.compute())+(rc[0]-rc[1])/2.0f;
-        da = (rollPID.compute()+rollratePID.compute())+(rc[0]+rc[1])/2.0f;
+        de = -(rc[0]-rc[1])/2.0f;
+        da = -(rc[0]+rc[1])/2.0f;
     }
     
-    scaledServoOut[0]=de+da;
-    scaledServoOut[1]=-de+da;
+    scaledServoOut[0]=-de-da;
+    scaledServoOut[1]=de-da;
     scaledMotorOut[0]= dT;
     
-    float LP_servo = 0.2;
-    float LP_motor = 0.2;
+    float LP_servo = 1.0f;
+    float LP_motor = 0.2f;
     for(int i = 0; i < sizeof(servoOut)/sizeof(servoOut[0]); i++)
     {
-        servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1.0f,1.0f,servoPwmMin,servoPwmMax))+(1.0f-LP_servo)*servoOut[i];
+        servoOut[i] = LP_servo*(mapfloat(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))+(1.0-LP_servo)*servoOut[i];
         if(servoOut[i]<servoPwmMin)
         {
             servoOut[i] = servoPwmMin;
@@ -63,7 +109,7 @@
     }
     
     for(int i = 0;i<sizeof(motorOut)/sizeof(motorOut[0]) ;i++){
-        motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1.0f,1.0f,motorPwmMin,motorPwmMax))+(1.0f-LP_motor)*motorOut[i];
+        motorOut[i] = LP_motor*(mapfloat(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))+(1.0-LP_motor)*motorOut[i];
         if(motorOut[i]<motorPwmMin) {
             motorOut[i] = motorPwmMin;
         };
@@ -75,6 +121,7 @@
     servoLeft.pulsewidth_us(servoOut[1]); 
     servoThrust.pulsewidth_us(motorOut[0]);
 
+
     sendData2PC();
     writeSDcard();