ACfly的Ctrl_Attitude.cpp的代码（可以看到在角速度环和高度环用ADRC）

ACfly的Ctrl_Attitude.cpp的代码
Attitude是姿势的意思
我看有个姿态ESO，实际应该是角速度的，还有个高度ESO
在高度上用ADRC可能是为了高度无参自适应，你每次改变无人机的重量总不可能去手动调无人机的油门值吧？
https://blog.csdn.net/sinat_16643223/article/details/108900353
我后来也看到，无名的ADRC的方案也是只在角速度环用ADRC，我这两篇博文有写。当然可能ADfly多了个高度环上的ADRC，但是至少在姿态环都是在角速度环用ADRC，莫非角度环如无名所说都是用的P？
难道真的只有角速度的控制？
还有专门一个角速度的ESO的头文件。莫非真的只有角速度用了ADRC。
ACfly的这篇博文有对控制算法的介绍，我这里还看到反步控制器，莫非是包含在自抗干扰里面的么？
https://blog.csdn.net/weixin_40767422/article/details/88081309
反步法似乎确实是四旋翼的一种控制方法，这是否就是朱文杰说的单靠ADRC效果也不好。
https://baike.baidu.com/item/%E5%8F%8D%E6%AD%A5%E6%B3%95/22128775?fr=aladdin
好像还真有什么模型自抗扰控制器
https://xueshu.baidu.com/usercenter/paper/show?paperid=1293389c7813991a63cdb1526dceb338&site=xueshu_se
基于模型补偿的自抗扰控制系统。
这里也找到一些自抗扰反步控制
https://xueshu.baidu.com/usercenter/paper/show?paperid=b70ab63545e842ecadaa87a775250d81&site=xueshu_se
https://xueshu.baidu.com/usercenter/paper/show?paperid=1w5v0ax01228087063230m003e345532
这篇文章就说清楚了！！！！！！
韩京清［９］提出自抗扰控制方法，其中微分跟踪器给出跟踪信号的导数，可以同反步法结合，消除非线性函数重复微分引起的“计算爆炸”，同时扩张状态观测器，对系统总扰动进行观测，具有更强的鲁棒性
#include "ctrl_Attitude.hpp"
#include "ControlSystem.hpp"
#include "ctrl_Main.hpp"
#include "Parameters.hpp"
#include "MeasurementSystem.hpp"
#include "TD4.hpp"
#include "TD3_3D.hpp"
#include "ESO_AngularRate.hpp"
#include "ESO_h.hpp"
#include "Filters_LP.hpp"
#include "drv_PWMOut.hpp"
#include "Receiver.hpp"#include "StorageSystem.hpp"/*参数*///飞行器类型enum UAVType{UAVType_Rotor4_X = 10 ,   //四旋翼X型UAVType_Rotor6_X = 11 , //六旋翼X型UAVType_Rotor8_X = 12 , //八旋翼X型UAVType_Rotor4_C = 15 , //四旋翼十字型UAVType_Rotor42_C = 20 ,   //四旋翼Double十字型UAVType_Rotor6_S1 = 32 , //六旋翼异构};//控制参数struct AttCtrlCfg{uint64_t UAVType;  //机型类型float STThrottle[2];  //起转油门float NonlinearFactor[2]; //电机非线性参数float FullThrRatio[2]; //满油门比例float T[2];  //惯性时间Tfloat b[6];  //RPY增益bfloat TD4_P1[6];    //RPY前馈TD4滤波器P1float TD4_P2[6]; //RPY前馈TD4滤波器P2float TD4_P3[6]; //RPY前馈TD4滤波器P3float TD4_P4[6]; //RPY前馈TD4滤波器P4float P1[6]; //反馈增益P1float P2[6];    //反馈增益P2float P3[6];    //反馈增益P3float P4[6];    //反馈增益P4float beta2[2]; //ESO Beta2float maxLean[2];    //最大倾斜角float maxRPSp[2];    //最大Pitch Roll速度float maxRPAcc[2]; //最大Pitch Roll加速度float maxYSp[2];    //最大偏航速度float maxYAcc[2];   //最大偏航加速度}__PACKED;//参数static AttCtrlCfg cfg;
/*参数*//*内部接口*/float get_STThrottle(){return cfg.STThrottle[0];}float get_maxLean(){return cfg.maxLean[0];}float get_maxYawSpeed(){return cfg.maxYSp[0];}
/*内部接口*//*起飞地点*/static bool HomeLatLonAvailable;static bool HomeAvailable;static vector2<double> HomeLatLon;static vector2<double> HomePoint;static double HomeLocalZ = 0;bool getHomeLocalZ( double* home, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*home = HomeLocalZ;UnlockCtrl();return true;}return false;}bool getHomePoint( vector2<double>* home, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){bool available = HomeAvailable;if(available)*home = HomePoint;UnlockCtrl();if( available )return true;elsereturn false;}return false;}bool getHomeLatLon( vector2<double>* home, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){bool available = HomeLatLonAvailable;if(available)*home = HomeLatLon;UnlockCtrl();if( available )return true;elsereturn false;}return false;}
/*起飞地点*//*状态观测器*///姿态ESOstatic ESO_AngularRate ESO[3];//高度ESOstatic double throttle_u = 0;static ESO_h ESO_height;static double hover_throttle = 0;static double WindDisturbance_x = 0;static double WindDisturbance_y = 0;static bool inFlight = false;static inline void update_output_throttle( double throttle, double h ){Quaternion quat;get_Airframe_quat( &quat, 0.1 );double output_minimum_throttle = cfg.STThrottle[0];double lean_cosin = quat.get_lean_angle_cosin();//观测悬停油门double r_throttle = throttle - output_minimum_throttle;if( r_throttle < 0 )r_throttle = 0;if( lean_cosin < 0.1f )lean_cosin = 0.1f;r_throttle *= lean_cosin;     throttle_u = r_throttle;ESO_height.update_u(r_throttle);hover_throttle = ESO_height.get_hover_throttle() + output_minimum_throttle;//更新飞行状态static uint16_t onGround_counter = 0;if( inFlight == false ){onGround_counter = 0;double AccZ = ESO_height.get_force() - GravityAcc;if( AccZ > 20 && throttle > output_minimum_throttle + 5 )inFlight = true;}else{vector3<double> angular_rate;get_EsAngularRate(&angular_rate);double rate = safe_sqrt(angular_rate.get_square());if( hover_throttle<output_minimum_throttle+2 && rad2degree(rate)<10 ){if( ++onGround_counter >= 400 )inFlight = false;}elseonGround_counter = 0;}//观测水平分力if( inFlight ){vector3<double> AccENU;get_AccelerationENU_Ctrl(&AccENU);Quaternion quat;get_AirframeY_quat( &quat );vector3<double> active_force_xy_vec = quat.rotate_axis_z();if( lean_cosin < 0.3f )lean_cosin = 0.3f;active_force_xy_vec = active_force_xy_vec *( ( AccENU.z + GravityAcc ) / lean_cosin );vector3<double> WindDisturbance_xy;WindDisturbance_xy.x = AccENU.x - active_force_xy_vec.x;WindDisturbance_xy.y = AccENU.y - active_force_xy_vec.y;double lp_factor = 2 * Pi * (1.0/CtrlRateHz) * 1.2;WindDisturbance_x += lp_factor * ( WindDisturbance_xy.x - WindDisturbance_x );WindDisturbance_y += lp_factor * ( WindDisturbance_xy.y - WindDisturbance_y );}elseWindDisturbance_x = WindDisturbance_y = 0;//更新Home点位置if( inFlight == false ){vector3<double> position;get_Position(&position);HomeLocalZ = position.z;PosSensorHealthInf2 posInf;if( get_Health_XY(&posInf) ){HomeAvailable = true;HomePoint.x = posInf.PositionENU.x;HomePoint.y = posInf.PositionENU.y;}elseHomeAvailable = false;if( get_OptimalGlobal_XY(&posInf) ){HomeLatLonAvailable = true;map_projection_reproject( &posInf.mp, posInf.PositionENU.x+posInf.HOffset.x, posInf.PositionENU.y+posInf.HOffset.y,&HomeLatLon.x, &HomeLatLon.y );}         }else if( get_Position_MSStatus()!= MS_Ready )HomeAvailable = false;}static double Roll_u = 0;static double Pitch_u = 0;static double Yaw_u = 0;void update_ESO_1(){//更新角速度观测器vector3<double> angular_rate;get_AngularRate_Ctrl(&angular_rate);ESO[0].run(angular_rate.x);ESO[1].run(angular_rate.y);ESO[2].run(angular_rate.z);vector3<double> acc;get_AccelerationENU_Ctrl(&acc);ESO_height.run( acc.z );}   void update_ESO_2(){ESO[0].update_u(Roll_u);ESO[1].update_u(Pitch_u);ESO[2].update_u(Yaw_u);ESO_height.update_u(throttle_u);}
/*状态观测器*/   /*观测器接口*/bool get_hover_throttle( double* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = hover_throttle;UnlockCtrl();return true;}return false;}bool get_throttle_force( double* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = ESO_height.get_force();UnlockCtrl();return true;}return false;}bool get_throttle_b( double* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = ESO_height.get_b();UnlockCtrl();return true;}return false;}bool get_ESO_height_T( double* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = ESO_height.get_T();UnlockCtrl();return true;}return false;}bool get_is_inFlight( bool* result, double TIMEOUT ){*result = inFlight;return true;}bool get_WindDisturbance( vector3<double>* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = vector3<double>( WindDisturbance_x, WindDisturbance_y, 0 );;UnlockCtrl();return true;}return false;     }bool get_EsAngularRate( vector3<double>* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = vector3<double>( ESO[0].get_EsAngularRate(), ESO[1].get_EsAngularRate(), ESO[2].get_EsAngularRate() );UnlockCtrl();return true;}return false;     }bool get_EsAngularAcc( vector3<double>* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = vector3<double>( ESO[0].get_EsAngularAcceleration(), ESO[1].get_EsAngularAcceleration(), ESO[2].get_EsAngularAcceleration() );UnlockCtrl();return true;}return false;      }
/*观测器接口*//*控制接口*///期望TD4滤波器static TD3_2DSL Target_tracker_RP;static TD4_SL Target_trackerY;//姿态控制模式static bool Attitude_Control_Enabled = false;static Attitude_ControlMode RollPitch_ControlMode = Attitude_ControlMode_Angle;static Attitude_ControlMode Yaw_ControlMode = Attitude_ControlMode_Angle;//输出滤波器static double outRoll_filted = 0;static double outPitch_filted = 0;static double outYaw_filted = 0;static double throttle = 0;static double target_Roll;static double target_Pitch;static double target_Yaw;static vector3<double> target_AngularRate;bool is_Attitude_Control_Enabled( bool* enabled, double TIMEOUT ){*enabled = Attitude_Control_Enabled;return true;}bool Attitude_Control_Enable( double TIMEOUT ){if( get_Attitude_MSStatus() != MS_Ready )return false;Quaternion quat;if( get_Airframe_quat( &quat, TIMEOUT ) == false )return false;if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == true ){  //控制器已打开UnlockCtrl();return false;}//读参数if( ReadParamGroup( "AttCtrl", (uint64_t*)&cfg, 0, TIMEOUT ) != PR_OK ){UnlockCtrl();return false;}/*初始化*/               //读取电池电压float BatVoltage = get_MainBatteryVoltage_filted();//计算增益修正系数double b_scale = 1.0;if( BatVoltage > 7 ){float STVoltage[2];if( ReadParam("Bat_STVoltage", 0, 0, (uint64_t*)STVoltage, 0 ) == PR_OK )b_scale = BatVoltage / STVoltage[0];}//初始化姿态ESOESO[0].init( cfg.T[0], cfg.b[0]*b_scale, 25, cfg.beta2[0], CtrlRateHz*CtrlRateDiv );ESO[1].init( cfg.T[0], cfg.b[2]*b_scale, 25, cfg.beta2[0], CtrlRateHz*CtrlRateDiv );ESO[2].init( 1.0/(CtrlRateHz*CtrlRateDiv), cfg.b[4]*b_scale, 25, cfg.beta2[0], CtrlRateHz*CtrlRateDiv );//初始化高度ESOESO_height.init( cfg.T[0], 10, CtrlRateHz*CtrlRateDiv );//初始化期望TD4滤波器Target_tracker_RP.P1=cfg.TD4_P1[0];Target_tracker_RP.P2=cfg.TD4_P2[0];Target_tracker_RP.P3=cfg.TD4_P3[0];Target_tracker_RP.r2=degree2rad(cfg.maxRPSp[0]);Target_tracker_RP.r3=degree2rad(cfg.maxRPAcc[0]);Target_tracker_RP.r4=degree2rad(100000.0);       Target_trackerY.P1=cfg.TD4_P1[4];Target_trackerY.P2=cfg.TD4_P2[4];Target_trackerY.P3=cfg.TD4_P3[4];Target_trackerY.P4=cfg.TD4_P4[4];Target_trackerY.r2n=Target_trackerY.r2p=degree2rad(cfg.maxYSp[0]);Target_trackerY.r3n=Target_trackerY.r3p=degree2rad(cfg.maxYAcc[0]);/*初始化*/double pwm_out[8] = { -200, -200, -200, -200, -200, -200, -200, -200 };switch( cfg.UAVType ){case UAVType_Rotor4_X:{for( uint8_t i = 0; i < 4; ++i ){pwm_out[i] = cfg.STThrottle[0];PWM_Out( pwm_out );os_delay(0.3);}break;}case UAVType_Rotor6_X:{for( uint8_t i = 0; i < 6; ++i ){pwm_out[i] = cfg.STThrottle[0];PWM_Out( pwm_out );os_delay(0.3);}break;}case UAVType_Rotor8_X:{for( uint8_t i = 0; i < 8; ++i ){pwm_out[i] = cfg.STThrottle[0];PWM_Out( pwm_out );os_delay(0.3);}break;}case UAVType_Rotor6_S1:{for( uint8_t i = 0; i < 6; ++i ){pwm_out[i] = cfg.STThrottle[0];PWM_Out( pwm_out );os_delay(0.3);}break;}default:{UnlockCtrl();return false;}}Attitude_Control_Enabled = true;target_Yaw = quat.getYaw();target_Roll = target_Pitch = 0;RollPitch_ControlMode = Attitude_ControlMode_Angle;Yaw_ControlMode = Attitude_ControlMode_Angle;//更新控制时间bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if(!isMSafe)last_ZCtrlTime = last_XYCtrlTime = TIME::now();UnlockCtrl();return true;}return false;}bool Attitude_Control_Disable( double TIMEOUT ){if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}Altitude_Control_Disable();Position_Control_Disable();Attitude_Control_Enabled = false;         UnlockCtrl();return true;}return false;}bool get_Target_Throttle( double* result, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){*result = throttle;UnlockCtrl();return true;}return false;}bool Attitude_Control_set_Throttle( double thr, double TIMEOUT ){if( isnan(thr) || isinf(thr) )return false;if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}bool alt_enabled;is_Altitude_Control_Enabled(&alt_enabled);bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if( !isMSafe && alt_enabled==false && ForceMSafeCtrl ){   //屏蔽用户控制last_ZCtrlTime = TIME::now();UnlockCtrl();return false;}throttle = thr;//更新控制时间           if(!isMSafe && alt_enabled==false)last_ZCtrlTime = TIME::now();UnlockCtrl();return true;}return false;}bool Attitude_Control_get_Target_RollPitch( double* Roll, double* Pitch, double TIMEOUT ){if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}*Roll = target_Roll;*Pitch = target_Pitch;UnlockCtrl();return true;}return false;}bool Attitude_Control_set_Target_RollPitch( double Roll, double Pitch, double TIMEOUT ){if( isnan(Roll) || isinf(Roll) || isnan(Pitch) || isinf(Pitch) )return false;if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}bool pos_enabled;is_Position_Control_Enabled(&pos_enabled);bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if( !isMSafe && pos_enabled==false && ForceMSafeCtrl ){    //屏蔽用户控制last_ZCtrlTime = TIME::now();UnlockCtrl();return false;}double angle = safe_sqrt( Roll*Roll + Pitch*Pitch );if( angle > degree2rad(cfg.maxLean[0]) ){double scale = degree2rad(cfg.maxLean[0]) / angle;Roll *= scale;Pitch *= scale;}      target_Roll = Roll;target_Pitch = Pitch;RollPitch_ControlMode = Attitude_ControlMode_Angle;//更新控制时间if(!isMSafe && pos_enabled==false)last_XYCtrlTime = TIME::now();UnlockCtrl();return true;}return false;}bool Attitude_Control_set_Target_Yaw( double Yaw, double TIMEOUT ){        if( isnan(Yaw) || isinf(Yaw) )return false;//屏蔽用户控制bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if( !isMSafe && ForceMSafeCtrl )return false;Quaternion quat, quatY;get_Airframe_quat(&quat);get_AirframeY_quat(&quatY);if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}if( Yaw_ControlMode != Attitude_ControlMode_Angle ){Target_trackerY.x1 = quat.getYaw();Yaw_ControlMode = Attitude_ControlMode_Angle;}double yaw_err = Mod( Yaw - quatY.getYaw(), 2*Pi );if(yaw_err > Pi)yaw_err -= 2*Pi;while(yaw_err < -Pi)yaw_err += 2*Pi;target_Yaw = Target_trackerY.x1 + yaw_err;UnlockCtrl();return true;}return false;}bool Attitude_Control_set_Target_YawRelative( double Yaw, double TIMEOUT ){       if( isnan(Yaw) || isinf(Yaw) )return false;//屏蔽用户控制bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if( !isMSafe && ForceMSafeCtrl )return false;Quaternion quat;get_Airframe_quat(&quat);if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}double currentYaw = quat.getYaw();if( Yaw_ControlMode != Attitude_ControlMode_Angle ){Target_trackerY.x1 = currentYaw;Yaw_ControlMode = Attitude_ControlMode_Angle;}target_Yaw = Target_trackerY.x1 + Yaw;UnlockCtrl();return true;}return false;}bool Attitude_Control_set_Target_YawRate( double YawRate, double TIMEOUT ){if( isnan(YawRate) || isinf(YawRate) )return false;//屏蔽用户控制bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if( !isMSafe && ForceMSafeCtrl )return false;if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}target_AngularRate.z = YawRate;Yaw_ControlMode = Attitude_ControlMode_AngularRate;UnlockCtrl();return true;}return false;}bool Attitude_Control_set_YawLock( double TIMEOUT ){//屏蔽用户控制bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);if( !isMSafe && ForceMSafeCtrl )return false;if( LockCtrl(TIMEOUT) ){if( Attitude_Control_Enabled == false ){UnlockCtrl();return false;}if( Yaw_ControlMode == Attitude_ControlMode_AngularRate )Yaw_ControlMode = Attitude_ControlMode_Locking;UnlockCtrl();return true;}return false;}
/*控制接口*///四旋翼X模式
static void ctrl_Attitude_MultiRotor_X4_PWM( double outRoll , double outPitch , double outYaw );
//六旋翼X模式
static void ctrl_Attitude_MultiRotor_X6_PWM( double outRoll , double outPitch , double outYaw );
//六旋翼异构
/*o--oo--oo--o
*/
static void ctrl_Attitude_MultiRotor_S6_1_PWM( double outRoll , double outPitch , double outYaw );
//八旋翼X模式
static void ctrl_Attitude_MultiRotor_X8_PWM( double outRoll , double outPitch , double outYaw );void ctrl_Attitude()
{   double h = 1.0 / CtrlRateHz;if( Attitude_Control_Enabled == false ){Roll_u = Pitch_u = Yaw_u = 0;update_output_throttle( 0 , h );PWM_PullDownAll();return;}   //Debug保护//油门低于起转油门拉低所有输出Receiver rc;getReceiver(&rc);if( throttle < cfg.STThrottle[0] - 0.1 || ( (rc.available && rc.data[0] < cfg.STThrottle[0] - 0.1) && (rc.data[1] < 10) ) ){Roll_u = Pitch_u = Yaw_u = 0;update_output_throttle( 0 , h );PWM_PullDownAll();return;}// //根据电池电压调整控制对象增益
//  float BatV = getBatteryVoltage();
//  float VST = Cfg_get_BatSTVoltage();
//  if( BatV > 7 && VST > 7 )
//  {
//      float scale = BatV / VST;
//      ESO[0].b = Cfg_get_RPYCtrl_b(0) * scale;
//      ESO[1].b = Cfg_get_RPYCtrl_b(1) * scale;
//      ESO[2].b = Cfg_get_RPYCtrl_b(2) * scale;
//  }
//  else
//  {
//      ESO[0].b = Cfg_get_RPYCtrl_b(0);
//      ESO[1].b = Cfg_get_RPYCtrl_b(1);
//      ESO[2].b = Cfg_get_RPYCtrl_b(2);
//  }//读取电池电压float BatVoltage = get_MainBatteryVoltage_filted();//计算增益修正系数double b_scale = 1.0;if( BatVoltage > 7 ){float STVoltage[2];if( ReadParam("Bat_STVoltage", 0, 0, (uint64_t*)STVoltage, 0 ) == PR_OK )b_scale = BatVoltage / STVoltage[0];}//根据电池电压调整控制对象增益ESO[0].b = cfg.b[0] * b_scale;ESO[1].b = cfg.b[2] * b_scale;ESO[2].b = cfg.b[4] * b_scale;Quaternion AirframeQuat;get_Airframe_quat( &AirframeQuat, 0.1 );//获取控制参数double Ps = cfg.P1[0];double PsY = cfg.P1[4];vector3<double> P2( cfg.P2[0], cfg.P2[2], cfg.P2[4] );vector3<double> P3( cfg.P3[0], cfg.P3[2], cfg.P3[4] );//目标Roll Pitch四元数Quaternion target_quat_PR;          //目标角速度vector3<double> target_angular_velocity;//获取当前四元数的Pitch Roll分量四元数double Yaw = AirframeQuat.getYaw();double half_sinYaw, half_cosYaw;fast_sin_cos( 0.5*Yaw, &half_sinYaw, &half_cosYaw );Quaternion YawQuat(half_cosYaw ,0 ,0 ,half_sinYaw);YawQuat.conjugate();Quaternion_Ef current_quat_PR = Quaternion_Ef( YawQuat*AirframeQuat );//计算旋转矩阵current_quat_PR.conjugate();                double Rotation_Matrix[3][3];   //反向旋转current_quat_PR.get_rotation_matrix(Rotation_Matrix);current_quat_PR.conjugate(); double Rotation_Matrix_P[3][3]; //正向旋转current_quat_PR.get_rotation_matrix(Rotation_Matrix_P);//运行扩张状态观测器得到估计角速度、角加速度vector3<double> AngularRateCtrl;get_AngularRate_Ctrl( &AngularRateCtrl, 0.1 );vector3<double> angular_rate_ESO;vector3<double> angular_acceleration_ESO;//使用ESO估计角速度、角加速度angular_rate_ESO.set_vector(ESO[0].get_EsAngularRate() ,ESO[1].get_EsAngularRate() ,ESO[2].get_EsAngularRate());     angular_acceleration_ESO.set_vector(ESO[0].get_EsAngularAcceleration() ,ESO[1].get_EsAngularAcceleration() ,ESO[2].get_EsAngularAcceleration());//计算ENU坐标系下的角速度、角加速度vector3<double> angular_rate_ENU;angular_rate_ENU.x = Rotation_Matrix_P[0][0]*angular_rate_ESO.x + Rotation_Matrix_P[0][1]*angular_rate_ESO.y + Rotation_Matrix_P[0][2]*angular_rate_ESO.z;angular_rate_ENU.y = Rotation_Matrix_P[1][0]*angular_rate_ESO.x + Rotation_Matrix_P[1][1]*angular_rate_ESO.y + Rotation_Matrix_P[1][2]*angular_rate_ESO.z;angular_rate_ENU.z = Rotation_Matrix_P[2][0]*angular_rate_ESO.x + Rotation_Matrix_P[2][1]*angular_rate_ESO.y + Rotation_Matrix_P[2][2]*angular_rate_ESO.z;vector3<double> angular_acceleration_ENU;angular_acceleration_ENU.x = Rotation_Matrix_P[0][0]*angular_acceleration_ESO.x + Rotation_Matrix_P[0][1]*angular_acceleration_ESO.y + Rotation_Matrix_P[0][2]*angular_acceleration_ESO.z;angular_acceleration_ENU.y = Rotation_Matrix_P[1][0]*angular_acceleration_ESO.x + Rotation_Matrix_P[1][1]*angular_acceleration_ESO.y + Rotation_Matrix_P[1][2]*angular_acceleration_ESO.z;angular_acceleration_ENU.z = Rotation_Matrix_P[2][0]*angular_acceleration_ESO.x + Rotation_Matrix_P[2][1]*angular_acceleration_ESO.y + Rotation_Matrix_P[2][2]*angular_acceleration_ESO.z;//由Roll Pitch控制模式//计算Roll Pitch目标角速度（ENU系）vector3<double> target_angular_rate_RP;switch( RollPitch_ControlMode ){default:case Attitude_ControlMode_Angle:{//TD4滤目标角度Target_tracker_RP.track3( vector2<double>(target_Roll,target_Pitch), 1.0 / CtrlRateHz );//使用目标角度构造目标四元数//calculate target quat Q1//      front//       x//       ^//       |// y < --Odouble half_sinR, half_cosR;fast_sin_cos( 0.5*Target_tracker_RP.x1.x, &half_sinR, &half_cosR );double half_sinP, half_cosP;fast_sin_cos( 0.5*Target_tracker_RP.x1.y, &half_sinP, &half_cosP );target_quat_PR = Quaternion( half_cosR*half_cosP ,half_cosP*half_sinR ,half_cosR*half_sinP ,-half_sinR*half_sinP);//计算误差四元数Q//Q*Q1=Qt  Q1为当前机体四元数，Qt为目标四元数//Q=Qt*inv(Q1)Quaternion current_quat_conj = current_quat_PR; current_quat_conj.conjugate();vector3<double> PR_rotation = ( target_quat_PR * current_quat_conj ).get_Rotation_vec();vector3<double> feed_foward_ratePR = { Target_tracker_RP.x2.x, Target_tracker_RP.x2.y , 0 };target_angular_rate_RP = ( PR_rotation * Ps ) + feed_foward_ratePR;break;}}double target_angular_rate_Y;switch(Yaw_ControlMode){case Attitude_ControlMode_Angle:{if(inFlight){//TD4滤目标角度Target_trackerY.r2n = Target_trackerY.r2p = degree2rad(60.0);Target_trackerY.track4( target_Yaw , 1.0f / CtrlRateHz );//角度误差化为-180 - +180double angle_error = Target_trackerY.x1 - Yaw;while( angle_error < -Pi )angle_error+=2*Pi;while( angle_error > Pi )angle_error-=2*Pi;//求目标角速度target_angular_rate_Y = angle_error * Ps + Target_trackerY.x2;target_angular_rate_Y = constrain( target_angular_rate_Y , 2.5 );}else{               Target_trackerY.reset();Target_trackerY.x1 = target_Yaw = Yaw;target_angular_rate_Y = 0;}break;}case Attitude_ControlMode_AngularRate:{if(inFlight){Target_trackerY.r2n=Target_trackerY.r2p=degree2rad(cfg.maxYSp[0]);Target_trackerY.track3( target_AngularRate.z , 1.0 / CtrlRateHz );target_angular_rate_Y = Target_trackerY.x2;}else{             Target_trackerY.reset();Target_trackerY.x1 = target_Yaw = Yaw;target_angular_rate_Y = 0;}break;}case Attitude_ControlMode_Locking:{if(inFlight){Target_trackerY.track3( 0 , 1.0 / CtrlRateHz );target_angular_rate_Y = Target_trackerY.x2;if( in_symmetry_range( target_angular_rate_Y , 0.001 ) && in_symmetry_range( angular_rate_ENU.z , 0.05 ) ){                           Target_trackerY.x1 = target_Yaw = Yaw;Yaw_ControlMode = Attitude_ControlMode_Angle;}}else{           Target_trackerY.reset();Target_trackerY.x1 = target_Yaw = Yaw;target_angular_rate_Y = 0;}break;}}//计算前馈量double YawAngleP =  ( Target_trackerY.get_tracking_mode() == 4 ) ? ( Ps ) : 0;vector3<double> Tv1_ENU = { Ps*( Target_tracker_RP.x2.x - angular_rate_ENU.x ) + Target_tracker_RP.x3.x ,Ps*( Target_tracker_RP.x2.y - angular_rate_ENU.y ) + Target_tracker_RP.x3.y ,YawAngleP*( Target_trackerY.x2 - angular_rate_ENU.z ) + Target_trackerY.x3 };vector3<double> Tv2_ENU = { Ps*( Target_tracker_RP.x3.x - angular_acceleration_ENU.x ) + Target_tracker_RP.T4.x ,Ps*( Target_tracker_RP.x3.y - angular_acceleration_ENU.y ) + Target_tracker_RP.T4.y,YawAngleP*( Target_trackerY.x3 - angular_acceleration_ENU.z ) + Target_trackerY.x4 };vector3<double> Tv1;Tv1.x = Rotation_Matrix[0][0]*Tv1_ENU.x + Rotation_Matrix[0][1]*Tv1_ENU.y + Rotation_Matrix[0][2]*Tv1_ENU.z;Tv1.y = Rotation_Matrix[1][0]*Tv1_ENU.x + Rotation_Matrix[1][1]*Tv1_ENU.y + Rotation_Matrix[1][2]*Tv1_ENU.z;Tv1.z = Rotation_Matrix[2][0]*Tv1_ENU.x + Rotation_Matrix[2][1]*Tv1_ENU.y + Rotation_Matrix[2][2]*Tv1_ENU.z;vector3<double> Tv2;Tv2.x = Rotation_Matrix[0][0]*Tv2_ENU.x + Rotation_Matrix[0][1]*Tv2_ENU.y + Rotation_Matrix[0][2]*Tv2_ENU.z;Tv2.y = Rotation_Matrix[1][0]*Tv2_ENU.x + Rotation_Matrix[1][1]*Tv2_ENU.y + Rotation_Matrix[1][2]*Tv2_ENU.z;Tv2.z = Rotation_Matrix[2][0]*Tv2_ENU.x + Rotation_Matrix[2][1]*Tv2_ENU.y + Rotation_Matrix[2][2]*Tv2_ENU.z;vector3<double> Ta1 = { P2.x*( Tv1.x - angular_acceleration_ESO.x ) + Tv2.x ,P2.y*( Tv1.y - angular_acceleration_ESO.y ) + Tv2.y ,P2.z*( Tv1.z - angular_acceleration_ESO.z ) + Tv2.z };//计算前馈量//把目标速度从Bodyheading旋转到机体vector3<double> target_angular_rate_ENU;target_angular_rate_ENU.x = target_angular_rate_RP.x;target_angular_rate_ENU.y = target_angular_rate_RP.y;target_angular_rate_ENU.z = target_angular_rate_RP.z + target_angular_rate_Y;vector3<double> target_angular_rate_body;target_angular_rate_body.x = Rotation_Matrix[0][0]*target_angular_rate_ENU.x + Rotation_Matrix[0][1]*target_angular_rate_ENU.y + Rotation_Matrix[0][2]*target_angular_rate_ENU.z;target_angular_rate_body.y = Rotation_Matrix[1][0]*target_angular_rate_ENU.x + Rotation_Matrix[1][1]*target_angular_rate_ENU.y + Rotation_Matrix[1][2]*target_angular_rate_ENU.z;target_angular_rate_body.z = Rotation_Matrix[2][0]*target_angular_rate_ENU.x + Rotation_Matrix[2][1]*target_angular_rate_ENU.y + Rotation_Matrix[2][2]*target_angular_rate_ENU.z;//把目标速度从Bodyheading旋转到机体//计算目标角加速度vector3<double> target_angular_acceleration = target_angular_rate_body - angular_rate_ESO;target_angular_acceleration.x *= P2.x;target_angular_acceleration.y *= P2.y;target_angular_acceleration.z *= P2.z;target_angular_acceleration = target_angular_acceleration + Tv1;//计算目标角加速度//计算角加速度误差vector3<double> angular_acceleration_error = target_angular_acceleration - angular_acceleration_ESO;vector3<double> disturbance(ESO[0].get_EsDisturbance() ,ESO[1].get_EsDisturbance() ,ESO[2].get_EsDisturbance());static vector3<double> last_disturbance = { 0 , 0 , 0 };      vector3<double> disturbance_Derivative = (disturbance - last_disturbance) * CtrlRateHz;last_disturbance = disturbance;double outRoll;double outPitch;double outYaw;if( inFlight ){outRoll =    ( ESO[0].get_EsMainPower() + ESO[0].T * ( angular_acceleration_error.x * P3.x + Ta1.x /*- disturbance_x*/ ) )/ESO[0].b;outPitch =    ( ESO[1].get_EsMainPower() + ESO[1].T * ( angular_acceleration_error.y * P3.y + Ta1.y /*- disturbance_y*/ ) )/ESO[1].b;
//      outYaw =       ( ESO_AngularRate_get_EsMainPower( &ESO[2] ) + ESO[2].T * ( angular_acceleration_error.z * P.z + Ta1.z /*- disturbance_z*/ ) )/ESO[2].b;outYaw = ( target_angular_acceleration.z - disturbance.z ) / ESO[2].b;}else{outRoll =   ESO[0].T * ( angular_acceleration_error.x * P3.x )/ESO[0].b;outPitch = ESO[1].T * ( angular_acceleration_error.y * P3.y )/ESO[1].b;//outYaw =     ESO[2].T * ( angular_acceleration_error.z * P.z )/ESO[2].b;outYaw = ( target_angular_acceleration.z ) / ESO[2].b;}//   outRoll_filted += 80 * h * ( outRoll - outRoll_filted );
//  outPitch_filted += 80 * h * ( outPitch - outPitch_filted );
//  outYaw_filted += 80 * h * ( outYaw - outYaw_filted );if( inFlight ){double logbuf[10];logbuf[0] = target_angular_rate_body.x;logbuf[1] = AngularRateCtrl.x;logbuf[2] = angular_rate_ESO.x;logbuf[3] = target_angular_acceleration.x;logbuf[4] = angular_acceleration_ESO.x;logbuf[5] = ESO[0].get_EsMainPower();logbuf[6] = outRoll;logbuf[7] = disturbance.x;logbuf[8] = ESO[0].u;SDLog_Msg_DebugVect( "att", logbuf, 9 );}switch( cfg.UAVType ){case UAVType_Rotor4_X:ctrl_Attitude_MultiRotor_X4_PWM( outRoll , outPitch , outYaw );break;      case UAVType_Rotor6_X:ctrl_Attitude_MultiRotor_X6_PWM( outRoll , outPitch , outYaw );break;case UAVType_Rotor8_X:ctrl_Attitude_MultiRotor_X8_PWM( outRoll , outPitch , outYaw );break;
//
//      case UAVType_Rotor4_C:
//          ctrl_Attitude_MultiRotor_C4_PWM( outRoll , outPitch , outYaw );
//          break;
//
//      case UAVType_Rotor42_C:
//          ctrl_Attitude_MultiRotor_C42_PWM( outRoll , outPitch , outYaw );
//          break;case UAVType_Rotor6_S1:ctrl_Attitude_MultiRotor_S6_1_PWM( outRoll , outPitch , outYaw );break;default:PWM_PullDownAll();break;}
}//电机非线性输出 线性修正
static inline void throttle_nonlinear_compensation( double out[8] )
{double output_minimum_throttle = cfg.STThrottle[0];double output_range = 100.0f - output_minimum_throttle;double inv_output_range = 1.0 / output_range;//a：非线性因子(0-1)//m：最大油门比例(0.6-1)//设油门-力曲线方程为：//F = kx^2 + (1-a)x ( 0<=x<=m F最大值为1 )//x = m时：km^2 + (1-a)m = 1//得k = ( 1 - (1-a)m ) / m^2//a_1 = a - 1//Hk  = 1 / 2k//K4  = 4* k//解方程组：kx^2 + (1-a)x = out//得到的x即为线性化后的输出double _lift_max = cfg.FullThrRatio[0];double a_1 = cfg.NonlinearFactor[0] - 1;double k = ( 1 + a_1*_lift_max ) / (_lift_max*_lift_max);double Hk = 1.0f / (2*k);double K4 = 4 * k;for( uint8_t i = 0; i < 8; ++i ){if( out[i] > output_minimum_throttle - 0.1f ){out[i] -= output_minimum_throttle;out[i] *= inv_output_range;if( out[i] < 0 )out[i] = 0;out[i] = Hk*( a_1 + safe_sqrt( a_1*a_1 + K4*out[i] ) );out[i] *= output_range;out[i] += output_minimum_throttle;           }elseout[i] = 0;}
}//四旋翼X模式
static void ctrl_Attitude_MultiRotor_X4_PWM( double outRoll , double outPitch , double outYaw )
{double rotor_output[8] = {0,0,0,0,-200,-200,-200,-200};double output_minimum_throttle = cfg.STThrottle[0];
//  if( get_current_Receiver()->data[0] < 5 )
//  {
//      PWM_PullDownAll();
//      update_output_throttle( 0 , 1.0f/CtrlRateHz );
//      return;
//  }       if( throttle < output_minimum_throttle - 0.1f ){PWM_PullDownAll();update_output_throttle( 0 , 1.0/CtrlRateHz );return;}      double output_throttle = throttle;double output_midpoint = ( 100.0f - output_minimum_throttle ) / 2;
//      double cos_angle = lean_cos;
//      if( cos_angle < 0.5f )cos_angle = 0.5f;
//      output_throttle = throttle / cos_angle;/*pitch roll 输出限幅*///如果需要的pitch roll输出超出当前油门能提供的输出范围//调整油门获得尽量满足pitch roll输出rotor_output[0] = -outPitch+outRoll;rotor_output[1] = +outPitch+outRoll;       rotor_output[2] = +outPitch-outRoll;rotor_output[3] = -outPitch-outRoll;double output_max;double output_min ;output_max = rotor_output[0];for( int i = 1 ; i < 4 ; ++i ){if( rotor_output[i] > output_max ) output_max = rotor_output[i];}double max_allow_output = 100.0f - output_throttle;double min_allow_output = output_minimum_throttle - output_throttle;           double allow_ouput_range;if( max_allow_output < -min_allow_output ){//降低油门确保姿态输出allow_ouput_range = max_allow_output;if( output_max > allow_ouput_range ){if( output_max > output_midpoint ){output_throttle = output_midpoint + output_minimum_throttle;allow_ouput_range = output_midpoint;}else{output_throttle = 100.0f - output_max;allow_ouput_range = output_max;}}}else{//抬高油门保证姿态输出allow_ouput_range = -min_allow_output;if( output_max > allow_ouput_range ){double hover_throttle_force = hover_throttle - output_minimum_throttle;double max_allowed_output_range = ( hover_throttle_force > output_midpoint ? output_midpoint : hover_throttle_force ) * 0.95;//               double hover_throttle_force = hover_throttle - output_minimum_throttle;
//              double max_allowed_throttle_force = output_throttle - output_minimum_throttle;
//              max_allowed_throttle_force += hover_throttle_force*0.3;
//              double max_allowed_output_range = ( max_allowed_throttle_force > output_midpoint ? output_midpoint : max_allowed_throttle_force );if( max_allowed_output_range < output_throttle - output_minimum_throttle )max_allowed_output_range = output_throttle - output_minimum_throttle;double max_allowed_throttle = max_allowed_output_range + output_minimum_throttle;if( output_max > max_allowed_output_range ){output_throttle = max_allowed_throttle;allow_ouput_range = max_allowed_output_range;}else{output_throttle = output_minimum_throttle + output_max;allow_ouput_range = output_max;}}}//输出限幅修正if( output_max > allow_ouput_range ){double scale  = allow_ouput_range / output_max;rotor_output[0] *= scale;rotor_output[1] *= scale;rotor_output[2] *= scale;rotor_output[3] *= scale;Roll_u = outRoll * scale;Pitch_u = outPitch * scale;}      else{Roll_u = outRoll;Pitch_u = outPitch;}/*pitch roll 输出限幅*//*yaw output 输出限幅*///for Yaw control, it has the lowest priority//lower output to ensure attitude control and alt control output_max = 0.0f;output_min = 100.0f;/*find min yaw_scale*/double yaw_scale = 1.0f;for( int i = 0 ; i < 4 ; ++i ){double current_out_yaw = ( (i&1) == 1 ) ? outYaw : -outYaw;double current_rotor_output = output_throttle + rotor_output[i];max_allow_output = 100.0f - current_rotor_output;min_allow_output = output_minimum_throttle - current_rotor_output;if( current_out_yaw > max_allow_output + 0.01f ){double new_yaw_scale = max_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}else if( current_out_yaw < min_allow_output - 0.01f ){double new_yaw_scale = min_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}}/*find min yaw_scale*///lower yaw output to ensure attitude control and alt controlif( yaw_scale < 0 )yaw_scale = 0;outYaw *= yaw_scale;Yaw_u = outYaw;/*yaw output 输出限幅*/update_output_throttle( output_throttle , 1.0/CtrlRateHz );rotor_output[0] += output_throttle-outYaw;rotor_output[1] += output_throttle+outYaw;rotor_output[2] += output_throttle-outYaw;rotor_output[3] += output_throttle+outYaw;throttle_nonlinear_compensation( rotor_output );PWM_Out( rotor_output );
}//六旋翼X模式
static void ctrl_Attitude_MultiRotor_X6_PWM( double outRoll , double outPitch , double outYaw )
{double rotor_output[8] = {0,0,0,0,0,0,-200,-200};double output_minimum_throttle = cfg.STThrottle[0];
//  if( get_current_Receiver()->data[0] < 5 )
//  {
//      PWM_PullDownAll();
//      update_output_throttle( 0 , 1.0f/CtrlRateHz );
//      return;
//  }       if( throttle < output_minimum_throttle - 0.1f ){PWM_PullDownAll();update_output_throttle( 0 , 1.0/CtrlRateHz );return;}double output_throttle = throttle;double output_midpoint = ( 100.0f - output_minimum_throttle ) / 2;
//      float cos_angle = lean_cos;
//      if( cos_angle < 0.5f )cos_angle = 0.5f;
//      output_throttle = throttle / cos_angle;/*pitch roll 输出限幅*///如果需要的pitch roll输出超出当前油门能提供的输出范围//调整油门获得尽量满足pitch roll输出double RollS = outRoll * 1.1547005383792515290182975610039f;double half_outRoll = 0.5f * RollS;rotor_output[0] = -outPitch+half_outRoll;rotor_output[1] = RollS;rotor_output[2] = +outPitch+half_outRoll;rotor_output[3] = +outPitch-half_outRoll;rotor_output[4] = -RollS;rotor_output[5] = -outPitch-half_outRoll;double output_max;double output_min ;output_max = rotor_output[0];for( int i = 1 ; i < 6 ; ++i ){if( rotor_output[i] > output_max ) output_max = rotor_output[i];}double max_allow_output = 100.0f - output_throttle;double min_allow_output = output_minimum_throttle - output_throttle;          double allow_ouput_range;if( max_allow_output < -min_allow_output ){//降低油门确保姿态输出allow_ouput_range = max_allow_output;if( output_max > allow_ouput_range ){if( output_max > output_midpoint ){output_throttle = output_midpoint + output_minimum_throttle;allow_ouput_range = output_midpoint;}else{output_throttle = 100.0f - output_max;allow_ouput_range = output_max;}}}else{allow_ouput_range = -min_allow_output;if( output_max > allow_ouput_range ){double hover_throttle_force = hover_throttle - output_minimum_throttle;double max_allowed_output_range = ( hover_throttle_force > output_midpoint ? output_midpoint : hover_throttle_force ) * 0.8f;if( max_allowed_output_range < output_throttle - output_minimum_throttle )max_allowed_output_range = output_throttle - output_minimum_throttle;double max_allowed_throttle = max_allowed_output_range + output_minimum_throttle;if( output_max > max_allowed_output_range ){output_throttle = max_allowed_throttle;allow_ouput_range = max_allowed_output_range;}else{output_throttle = output_minimum_throttle + output_max;allow_ouput_range = output_max;}}}if( output_max > allow_ouput_range ){double scale  = allow_ouput_range / output_max;rotor_output[0] *= scale;rotor_output[1] *= scale;rotor_output[2] *= scale;rotor_output[3] *= scale;rotor_output[4] *= scale;rotor_output[5] *= scale;Roll_u = outRoll * scale;Pitch_u = outPitch * scale;}     else{Roll_u = outRoll;Pitch_u = outPitch;}/*pitch roll 输出限幅*//*yaw output 输出限幅*///for Yaw control, it has the lowest priority//lower output to ensure attitude control and alt control output_max = 0.0f;output_min = 100.0f;/*find min yaw_scale*/double yaw_scale = 1.0f;for( int i = 0 ; i < 6 ; ++i ){double current_out_yaw = ( (i&1) == 1 ) ? outYaw : -outYaw;double current_rotor_output = output_throttle + rotor_output[i];max_allow_output = 100.0f - current_rotor_output;min_allow_output = output_minimum_throttle - current_rotor_output;if( current_out_yaw > max_allow_output + 0.01f ){double new_yaw_scale = max_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}else if( current_out_yaw < min_allow_output - 0.01f ){double new_yaw_scale = min_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}}/*find min yaw_scale*///lower yaw output to ensure attitude control and alt controlif( yaw_scale < 0 )yaw_scale = 0;outYaw *= yaw_scale;Yaw_u = outYaw;/*yaw output 输出限幅*/update_output_throttle( output_throttle , 1.0/CtrlRateHz );rotor_output[0] += output_throttle-outYaw;rotor_output[1] += output_throttle+outYaw;rotor_output[2] += output_throttle-outYaw;rotor_output[3] += output_throttle+outYaw;rotor_output[4] += output_throttle-outYaw;rotor_output[5] += output_throttle+outYaw;throttle_nonlinear_compensation( rotor_output );PWM_Out( rotor_output );
}//六旋翼异构
/*o--oo--oo--o
*/
static void ctrl_Attitude_MultiRotor_S6_1_PWM( double outRoll , double outPitch , double outYaw )
{double rotor_output[8] = {0,0,0,0,0,0,-200,-200};double output_minimum_throttle = cfg.STThrottle[0];
//  if( get_current_Receiver()->data[0] < 5 )
//  {
//      PWM_PullDownAll();
//      update_output_throttle( 0 , 1.0f/CtrlRateHz );
//      return;
//  }       if( throttle < output_minimum_throttle - 0.1f ){PWM_PullDownAll();update_output_throttle( 0 , 1.0/CtrlRateHz );return;}double output_throttle = throttle;double output_midpoint = ( 100.0f - output_minimum_throttle ) / 2;
//      float cos_angle = lean_cos;
//      if( cos_angle < 0.5f )cos_angle = 0.5f;
//      output_throttle = throttle / cos_angle;/*pitch roll 输出限幅*///如果需要的pitch roll输出超出当前油门能提供的输出范围//调整油门获得尽量满足pitch roll输出double RollS = outRoll * 1.732;double half_outRoll = 0.5f * RollS;rotor_output[0] = -outPitch+half_outRoll;rotor_output[1] = RollS;rotor_output[2] = +outPitch+half_outRoll;rotor_output[3] = +outPitch-half_outRoll;rotor_output[4] = -RollS;rotor_output[5] = -outPitch-half_outRoll;double output_max;double output_min ;output_max = rotor_output[0];for( int i = 1 ; i < 6 ; ++i ){if( rotor_output[i] > output_max ) output_max = rotor_output[i];}double max_allow_output = 100.0f - output_throttle;double min_allow_output = output_minimum_throttle - output_throttle;           double allow_ouput_range;if( max_allow_output < -min_allow_output ){//降低油门确保姿态输出allow_ouput_range = max_allow_output;if( output_max > allow_ouput_range ){if( output_max > output_midpoint ){output_throttle = output_midpoint + output_minimum_throttle;allow_ouput_range = output_midpoint;}else{output_throttle = 100.0f - output_max;allow_ouput_range = output_max;}}}else{allow_ouput_range = -min_allow_output;if( output_max > allow_ouput_range ){double hover_throttle_force = hover_throttle - output_minimum_throttle;double max_allowed_output_range = ( hover_throttle_force > output_midpoint ? output_midpoint : hover_throttle_force ) * 0.8f;if( max_allowed_output_range < output_throttle - output_minimum_throttle )max_allowed_output_range = output_throttle - output_minimum_throttle;double max_allowed_throttle = max_allowed_output_range + output_minimum_throttle;if( output_max > max_allowed_output_range ){output_throttle = max_allowed_throttle;allow_ouput_range = max_allowed_output_range;}else{output_throttle = output_minimum_throttle + output_max;allow_ouput_range = output_max;}}}if( output_max > allow_ouput_range ){double scale  = allow_ouput_range / output_max;rotor_output[0] *= scale;rotor_output[1] *= scale;rotor_output[2] *= scale;rotor_output[3] *= scale;rotor_output[4] *= scale;rotor_output[5] *= scale;Roll_u = outRoll * scale;Pitch_u = outPitch * scale;}     else{Roll_u = outRoll;Pitch_u = outPitch;}/*pitch roll 输出限幅*//*yaw output 输出限幅*///for Yaw control, it has the lowest priority//lower output to ensure attitude control and alt control output_max = 0.0f;output_min = 100.0f;/*find min yaw_scale*/double yaw_scale = 1.0f;for( int i = 0 ; i < 6 ; ++i ){double current_out_yaw = ( (i&1) == 1 ) ? 0.5*outYaw : -0.5*outYaw;if( i==1 || i==4 )current_out_yaw *= 2;double current_rotor_output = output_throttle + rotor_output[i];max_allow_output = 100.0f - current_rotor_output;min_allow_output = output_minimum_throttle - current_rotor_output;if( current_out_yaw > max_allow_output + 0.01f ){double new_yaw_scale = max_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}else if( current_out_yaw < min_allow_output - 0.01f ){double new_yaw_scale = min_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}}/*find min yaw_scale*///lower yaw output to ensure attitude control and alt controlif( yaw_scale < 0 )yaw_scale = 0;outYaw *= yaw_scale;Yaw_u = outYaw;/*yaw output 输出限幅*/update_output_throttle( output_throttle , 1.0/CtrlRateHz );rotor_output[0] += output_throttle-outYaw;rotor_output[1] += output_throttle+outYaw;rotor_output[2] += output_throttle-outYaw;rotor_output[3] += output_throttle+outYaw;rotor_output[4] += output_throttle-outYaw;rotor_output[5] += output_throttle+outYaw;throttle_nonlinear_compensation( rotor_output );PWM_Out( rotor_output );
}//八旋翼X模式
static void ctrl_Attitude_MultiRotor_X8_PWM( double outRoll , double outPitch , double outYaw )
{double rotor_output[8] = {0,0,0,0,0,0,0,0};double output_minimum_throttle = cfg.STThrottle[0];
//  if( get_current_Receiver()->data[0] < 5 )
//  {
//      PWM_PullDownAll();
//      update_output_throttle( 0 , 1.0f/CtrlRateHz );
//      return;
//  }       if( throttle < output_minimum_throttle - 0.1f ){PWM_PullDownAll();update_output_throttle( 0 , 1.0/CtrlRateHz );return;}double output_throttle = throttle;double output_midpoint = ( 100.0f - output_minimum_throttle ) / 2;
//      float cos_angle = lean_cos;
//      if( cos_angle < 0.5f )cos_angle = 0.5f;
//      output_throttle = throttle / cos_angle;/*pitch roll 输出限幅*///如果需要的pitch roll输出超出当前油门能提供的输出范围//调整油门获得尽量满足pitch roll输出rotor_output[0] = -outPitch+outRoll;rotor_output[1] = -outPitch+outRoll;rotor_output[2] = +outPitch+outRoll;rotor_output[3] = +outPitch+outRoll;rotor_output[4] = +outPitch-outRoll;rotor_output[5] = +outPitch-outRoll;rotor_output[6] = -outPitch-outRoll;rotor_output[7] = -outPitch-outRoll;double output_max;double output_min ;output_max = rotor_output[0];for( int i = 1 ; i < 8 ; ++i ){if( rotor_output[i] > output_max ) output_max = rotor_output[i];}double max_allow_output = 100.0f - output_throttle;double min_allow_output = output_minimum_throttle - output_throttle;          double allow_ouput_range;if( max_allow_output < -min_allow_output ){//降低油门确保姿态输出allow_ouput_range = max_allow_output;if( output_max > allow_ouput_range ){if( output_max > output_midpoint ){output_throttle = output_midpoint + output_minimum_throttle;allow_ouput_range = output_midpoint;}else{output_throttle = 100.0f - output_max;allow_ouput_range = output_max;}}}else{allow_ouput_range = -min_allow_output;if( output_max > allow_ouput_range ){double hover_throttle_force = hover_throttle - output_minimum_throttle;double max_allowed_output_range = ( hover_throttle_force > output_midpoint ? output_midpoint : hover_throttle_force ) * 0.8f;if( max_allowed_output_range < output_throttle - output_minimum_throttle )max_allowed_output_range = output_throttle - output_minimum_throttle;double max_allowed_throttle = max_allowed_output_range + output_minimum_throttle;if( output_max > max_allowed_output_range ){output_throttle = max_allowed_throttle;allow_ouput_range = max_allowed_output_range;}else{output_throttle = output_minimum_throttle + output_max;allow_ouput_range = output_max;}}}if( output_max > allow_ouput_range ){double scale  = allow_ouput_range / output_max;rotor_output[0] *= scale;rotor_output[1] *= scale;rotor_output[2] *= scale;rotor_output[3] *= scale;rotor_output[4] *= scale;rotor_output[5] *= scale;rotor_output[6] *= scale;rotor_output[7] *= scale;Roll_u = outRoll * scale;Pitch_u = outPitch * scale;}     else{Roll_u = outRoll;Pitch_u = outPitch;}/*pitch roll 输出限幅*//*yaw output 输出限幅*///for Yaw control, it has the lowest priority//lower output to ensure attitude control and alt control output_max = 0.0f;output_min = 100.0f;/*find min yaw_scale*/double yaw_scale = 1.0f;for( int i = 0 ; i < 8 ; ++i ){double current_out_yaw = ( (i&1) == 1 ) ? outYaw : -outYaw;double current_rotor_output = output_throttle + rotor_output[i];max_allow_output = 100.0f - current_rotor_output;min_allow_output = output_minimum_throttle - current_rotor_output;if( current_out_yaw > max_allow_output + 0.01f ){double new_yaw_scale = max_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}else if( current_out_yaw < min_allow_output - 0.01f ){double new_yaw_scale = min_allow_output / current_out_yaw;if( new_yaw_scale < yaw_scale ) yaw_scale = new_yaw_scale;}}/*find min yaw_scale*///lower yaw output to ensure attitude control and alt controlif( yaw_scale < 0 )yaw_scale = 0;outYaw *= yaw_scale;Yaw_u = outYaw;/*yaw output 输出限幅*/update_output_throttle( output_throttle , 1.0/CtrlRateHz );rotor_output[0] += output_throttle-outYaw;rotor_output[1] += output_throttle+outYaw;rotor_output[2] += output_throttle-outYaw;rotor_output[3] += output_throttle+outYaw;rotor_output[4] += output_throttle-outYaw;rotor_output[5] += output_throttle+outYaw;rotor_output[6] += output_throttle-outYaw;rotor_output[7] += output_throttle+outYaw;throttle_nonlinear_compensation( rotor_output );PWM_Out( rotor_output );
}void init_Ctrl_Attitude()
{//注册参数cfg.UAVType = UAVType_Rotor4_X;cfg.STThrottle[0] = 10;cfg.NonlinearFactor[0] = 0.45;cfg.FullThrRatio[0] = 0.95;cfg.T[0] = 0.1;cfg.b[0] = 5.5;  cfg.b[2] = 5.5;    cfg.b[4] = 1.0;cfg.TD4_P1[0] = 15;    cfg.TD4_P1[2] = 15;    cfg.TD4_P1[4] = 2;cfg.TD4_P2[0] = 15; cfg.TD4_P2[2] = 15;    cfg.TD4_P2[4] = 5;cfg.TD4_P3[0] = 25; cfg.TD4_P3[2] = 25;    cfg.TD4_P3[4] = 25;cfg.TD4_P4[0] = 25;    cfg.TD4_P4[2] = 25;    cfg.TD4_P4[4] = 25;cfg.P1[0] = 5; cfg.P1[2] = 5; cfg.P1[4] = 2;cfg.P2[0] = 10; cfg.P2[2] = 10;    cfg.P2[4] = 5;cfg.P3[0] = 25; cfg.P3[2] = 25;    cfg.P3[4] = 25;cfg.P4[0] = 15;    cfg.P4[2] = 15;    cfg.P4[4] = 15;cfg.beta2[0] = 30;cfg.maxLean[0] = 35;cfg.maxRPSp[0] = 350;cfg.maxRPAcc[0] = 7000;cfg.maxYSp[0] = 80;cfg.maxYAcc[0] = 1000;MAV_PARAM_TYPE param_types[] = {MAV_PARAM_TYPE_UINT8 ,    //UAV TypeMAV_PARAM_TYPE_REAL32 ,   //起转油门MAV_PARAM_TYPE_REAL32 ,   //非线性参数MAV_PARAM_TYPE_REAL32 ,  //满油门比例MAV_PARAM_TYPE_REAL32 ,  //TMAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //b[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 , //TD4_P1[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //TD4_P2[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //TD4_P3[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //TD4_P4[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //P1[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //P2[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //P3[3]MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,MAV_PARAM_TYPE_REAL32 ,    //P4[3]MAV_PARAM_TYPE_REAL32 ,  //beta2MAV_PARAM_TYPE_REAL32 ,  //最大倾斜角MAV_PARAM_TYPE_REAL32 ,  //maxRPSpMAV_PARAM_TYPE_REAL32 ,    //maxRPAccMAV_PARAM_TYPE_REAL32 ,   //maxYSpMAV_PARAM_TYPE_REAL32 , //maxYAcc};SName param_names[] = {"AC_UAVType" , //UAV Type"AC_STThr" ,    //起转油门"AC_NonlinF" ,  //非线性参数"AC_FullThrR" ,    //满油门比例"AC_T" ,   //T"AC_Roll_b" ,"AC_Pitch_b" ,"AC_Yaw_b" ,    //b[3]"AC_Roll_TD4P1" ,"AC_Pitch_TD4P1" ,"AC_Yaw_TD4P1" , //TD4_P1[3]"AC_Roll_TD4P2" ,"AC_Pitch_TD4P2" ,"AC_Yaw_TD4P2" ,    //TD4_P2[3]"AC_Roll_TD4P3" ,"AC_Pitch_TD4P3" ,"AC_Yaw_TD4P3" ,    //TD4_P3[3]"AC_Roll_TD4P4" ,"AC_Pitch_TD4P4" ,"AC_Yaw_TD4P4" ,    //TD4_P4[3]"AC_Roll_P1" ,"AC_Pitch_P1" ,"AC_Yaw_P1" , //P1[3]"AC_Roll_P2" ,"AC_Pitch_P2" ,"AC_Yaw_P2" , //P2[3]"AC_Roll_P3" ,"AC_Pitch_P3" ,"AC_Yaw_P3" , //P3[3]"AC_Roll_P4" ,"AC_Pitch_P4" ,"AC_Yaw_P4" , //P4[3]"AC_Beta2" ,   //beta2"AC_maxLean" , //最大倾斜角"AC_maxRPSp" , //最大Pitch Roll速度"AC_maxRPAcc" ,   //最大Pitch Roll加速度"AC_maxYSp" ,    //最大偏航速度"AC_maxYAcc" ,    //最大偏航加速度};ParamGroupRegister( "AttCtrl", 2, 38, param_types, param_names, (uint64_t*)&cfg );
}
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ACfly的Ctrl_Attitude.cpp的代码（可以看到在角速度环和高度环用ADRC）

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