ardupilot/apo/ControllerPlane.h

/*
 * ControllerPlane.h
 *
 *  Created on: Jun 30, 2011
 *      Author: jgoppert
 */

#ifndef CONTROLLERPLANE_H_
#define CONTROLLERPLANE_H_

#include "../APO/AP_Controller.h"

namespace apo {

class ControllerPlane: public AP_Controller {
public:
	enum {
		ch_mode = 0, ch_roll, ch_pitch, ch_thrust, ch_yaw
	};
	enum {
		k_chMode = k_radioChannelsStart,
		k_chRoll,
		k_chPitch,
		k_chYaw,
		k_chThr,

		k_pidBnkRll = k_controllersStart,
		k_pidSpdPit,
		k_pidPitPit,
		k_pidYwrYaw,
		k_pidHdgBnk,
		k_pidAltThr,

		k_trim = k_customStart
	};

	ControllerPlane(AP_Navigator * nav, AP_Guide * guide,
			AP_HardwareAbstractionLayer * hal) :
				AP_Controller(nav, guide, hal, new AP_ArmingMechanism(hal,ch_thrust,ch_yaw,0.1,-0.9,0.9),ch_mode),
				_trimGroup(k_trim, PSTR("trim_")),
				_rdrAilMix(&_group, 2, rdrAilMix, PSTR("rdrAilMix")),
				_needsTrim(false),
				_ailTrim(&_trimGroup, 1, ailTrim, PSTR("ail")),
				_elvTrim(&_trimGroup, 2, elvTrim, PSTR("elv")),
				_rdrTrim(&_trimGroup, 3, rdrTrim, PSTR("rdr")),
				_thrTrim(&_trimGroup, 4, thrTrim, PSTR("thr")),
				pidBnkRll(new AP_Var_group(k_pidBnkRll, PSTR("bnkRll_")), 1,
						pidBnkRllP, pidBnkRllI, pidBnkRllD, pidBnkRllAwu,
						pidBnkRllLim, pidBnkRllDFCut),
				pidPitPit(new AP_Var_group(k_pidPitPit, PSTR("pitPit_")), 1,
						pidPitPitP, pidPitPitI, pidPitPitD, pidPitPitAwu,
						pidPitPitLim, pidPitPitDFCut),
				pidSpdPit(new AP_Var_group(k_pidSpdPit, PSTR("spdPit_")), 1,
						pidSpdPitP, pidSpdPitI, pidSpdPitD, pidSpdPitAwu,
						pidSpdPitLim, pidSpdPitDFCut),
				pidYwrYaw(new AP_Var_group(k_pidYwrYaw, PSTR("ywrYaw_")), 1,
						pidYwrYawP, pidYwrYawI, pidYwrYawD, pidYwrYawAwu,
						pidYwrYawLim, pidYwrYawDFCut),
				pidHdgBnk(new AP_Var_group(k_pidHdgBnk, PSTR("hdgBnk_")), 1,
						pidHdgBnkP, pidHdgBnkI, pidHdgBnkD, pidHdgBnkAwu,
						pidHdgBnkLim, pidHdgBnkDFCut),
				pidAltThr(new AP_Var_group(k_pidAltThr, PSTR("altThr_")), 1,
						pidAltThrP, pidAltThrI, pidAltThrD, pidAltThrAwu,
						pidAltThrLim, pidAltThrDFCut),
				requireRadio(false), _aileron(0), _elevator(0), _rudder(0), _throttle(0) {

		_hal->debug->println_P(PSTR("initializing plane controller"));

		_hal->rc.push_back(
				new AP_RcChannel(k_chMode, PSTR("mode_"), APM_RC, 5, 1100,
						1500, 1900, RC_MODE_IN, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chRoll, PSTR("roll_"), APM_RC, 0, 1200,
						1500, 1800, RC_MODE_INOUT, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chPitch, PSTR("pitch_"), APM_RC, 1, 1200,
						1500, 1800, RC_MODE_INOUT, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chThr, PSTR("thr_"), APM_RC, 2, 1100, 1100,
						1900, RC_MODE_INOUT, false));
		_hal->rc.push_back(
				new AP_RcChannel(k_chYaw, PSTR("yaw_"), APM_RC, 3, 1200, 1500,
						1800, RC_MODE_INOUT, false));
	}

	void manualLoop(const float dt) {
		setAllRadioChannelsManually();

		// force auto to read new manual trim
		if (_needsTrim == false)
			_needsTrim = true;
		//_hal->debug->println("manual");
	}

	void autoLoop(const float dt) {
		float headingError = _guide->getHeadingCommand()
				- _nav->getYaw();
		if (headingError > 180 * deg2Rad)
			headingError -= 360 * deg2Rad;
		if (headingError < -180 * deg2Rad)
			headingError += 360 * deg2Rad;

		_aileron = pidBnkRll.update(
				pidHdgBnk.update(headingError, dt) - _nav->getRoll(), dt);
		_elevator = pidPitPit.update(
				-pidSpdPit.update(
						_guide->getAirSpeedCommand() - _nav->getAirSpeed(),
						dt) - _nav->getPitch(), dt);
		_rudder = pidYwrYaw.update(-_nav->getYawRate(), dt);

		// desired yaw rate is zero, needs washout
		_throttle = pidAltThr.update(
				_guide->getAltitudeCommand() - _nav->getAlt(), dt);

		// if needs trim
		if (_needsTrim) {
			// need to subtract current controller deflections so control
			// surfaces are actually at the same position as manual flight
			_ailTrim = _hal->rc[ch_roll]->getRadioPosition() - _aileron;
			_elvTrim = _hal->rc[ch_pitch]->getRadioPosition() - _elevator;
			_rdrTrim = _hal->rc[ch_yaw]->getRadioPosition() - _rudder;
			_thrTrim = _hal->rc[ch_thrust]->getRadioPosition() - _throttle;
			_needsTrim = false;
		}

		// actuator mixing/ output
		_aileron += _rdrAilMix * _rudder + _ailTrim;
		_elevator += _elvTrim;
		_rudder += _rdrTrim;
		_throttle += _thrTrim;

		//_hal->debug->println("automode");
	}

	void setMotors() {

		switch (_hal->getState()) {

			case MAV_STATE_ACTIVE: {
				digitalWrite(_hal->aLedPin, HIGH);
				// turn all motors off if below 0.1 throttle
				if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
					setAllRadioChannelsToNeutral();
				} else {
					// actuator mixing/ output
					_hal->rc[ch_roll]->setPosition(_aileron);
					_hal->rc[ch_yaw]->setPosition(_rudder);
					_hal->rc[ch_pitch]->setPosition(_elevator);
					_hal->rc[ch_thrust]->setPosition(_throttle);
				}
				break;
			}
			case MAV_STATE_EMERGENCY: {
				digitalWrite(_hal->aLedPin, LOW);
				setAllRadioChannelsToNeutral();
				break;
			}
			case MAV_STATE_STANDBY: {
				digitalWrite(_hal->aLedPin,LOW);
				setAllRadioChannelsToNeutral();
				break;
			}
			default: {
				digitalWrite(_hal->aLedPin, LOW);
				setAllRadioChannelsToNeutral();
			}

		}

	}

private:
	AP_Var_group _trimGroup;
	AP_Uint8 _rdrAilMix;
	bool _needsTrim;
	AP_Float _ailTrim;
	AP_Float _elvTrim;
	AP_Float _rdrTrim;
	AP_Float _thrTrim;
	BlockPID pidBnkRll; // bank error to roll servo deflection
	BlockPID pidSpdPit; // speed error to pitch command
	BlockPID pidPitPit; // pitch error to pitch servo deflection
	BlockPID pidYwrYaw; // yaw rate error to yaw servo deflection
	BlockPID pidHdgBnk; // heading error to bank command
	BlockPID pidAltThr; // altitude error to throttle deflection
	bool requireRadio;
	float _aileron;
	float _elevator;
	float _rudder;
	float _throttle;
};

} // namespace apo

#endif /* CONTROLLERPLANE_H_ */