text: (window.webpackJsonp=window.webpackJsonp||[]).push([[58],{1645:function(Q,t,a){"use strict";a.r(t);var T=a(18),r=Object(T.a)({},(function(){var Q=this,t=Q.$createElement,T=Q._self._c||t;return T("ContentSlotsDistributor",{attrs:{"slot-key":Q.$parent.slotKey}},[T("h1",{attrs:{id:"controller-diagrams"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#controller-diagrams"}},[Q._v("#")]),Q._v(" Controller Diagrams")]),Q._v(" "),T("p",[Q._v("This section contains diagrams for the main PX4 controllers.")]),Q._v(" "),T("p",[Q._v("The diagrams use the standard "),T("RouterLink",{attrs:{to:"/en/contribute/notation.html"}},[Q._v("PX4 notation")]),Q._v(" (and each have an annotated legend).")],1),Q._v(" "),T("h2",{attrs:{id:"multicopter-control-architecture"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#multicopter-control-architecture"}},[Q._v("#")]),Q._v(" Multicopter Control Architecture")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(830),alt:"MC Controller Diagram"}})]),Q._v(" "),T("ul",[T("li",[Q._v("This is a standard cascaded control architecture.")]),Q._v(" "),T("li",[Q._v("The controllers are a mix of P and PID controllers.")]),Q._v(" "),T("li",[Q._v("Estimates come from "),T("RouterLink",{attrs:{to:"/en/advanced_config/tuning_the_ecl_ekf.html"}},[Q._v("EKF2")]),Q._v(".")],1),Q._v(" "),T("li",[Q._v("Depending on the mode, the outer (position) loop is bypassed (shown as a multiplexer after the outer loop).\nThe position loop is only used when holding position or when the requested velocity in an axis is null.")])]),Q._v(" "),T("h3",{attrs:{id:"multicopter-angular-rate-controller"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#multicopter-angular-rate-controller"}},[Q._v("#")]),Q._v(" Multicopter Angular Rate Controller")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(831),alt:"MC Rate Control Diagram"}})]),Q._v(" "),T("ul",[T("li",[T("p",[Q._v("K-PID controller. See "),T("RouterLink",{attrs:{to:"/en/config_mc/pid_tuning_guide_multicopter.html#rate-controller"}},[Q._v("Rate Controller")]),Q._v(" for more information.")],1)]),Q._v(" "),T("li",[T("p",[Q._v("The integral authority is limited to prevent wind up.")])]),Q._v(" "),T("li",[T("p",[Q._v("The outputs are limited (in the mixer), usually at -1 and 1.")])]),Q._v(" "),T("li",[T("p",[Q._v("A Low Pass Filter (LPF) is used on the derivative path to reduce noise (the gyro driver provides a filtered derivative to the controller).")]),Q._v(" "),T("div",{staticClass:"custom-block note"},[T("p",{staticClass:"custom-block-title"},[Q._v("Note")]),Q._v(" "),T("p",[Q._v("The IMU pipeline is:\ngyro data > apply calibration parameters > remove estimated bias > notch filter ("),T("code",[Q._v("IMU_GYRO_NF_BW")]),Q._v(" and "),T("code",[Q._v("IMU_GYRO_NF_FREQ")]),Q._v(") > low-pass filter ("),T("code",[Q._v("IMU_GYRO_CUTOFF")]),Q._v(") > vehicle_angular_velocity ("),T("em",[Q._v("filtered angular rate used by the P and I controllers")]),Q._v(") > derivative -> low-pass filter ("),T("code",[Q._v("IMU_DGYRO_CUTOFF")]),Q._v(") > vehicle_angular_acceleration ("),T("em",[Q._v("filtered angular acceleration used by the D controller")]),Q._v(")")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(832),alt:"IMU pipeline"}})])])])]),Q._v(" "),T("h3",{attrs:{id:"multicopter-attitude-controller"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#multicopter-attitude-controller"}},[Q._v("#")]),Q._v(" Multicopter Attitude Controller")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(833),alt:"MC Angle Control Diagram"}})]),Q._v(" "),T("ul",[T("li",[Q._v("The attitude controller makes use of "),T("a",{attrs:{href:"https://en.wikipedia.org/wiki/Quaternion",target:"_blank",rel:"noopener noreferrer"}},[Q._v("quaternions"),T("OutboundLink")],1),Q._v(".")]),Q._v(" "),T("li",[Q._v("The controller is implemented from this "),T("a",{attrs:{href:"https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf",target:"_blank",rel:"noopener noreferrer"}},[Q._v("article"),T("OutboundLink")],1),Q._v(".")]),Q._v(" "),T("li",[Q._v("When tuning this controller, the only parameter of concern is the P gain.")]),Q._v(" "),T("li",[Q._v("The rate command is saturated.")])]),Q._v(" "),T("h3",{attrs:{id:"multicopter-velocity-controller"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#multicopter-velocity-controller"}},[Q._v("#")]),Q._v(" Multicopter Velocity Controller")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(834),alt:"MC Velocity Control Diagram"}})]),Q._v(" "),T("ul",[T("li",[Q._v("PID controller to stabilise velocity. Commands an acceleration.")]),Q._v(" "),T("li",[Q._v("The integrator includes an anti-reset windup (ARW) using a clamping method.")]),Q._v(" "),T("li",[Q._v("The commanded acceleration is saturated.")])]),Q._v(" "),T("h3",{attrs:{id:"multicopter-position-controller"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#multicopter-position-controller"}},[Q._v("#")]),Q._v(" Multicopter Position Controller")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(835),alt:"MC Position Control Diagram"}})]),Q._v(" "),T("ul",[T("li",[Q._v("Simple P controller that commands a velocity.")]),Q._v(" "),T("li",[Q._v("The commanded velocity is saturated to keep the velocity in certain limits.")])]),Q._v(" "),T("h4",{attrs:{id:"combined-position-and-velocity-controller-diagram"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#combined-position-and-velocity-controller-diagram"}},[Q._v("#")]),Q._v(" Combined Position and Velocity Controller Diagram")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(836),alt:"MC Position Controller Diagram"}})]),Q._v(" "),T("h2",{attrs:{id:"fixed-wing-position-controller"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#fixed-wing-position-controller"}},[Q._v("#")]),Q._v(" Fixed-Wing Position Controller")]),Q._v(" "),T("h3",{attrs:{id:"total-energy-control-system-tecs"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#total-energy-control-system-tecs"}},[Q._v("#")]),Q._v(" Total Energy Control System (TECS)")]),Q._v(" "),T("p",[Q._v("The PX4 implementation of the Total Energy Control System (TECS) enables simultaneous control of true airspeed and altitude of a fixed wing aircraft.\nThe code is implemented as a library which is used in the fixed wing position control module.")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(837),alt:"TECS"}})]),Q._v(" "),T("p",[Q._v("As seen in the diagram above, TECS receives as inputs airspeed and altitude setpoints and outputs a throttle and pitch angle setpoint.\nThese two outputs are sent to the fixed wing attitude controller which implements the attitude control solution.\nIt's therefore important to understand that the performance of TECS is directly affected by the performance of the pitch control loop.\nA poor tracking of airspeed and altitude is often caused by a poor tracking of the aircraft pitch angle.")]),Q._v(" "),T("div",{staticClass:"custom-block note"},[T("p",{staticClass:"custom-block-title"},[Q._v("Note")]),Q._v(" "),T("p",[Q._v("Make sure to tune the attitude controller before attempting to tune TECS.")])]),Q._v(" "),T("p",[Q._v("Simultaneous control of true airspeed and height is not a trivial task.\nIncreasing aircraft pitch angle will cause an increase in height but also a decrease in airspeed.\nIncreasing the throttle will increase airspeed but also height will increase due to the increase in lift.\nTherefore, we have two inputs (pitch angle and throttle) which both affect the two outputs (airspeed and altitude) which makes the control problem challenging.")]),Q._v(" "),T("p",[Q._v("TECS offers a solution by respresenting the problem in terms of energies rather than the original setpoints.\nThe total energy of an aircraft is the sum of kinetic and potential energy. Thrust (via throttle control) increases the total energy state of the aircraft. A given total energy state can be achieved by arbitrary combinations of potential and kinetic energies.\nIn other words, flying at a high altitude but at a slow speed can be equivalent to flying at a low altitude but at a faster airspeed in a total energy sense. 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through control allocation (also known as mixing).\nFurthermore, since the control surfaces are more effective at high speed and less effective at low speed, the controller - tuned for cruise speed - is scaled using the airspeed measurements (if such a sensor is used).")]),Q._v(" "),T("div",{staticClass:"custom-block note"},[T("p",{staticClass:"custom-block-title"},[Q._v("Note")]),Q._v(" "),T("p",[Q._v("If no airspeed sensor is used then gain scheduling for the FW attitude controller is  disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.")])]),Q._v(" "),T("p",[Q._v("The feedforward gain is used to compensate for aerodynamic damping.\nBasically, the two main components of body-axis moments on an aircraft are produced by the control surfaces (ailerons, elevators, rudders, - producing the motion) and the aerodynamic damping (proportional to the body rates - counteracting the motion).\nIn order to keep a constant rate, this damping can be compensated using feedforward in the rate loop.")]),Q._v(" "),T("p",[Q._v("The roll and pitch controllers have the same structure and the longitudinal and lateral dynamics are assumed to be uncoupled enough to work independently.\nThe yaw controller, however, generates its yaw rate setpoint using the turn coordination constraint in order to minimize lateral acceleration, generated when the aircraft is slipping.\nThe yaw rate controller also helps to counteract adverse yaw effects (https://youtu.be/sNV_SDDxuWk) and to damp the "),T("a",{attrs:{href:"https://en.wikipedia.org/wiki/Dutch_roll",target:"_blank",rel:"noopener noreferrer"}},[Q._v("Dutch roll mode"),T("OutboundLink")],1),Q._v(" by providing extra directional damping.")]),Q._v(" "),T("h2",{attrs:{id:"vtol-flight-controller"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#vtol-flight-controller"}},[Q._v("#")]),Q._v(" VTOL Flight Controller")]),Q._v(" "),T("p",[T("img",{attrs:{src:a(841),alt:"VTOL Attitude Controller Diagram"}})]),Q._v(" "),T("p",[Q._v('This section gives a short overview on the control structure of Vertical Take-off and Landing (VTOL) aircraft.\nThe VTOL flight controller consists of both the multicopter and fixed-wing controllers, either running separately in the corresponding VTOL modes, or together during transitions.\nThe diagram above presents a simplified control diagram.\nNote the VTOL attitude controller block, which mainly facilitates the necessary switching and blending logic for the different VTOL modes, as well as VTOL-type-specific control actions during transitions (e.g. ramping up the pusher motor of a standard VTOL during forward transition).\nThe inputs into this block are called "virtual" as, depending on the current VTOL mode, some are ignored by the controller.')]),Q._v(" "),T("p",[Q._v("For a standard and tilt-rotor VTOL, during transition the fixed-wing attitude controller produces the rate setpoints, which are then fed into the separate rate controllers, resulting in torque commands for the multicopter and fixed-wing actuators.\nFor tailsitters, during transition the multicopter attitude controller is running.")]),Q._v(" "),T("p",[Q._v("The outputs of the VTOL attitude block are separate torque and force commands for the multicopter (typically "),T("code",[Q._v("actuator_controls_0")]),Q._v(") and fixed-wing (typically "),T("code",[Q._v("actuator_controls_1")]),Q._v(") actuators.\nThese are handled in an airframe-specific mixer file (see "),T("RouterLink",{attrs:{to:"/en/concept/mixing.html"}},[Q._v("Mixing")]),Q._v(").")],1),Q._v(" "),T("p",[Q._v("For more information on the tuning of the transition logic inside the VTOL block, see "),T("RouterLink",{attrs:{to:"/en/config_vtol/"}},[Q._v("VTOL Configuration")]),Q._v(".")],1),Q._v(" "),T("h3",{attrs:{id:"airspeed-scaling"}},[T("a",{staticClass:"header-anchor",attrs:{href:"#airspeed-scaling"}},[Q._v("#")]),Q._v(" Airspeed Scaling")]),Q._v(" "),T("p",[Q._v("The objective of this section is to explain with the help of equations why and how the output of the rate PI and feedforward (FF) controllers can be scaled with airspeed to improve the control performance.\nWe will first present the simplified linear dimensional moment equation on the roll axis, then show the influence of airspeed on the direct moment generation and finally, the influence of airspeed during a constant roll.")]),Q._v(" "),T("p",[Q._v('As shown in the fixed-wing attitude controller above, the rate controllers produce angular acceleration setpoints for the control allocator (here named "mixer").\nIn order to generate these desired angular accelerations, the mixer produces torques using available aerodynamic control surfaces (e.g.: a standard airplane typically has two ailerons, two elevators and a rudder).\nThe torques generated by those control surfaces is highly influenced by the relative airspeed and the air density, or more precisely, by the dynamic pressure.\nIf no airspeed scaling is made, a controller tightly tuned for a certain cruise airspeed will make the aircraft oscillate at higher airspeed or will give bad tracking performance at low airspeed.')]),Q._v(" "),T("p",[Q._v("The reader should be aware of the difference between the "),T("a",{attrs:{href:"https://en.wikipedia.org/wiki/True_airspeed",target:"_blank",rel:"noopener noreferrer"}},[Q._v("true airspeed (TAS)"),T("OutboundLink")],1),Q._v(" and the "),T("a",{attrs:{href:"https://en.wikipedia.org/wiki/Indicated_airspeed",target:"_blank",rel:"noopener noreferrer"}},[Q._v("indicated airspeed (IAS)"),T("OutboundLink")],1),Q._v(" as their values are significantly different when not flying at sea level.")]),Q._v(" "),T("p",[Q._v("The definition of the dynamic pressure is")]),Q._v(" "),T("p"),T("p",[T("mjx-container",{staticClass:"MathJax",attrs:{jax:"SVG",display:"true"}},[T("svg",{staticStyle:{"vertical-align":"-1.552ex"},attrs:{xmlns:"http://www.w3.org/2000/svg",width:"10.483ex",height:"4.588ex",viewBox:"0 -1342 4633.6 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