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[Control] enable to compensate gravity term for altitude control #584

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[Control] enable to compensate gravity term for altitude control #584

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e2e0648
[Control] support to compensate the gravity term for altitude control
tongtybj Dec 19, 2023
11d29dd
[Mini Quadrotor][Control] compensate the gravity as default
tongtybj Dec 19, 2023
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1 change: 1 addition & 0 deletions aerial_robot_control/include/aerial_robot_control/control/base/pose_linear_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,7 @@ namespace aerial_robot_control
double landing_err_z_;
double safe_landing_height_;
double force_landing_descending_rate_;
bool compensate_gravity_;

tf::Vector3 pos_, target_pos_;
tf::Vector3 vel_, target_vel_;
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5 changes: 3 additions & 2 deletions aerial_robot_control/src/control/base/pose_linear_controller.cpp
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Expand Up @@ -140,6 +140,7 @@ namespace aerial_robot_control

/* z */
loadParam(z_nh);
getParam<bool>(z_nh, "compensate_gravity", compensate_gravity_, false);
pid_controllers_.push_back(PID("z", p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d));
pid_reconf_servers_.push_back(boost::make_shared<PidControlDynamicConfig>(z_nh));
pid_reconf_servers_.back()->setCallback(boost::bind(&PoseLinearController::cfgPidCallback, this, _1, _2, std::vector<int>(1, Z)));
Expand Down Expand Up @@ -253,9 +254,9 @@ namespace aerial_robot_control
target_acc_.setZ(0);
}

pid_controllers_.at(Z).update(err_z, du_z, err_v_z, target_acc_.z());
double gravity_term = compensate_gravity_?robot_model_->getGravity3d().z():0;

if(pid_controllers_.at(Z).getErrI() < 0) pid_controllers_.at(Z).setErrI(0);
pid_controllers_.at(Z).update(err_z, du_z, err_v_z, target_acc_.z() + gravity_term);

if(navigator_->getForceLandingFlag())
{
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1 change: 1 addition & 0 deletions aerial_robot_control/src/control/under_actuated_lqi_controller.cpp
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Expand Up @@ -186,6 +186,7 @@ void UnderActuatedLQIController::controlCore()
// feed-forward term for z
Eigen::MatrixXd q_mat_inv = getQInv();
double ff_acc_z = navigator_->getTargetAcc().z();
if(compensate_gravity_) ff_acc_z += robot_model_->getGravity3d().z();
Eigen::VectorXd ff_term = q_mat_inv.col(0) * ff_acc_z;
target_thrust_z_term += ff_term;

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1 change: 1 addition & 0 deletions robots/mini_quadrotor/config/FlightControl.yaml
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Expand Up @@ -21,6 +21,7 @@ controller:
limit_d: 20 # m / s^2
landing_err_z: -0.2
force_landing_descending_rate: -0.6
compensate_gravity: true

yaw:
limit_sum: 6.0 # N for clamping thrust force
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