class FixedWingController:
"""Controls a fixed wing aircraft"""
def __init__(self, params, control_total_energy_divider, mode):
"""
:param control_total_energy_divider run total enery controller every xth time
"""
self.mode = mode
# since we run on python2, make sure that all params are floats
for p in params:
params[p] = float(params[p])
self.params = params
# Attitude Control
self.c_roll = PyECLRollController()
self.c_pitch = PyECLPitchController()
self.c_yaw = PyECLYawController()
att_tc = params["att_tc"]
k_p = params["k_p"]
k_ff = params["k_ff"]
k_i = params["k_i"]
i_max = params["i_max"]
self.c_roll.set_time_constant(att_tc)
self.c_roll.set_k_p(k_p)
self.c_roll.set_k_i(k_i)
self.c_roll.set_integrator_max(i_max)
self.c_roll.set_k_ff(k_ff)
self.c_pitch.set_time_constant(att_tc)
self.c_pitch.set_k_p(k_p)
self.c_pitch.set_k_i(k_i)
self.c_pitch.set_integrator_max(i_max)
self.c_pitch.set_k_ff(k_ff)
self.c_pitch.set_max_rate_pos(params["pitch_max_rate_pos"])
self.c_pitch.set_max_rate_neg(params["pitch_max_rate_neg"])
self.c_pitch.set_roll_ff(params["pitch_roll_ff"])
self.c_yaw.set_time_constant(att_tc)
self.c_yaw.set_k_p(k_p)
self.c_yaw.set_k_i(k_i)
self.c_yaw.set_integrator_max(i_max)
self.c_yaw.set_k_ff(k_ff)
self.c_yaw.set_coordinated_min_speed(params["coordinated_min_speed"])
self.c_yaw.set_coordinated_method(params["coordinated_method"])
# Altitude and speed control (total energy control)
# XXX load values from params argument where it makes sense
c_te_params = {
"MT_ENABLED": 1,
"MT_THR_FF": params["mtecs_throttle_ff"],
"MT_THR_P": params["mtecs_throttle_p"],
"MT_THR_I": params["mtecs_throttle_i"],
"MT_THR_OFF": params["throttle_default"],
"MT_PIT_FF": params["mtecs_pitch_ff"],
"MT_PIT_P": params["mtecs_pitch_p"],
"MT_PIT_I": params["mtecs_pitch_i"],
"MT_PIT_OFF": 0.0,
"MT_THR_MIN": 0.0,
"MT_THR_MAX": 1.0,
"MT_PIT_MIN": -45.0,
"MT_PIT_MAX": 20.0,
"MT_ALT_LP": params["mtecs_altitude_lowpass_cutoff"],
"MT_FPA_LP": params["mtecs_flightpathangle_lowpass_cutoff"],
"MT_FPA_P": params["mtecs_fpa_p"],
"MT_FPA_D": 0.0,
"MT_FPA_D_LP": 1.0,
"MT_FPA_MIN": -20.0,
"MT_FPA_MAX": 30.0,
"MT_A_LP": params["mtecs_airspeed_lowpass_cutoff"],
"MT_AD_LP": params["mtecs_airspeed_derivative_lowpass_cutoff"],
"MT_ACC_P": params["mtecs_acc_p"],
"MT_ACC_D": 0.0,
"MT_ACC_D_LP": 0.5,
"MT_ACC_MIN": -40.0,
"MT_ACC_MAX": 40.0,
"MT_TKF_THR_MIN": 1.0,
"MT_TKF_THR_MAX": 1.0,
"MT_TKF_PIT_MIN": 0.0,
"MT_TKF_PIT_MAX": 45.0,
"MT_USP_THR_MIN": 1.0,
"MT_USP_THR_MAX": 1.0,
"MT_USP_PIT_MIN": -45.0,
"MT_USP_PIT_MAX": 0.0,
"MT_LND_THR_MIN": 0.0,
"MT_LND_THR_MAX": 0.0,
"MT_LND_PIT_MIN": -5.0,
"MT_LND_PIT_MAX": 15.0,
"MT_THR_I_MAX": 10.0,
"MT_PIT_I_MAX": 10.0,
"FW_AIRSPD_MIN": params["airspeed_min"],
}
self.c_te = PyMTecs(c_te_params)
self.control_count = 0
self.control_total_energy_divider = control_total_energy_divider
def get_ground_speed_vec(self, state):
"""Retruns a vector of the ground speed"""
return np.array([
state["speed_body_u"],
state["speed_body_v"],
state["speed_body_w"],
])
def call_mtecs(self, state, setpoint):
"""helper function to pass the right arguments to mtecs"""
flightpathangle = 0.0
ground_speed = self.get_ground_speed_vec(state)
ground_speed_length = np.linalg.norm(ground_speed)
if ground_speed_length > sys.float_info.epsilon:
flightpathangle = -np.arcsin(ground_speed[2] / ground_speed_length)
limitoverride = PyLimitOverride()
# if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
# /* Force the slow downwards spiral */
# limitOverride.enablePitchMinOverride(-1.0f);
# limitOverride.enablePitchMaxOverride(5.0f);
# } else if (climbout_mode) {
# limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
# } else {
# limitOverride.disablePitchMinOverride();
# }
limitoverride.disablePitchMinOverride()
# if (pitch_max_special) {
# /* Use the maximum pitch from the argument */
# limitOverride.enablePitchMaxOverride(M_RAD_TO_DEG_F * pitch_max_rad);
# } else {
# /* use pitch max set by MT param */
# limitOverride.disablePitchMaxOverride();
# }
limitoverride.disablePitchMaxOverride()
self.c_te.updateAltitudeSpeed(flightpathangle, state["altitude"],
setpoint["altitude"],
state["airspeed"],
setpoint["velocity"],
self.c_te.mtecs_mode_normal,
limitoverride)
return flightpathangle
def control(self, **kwargs):
"""
Input:
output: control signal normed [-1 1]
"""
y = kwargs["state"]
r = kwargs["setpoint"]
params = kwargs["parameters"]
control_data = {
"roll_setpoint": r["roll"],
"pitch_setpoint": r["pitch"],
"yaw_setpoint": r["yaw"],
"roll_rate_setpoint": r["roll_rate"],
"pitch_rate_setpoint": r["pitch_rate"],
"yaw_rate_setpoint": r["yaw_rate"],
"airspeed_min": params["airspeed_min"],
"airspeed_max": params["airspeed_max"],
"altitude_setpoint": r["altitude"],
"velocity_setpoint": r["velocity"],
}
for k, v in y.items():
control_data[k] = v
if self.mode == "position":
if self.control_count % self.control_total_energy_divider == 0:
flightpathangle = self.call_mtecs(y, r)
control_data["pitch_setpoint"] = self.c_te.getPitchSetpoint()
throttle = self.c_te.getThrottleSetpoint()
# save other relevant data
control_data[
"airspeed_filtered"] = self.c_te.getAirspeedLowpassState()
control_data[
"altitude_filtered"] = self.c_te.getAltitudeLowpassState()
control_data["flightpathangle"] = flightpathangle
control_data[
"flightpathangle_filtered"] = self.c_te.getFlightPathAngleLowpassState(
)
control_data[
"airspeed_derivative_filtered"] = self.c_te.getAirspeedDerivativeLowpassState(
)
else:
throttle = self.params["throttle_default"]
control_data["throttle_setpoint"] = throttle
control_data["roll_rate_setpoint"] = self.c_roll.control_attitude(
control_data)
control_data["pitch_rate_setpoint"] = self.c_pitch.control_attitude(
control_data)
# control_data["yaw_rate_setpoint"] = self.c_yaw.control_attitude(control_data)
control_data["yaw_rate_setpoint"] = 0.0 # XXX
# print("control data", control_data)
aileron = self.c_roll.control_bodyrate(control_data)
elevator = self.c_pitch.control_bodyrate(control_data)
rudder = self.c_yaw.control_bodyrate(control_data)
u = [aileron, elevator, rudder, throttle]
# print("u", u)
return [u, control_data]
class FixedWingController:
"""Controls a fixed wing aircraft"""
def __init__(self, params, control_total_energy_divider, mode):
"""
:param control_total_energy_divider run total enery controller every xth time
"""
self.mode = mode
# since we run on python2, make sure that all params are floats
for p in params:
params[p] = float(params[p])
self.params = params
# Attitude Control
self.c_roll = PyECLRollController()
self.c_pitch = PyECLPitchController()
self.c_yaw = PyECLYawController()
att_tc = params["att_tc"]
k_p = params["k_p"]
k_ff = params["k_ff"]
k_i = params["k_i"]
i_max = params["i_max"]
self.c_roll.set_time_constant(att_tc)
self.c_roll.set_k_p(k_p)
self.c_roll.set_k_i(k_i)
self.c_roll.set_integrator_max(i_max)
self.c_roll.set_k_ff(k_ff)
self.c_pitch.set_time_constant(att_tc)
self.c_pitch.set_k_p(k_p)
self.c_pitch.set_k_i(k_i)
self.c_pitch.set_integrator_max(i_max)
self.c_pitch.set_k_ff(k_ff)
self.c_pitch.set_max_rate_pos(params["pitch_max_rate_pos"])
self.c_pitch.set_max_rate_neg(params["pitch_max_rate_neg"])
self.c_pitch.set_roll_ff(params["pitch_roll_ff"])
self.c_yaw.set_time_constant(att_tc)
self.c_yaw.set_k_p(k_p)
self.c_yaw.set_k_i(k_i)
self.c_yaw.set_integrator_max(i_max)
self.c_yaw.set_k_ff(k_ff)
self.c_yaw.set_coordinated_min_speed(params["coordinated_min_speed"])
self.c_yaw.set_coordinated_method(params["coordinated_method"])
# Altitude and speed control (total energy control)
# XXX load values from params argument where it makes sense
c_te_params = {
"MT_ENABLED": 1,
"MT_THR_FF": params["mtecs_throttle_ff"],
"MT_THR_P": params["mtecs_throttle_p"],
"MT_THR_I": params["mtecs_throttle_i"],
"MT_THR_OFF": params["throttle_default"],
"MT_PIT_FF": params["mtecs_pitch_ff"],
"MT_PIT_P": params["mtecs_pitch_p"],
"MT_PIT_I": params["mtecs_pitch_i"],
"MT_PIT_OFF": 0.0,
"MT_THR_MIN": 0.0,
"MT_THR_MAX": 1.0,
"MT_PIT_MIN": -45.0,
"MT_PIT_MAX": 20.0,
"MT_ALT_LP": params["mtecs_altitude_lowpass_cutoff"],
"MT_FPA_LP": params["mtecs_flightpathangle_lowpass_cutoff"],
"MT_FPA_P": params["mtecs_fpa_p"],
"MT_FPA_D": 0.0,
"MT_FPA_D_LP": 1.0,
"MT_FPA_MIN": -20.0,
"MT_FPA_MAX": 30.0,
"MT_A_LP": params["mtecs_airspeed_lowpass_cutoff"],
"MT_AD_LP": params["mtecs_airspeed_derivative_lowpass_cutoff"],
"MT_ACC_P": params["mtecs_acc_p"],
"MT_ACC_D": 0.0,
"MT_ACC_D_LP": 0.5,
"MT_ACC_MIN": -40.0,
"MT_ACC_MAX": 40.0,
"MT_TKF_THR_MIN": 1.0,
"MT_TKF_THR_MAX": 1.0,
"MT_TKF_PIT_MIN": 0.0,
"MT_TKF_PIT_MAX": 45.0,
"MT_USP_THR_MIN": 1.0,
"MT_USP_THR_MAX": 1.0,
"MT_USP_PIT_MIN": -45.0,
"MT_USP_PIT_MAX": 0.0,
"MT_LND_THR_MIN": 0.0,
"MT_LND_THR_MAX": 0.0,
"MT_LND_PIT_MIN": -5.0,
"MT_LND_PIT_MAX": 15.0,
"MT_THR_I_MAX": 10.0,
"MT_PIT_I_MAX": 10.0,
"FW_AIRSPD_MIN": params["airspeed_min"],
}
self.c_te = PyMTecs(c_te_params)
self.control_count = 0
self.control_total_energy_divider = control_total_energy_divider
def get_ground_speed_vec(self, state):
"""Retruns a vector of the ground speed"""
return np.array([state["speed_body_u"], state["speed_body_v"],
state["speed_body_w"],])
def call_mtecs(self, state, setpoint):
"""helper function to pass the right arguments to mtecs"""
flightpathangle = 0.0
ground_speed = self.get_ground_speed_vec(state)
ground_speed_length = np.linalg.norm(ground_speed)
if ground_speed_length > sys.float_info.epsilon:
flightpathangle = -np.arcsin(ground_speed[2]/ground_speed_length)
limitoverride = PyLimitOverride()
# if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
# /* Force the slow downwards spiral */
# limitOverride.enablePitchMinOverride(-1.0f);
# limitOverride.enablePitchMaxOverride(5.0f);
# } else if (climbout_mode) {
# limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
# } else {
# limitOverride.disablePitchMinOverride();
# }
limitoverride.disablePitchMinOverride();
# if (pitch_max_special) {
# /* Use the maximum pitch from the argument */
# limitOverride.enablePitchMaxOverride(M_RAD_TO_DEG_F * pitch_max_rad);
# } else {
# /* use pitch max set by MT param */
# limitOverride.disablePitchMaxOverride();
# }
limitoverride.disablePitchMaxOverride();
self.c_te.updateAltitudeSpeed(flightpathangle,
state["altitude"],
setpoint["altitude"],
state["airspeed"],
setpoint["velocity"],
self.c_te.mtecs_mode_normal,
limitoverride);
return flightpathangle
def control(self, **kwargs):
"""
Input:
output: control signal normed [-1 1]
"""
y = kwargs["state"]
r = kwargs["setpoint"]
params = kwargs["parameters"]
control_data = {
"roll_setpoint": r["roll"],
"pitch_setpoint": r["pitch"],
"yaw_setpoint": r["yaw"],
"roll_rate_setpoint": r["roll_rate"],
"pitch_rate_setpoint": r["pitch_rate"],
"yaw_rate_setpoint": r["yaw_rate"],
"airspeed_min": params["airspeed_min"],
"airspeed_max": params["airspeed_max"],
"altitude_setpoint": r["altitude"],
"velocity_setpoint": r["velocity"],
}
for k,v in y.items():
control_data[k] = v
if self.mode == "position":
if self.control_count % self.control_total_energy_divider == 0:
flightpathangle = self.call_mtecs(y, r)
control_data["pitch_setpoint"] = self.c_te.getPitchSetpoint()
throttle = self.c_te.getThrottleSetpoint()
# save other relevant data
control_data["airspeed_filtered"] = self.c_te.getAirspeedLowpassState()
control_data["altitude_filtered"] = self.c_te.getAltitudeLowpassState()
control_data["flightpathangle"] = flightpathangle
control_data["flightpathangle_filtered"] = self.c_te.getFlightPathAngleLowpassState()
control_data["airspeed_derivative_filtered"] = self.c_te.getAirspeedDerivativeLowpassState()
else:
throttle = self.params["throttle_default"]
control_data["throttle_setpoint"] = throttle
control_data["roll_rate_setpoint"] = self.c_roll.control_attitude(control_data)
control_data["pitch_rate_setpoint"] = self.c_pitch.control_attitude(control_data)
# control_data["yaw_rate_setpoint"] = self.c_yaw.control_attitude(control_data)
control_data["yaw_rate_setpoint"] = 0.0 # XXX
# print("control data", control_data)
aileron = self.c_roll.control_bodyrate(control_data)
elevator = self.c_pitch.control_bodyrate(control_data)
rudder = self.c_yaw.control_bodyrate(control_data)
u = [aileron, elevator, rudder, throttle]
# print("u", u)
return [u, control_data]
def __init__(self, params, control_total_energy_divider, mode):
"""
:param control_total_energy_divider run total enery controller every xth time
"""
self.mode = mode
# since we run on python2, make sure that all params are floats
for p in params:
params[p] = float(params[p])
self.params = params
# Attitude Control
self.c_roll = PyECLRollController()
self.c_pitch = PyECLPitchController()
self.c_yaw = PyECLYawController()
att_tc = params["att_tc"]
k_p = params["k_p"]
k_ff = params["k_ff"]
k_i = params["k_i"]
i_max = params["i_max"]
self.c_roll.set_time_constant(att_tc)
self.c_roll.set_k_p(k_p)
self.c_roll.set_k_i(k_i)
self.c_roll.set_integrator_max(i_max)
self.c_roll.set_k_ff(k_ff)
self.c_pitch.set_time_constant(att_tc)
self.c_pitch.set_k_p(k_p)
self.c_pitch.set_k_i(k_i)
self.c_pitch.set_integrator_max(i_max)
self.c_pitch.set_k_ff(k_ff)
self.c_pitch.set_max_rate_pos(params["pitch_max_rate_pos"])
self.c_pitch.set_max_rate_neg(params["pitch_max_rate_neg"])
self.c_pitch.set_roll_ff(params["pitch_roll_ff"])
self.c_yaw.set_time_constant(att_tc)
self.c_yaw.set_k_p(k_p)
self.c_yaw.set_k_i(k_i)
self.c_yaw.set_integrator_max(i_max)
self.c_yaw.set_k_ff(k_ff)
self.c_yaw.set_coordinated_min_speed(params["coordinated_min_speed"])
self.c_yaw.set_coordinated_method(params["coordinated_method"])
# Altitude and speed control (total energy control)
# XXX load values from params argument where it makes sense
c_te_params = {
"MT_ENABLED": 1,
"MT_THR_FF": params["mtecs_throttle_ff"],
"MT_THR_P": params["mtecs_throttle_p"],
"MT_THR_I": params["mtecs_throttle_i"],
"MT_THR_OFF": params["throttle_default"],
"MT_PIT_FF": params["mtecs_pitch_ff"],
"MT_PIT_P": params["mtecs_pitch_p"],
"MT_PIT_I": params["mtecs_pitch_i"],
"MT_PIT_OFF": 0.0,
"MT_THR_MIN": 0.0,
"MT_THR_MAX": 1.0,
"MT_PIT_MIN": -45.0,
"MT_PIT_MAX": 20.0,
"MT_ALT_LP": params["mtecs_altitude_lowpass_cutoff"],
"MT_FPA_LP": params["mtecs_flightpathangle_lowpass_cutoff"],
"MT_FPA_P": params["mtecs_fpa_p"],
"MT_FPA_D": 0.0,
"MT_FPA_D_LP": 1.0,
"MT_FPA_MIN": -20.0,
"MT_FPA_MAX": 30.0,
"MT_A_LP": params["mtecs_airspeed_lowpass_cutoff"],
"MT_AD_LP": params["mtecs_airspeed_derivative_lowpass_cutoff"],
"MT_ACC_P": params["mtecs_acc_p"],
"MT_ACC_D": 0.0,
"MT_ACC_D_LP": 0.5,
"MT_ACC_MIN": -40.0,
"MT_ACC_MAX": 40.0,
"MT_TKF_THR_MIN": 1.0,
"MT_TKF_THR_MAX": 1.0,
"MT_TKF_PIT_MIN": 0.0,
"MT_TKF_PIT_MAX": 45.0,
"MT_USP_THR_MIN": 1.0,
"MT_USP_THR_MAX": 1.0,
"MT_USP_PIT_MIN": -45.0,
"MT_USP_PIT_MAX": 0.0,
"MT_LND_THR_MIN": 0.0,
"MT_LND_THR_MAX": 0.0,
"MT_LND_PIT_MIN": -5.0,
"MT_LND_PIT_MAX": 15.0,
"MT_THR_I_MAX": 10.0,
"MT_PIT_I_MAX": 10.0,
"FW_AIRSPD_MIN": params["airspeed_min"],
}
self.c_te = PyMTecs(c_te_params)
self.control_count = 0
self.control_total_energy_divider = control_total_energy_divider
def __init__(self, params, control_total_energy_divider, mode):
"""
:param control_total_energy_divider run total enery controller every xth time
"""
self.mode = mode
# since we run on python2, make sure that all params are floats
for p in params:
params[p] = float(params[p])
self.params = params
# Attitude Control
self.c_roll = PyECLRollController()
self.c_pitch = PyECLPitchController()
self.c_yaw = PyECLYawController()
att_tc = params["att_tc"]
k_p = params["k_p"]
k_ff = params["k_ff"]
k_i = params["k_i"]
i_max = params["i_max"]
self.c_roll.set_time_constant(att_tc)
self.c_roll.set_k_p(k_p)
self.c_roll.set_k_i(k_i)
self.c_roll.set_integrator_max(i_max)
self.c_roll.set_k_ff(k_ff)
self.c_pitch.set_time_constant(att_tc)
self.c_pitch.set_k_p(k_p)
self.c_pitch.set_k_i(k_i)
self.c_pitch.set_integrator_max(i_max)
self.c_pitch.set_k_ff(k_ff)
self.c_pitch.set_max_rate_pos(params["pitch_max_rate_pos"])
self.c_pitch.set_max_rate_neg(params["pitch_max_rate_neg"])
self.c_pitch.set_roll_ff(params["pitch_roll_ff"])
self.c_yaw.set_time_constant(att_tc)
self.c_yaw.set_k_p(k_p)
self.c_yaw.set_k_i(k_i)
self.c_yaw.set_integrator_max(i_max)
self.c_yaw.set_k_ff(k_ff)
self.c_yaw.set_coordinated_min_speed(params["coordinated_min_speed"])
self.c_yaw.set_coordinated_method(params["coordinated_method"])
# Altitude and speed control (total energy control)
# XXX load values from params argument where it makes sense
c_te_params = {
"MT_ENABLED": 1,
"MT_THR_FF": params["mtecs_throttle_ff"],
"MT_THR_P": params["mtecs_throttle_p"],
"MT_THR_I": params["mtecs_throttle_i"],
"MT_THR_OFF": params["throttle_default"],
"MT_PIT_FF": params["mtecs_pitch_ff"],
"MT_PIT_P": params["mtecs_pitch_p"],
"MT_PIT_I": params["mtecs_pitch_i"],
"MT_PIT_OFF": 0.0,
"MT_THR_MIN": 0.0,
"MT_THR_MAX": 1.0,
"MT_PIT_MIN": -45.0,
"MT_PIT_MAX": 20.0,
"MT_ALT_LP": params["mtecs_altitude_lowpass_cutoff"],
"MT_FPA_LP": params["mtecs_flightpathangle_lowpass_cutoff"],
"MT_FPA_P": params["mtecs_fpa_p"],
"MT_FPA_D": 0.0,
"MT_FPA_D_LP": 1.0,
"MT_FPA_MIN": -20.0,
"MT_FPA_MAX": 30.0,
"MT_A_LP": params["mtecs_airspeed_lowpass_cutoff"],
"MT_AD_LP": params["mtecs_airspeed_derivative_lowpass_cutoff"],
"MT_ACC_P": params["mtecs_acc_p"],
"MT_ACC_D": 0.0,
"MT_ACC_D_LP": 0.5,
"MT_ACC_MIN": -40.0,
"MT_ACC_MAX": 40.0,
"MT_TKF_THR_MIN": 1.0,
"MT_TKF_THR_MAX": 1.0,
"MT_TKF_PIT_MIN": 0.0,
"MT_TKF_PIT_MAX": 45.0,
"MT_USP_THR_MIN": 1.0,
"MT_USP_THR_MAX": 1.0,
"MT_USP_PIT_MIN": -45.0,
"MT_USP_PIT_MAX": 0.0,
"MT_LND_THR_MIN": 0.0,
"MT_LND_THR_MAX": 0.0,
"MT_LND_PIT_MIN": -5.0,
"MT_LND_PIT_MAX": 15.0,
"MT_THR_I_MAX": 10.0,
"MT_PIT_I_MAX": 10.0,
"FW_AIRSPD_MIN": params["airspeed_min"],
}
self.c_te = PyMTecs(c_te_params)
self.control_count = 0
self.control_total_energy_divider = control_total_energy_divider