ardupilot/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

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#pragma once
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/// @file AC_AttitudeControl_Heli.h
/// @brief ArduCopter attitude control library for traditional helicopters
#include "AC_AttitudeControl.h"
#include <AP_Motors/AP_MotorsHeli.h>
#include <AC_PID/AC_HELI_PID.h>
#include <Filter/Filter.h>
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// default rate controller PID gains
#define AC_ATC_HELI_RATE_RP_P 0.024f
#define AC_ATC_HELI_RATE_RP_I 0.6f
#define AC_ATC_HELI_RATE_RP_D 0.001f
#define AC_ATC_HELI_RATE_RP_IMAX 1.0f
#define AC_ATC_HELI_RATE_RP_FF 0.060f
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#define AC_ATC_HELI_RATE_RP_FILT_HZ 20.0f
#define AC_ATC_HELI_RATE_YAW_P 0.18f
#define AC_ATC_HELI_RATE_YAW_I 0.12f
#define AC_ATC_HELI_RATE_YAW_D 0.003f
#define AC_ATC_HELI_RATE_YAW_IMAX 1.0f
#define AC_ATC_HELI_RATE_YAW_FF 0.024f
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#define AC_ATC_HELI_RATE_YAW_FILT_HZ 20.0f
#define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX 0.95f // Heli's use 95% of max collective before limiting frame angle
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#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f
#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f
#define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f
#define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT 300
#define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD ToRad(30.0f)
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class AC_AttitudeControl_Heli : public AC_AttitudeControl {
public:
AC_AttitudeControl_Heli( AP_AHRS_View &ahrs,
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const AP_Vehicle::MultiCopter &aparm,
AP_MotorsHeli& motors,
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float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
_passthrough_roll(0), _passthrough_pitch(0), _passthrough_yaw(0),
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_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATC_HELI_RATE_YAW_FILT_HZ, dt, AC_ATC_HELI_RATE_YAW_FF),
pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER)
{
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AP_Param::setup_object_defaults(this, var_info);
// initialise flags
_flags_heli.limit_roll = false;
_flags_heli.limit_pitch = false;
_flags_heli.limit_yaw = false;
_flags_heli.leaky_i = true;
_flags_heli.flybar_passthrough = false;
_flags_heli.tail_passthrough = false;
_flags_heli.do_piro_comp = false;
}
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// pid accessors
AC_PID& get_rate_roll_pid() { return _pid_rate_roll; }
AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; }
AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; }
// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) override;
// Integrate vehicle rate into _att_error_rot_vec_rad
void integrate_bf_rate_error_to_angle_errors();
// subclass non-passthrough too, for external gyro, no flybar
void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) override;
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// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
// should be called at 100hz or more
virtual void rate_controller_run();
// Update Alt_Hold angle maximum
void update_althold_lean_angle_max(float throttle_in) override;
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// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage
void use_leaky_i(bool leaky_i) override { _flags_heli.leaky_i = leaky_i; }
// use_flybar_passthrough - controls whether we pass-through
// control inputs to swash-plate and tail
void use_flybar_passthrough(bool passthrough, bool tail_passthrough) override {
_flags_heli.flybar_passthrough = passthrough;
_flags_heli.tail_passthrough = tail_passthrough;
}
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// do_piro_comp - controls whether piro-comp is active or not
void do_piro_comp(bool piro_comp) { _flags_heli.do_piro_comp = piro_comp; }
// set_hover_roll_scalar - scales Hover Roll Trim parameter. To be used by vehicle code according to vehicle condition.
void set_hover_roll_trim_scalar(float scalar) override {_hover_roll_trim_scalar = constrain_float(scalar, 0.0f, 1.0f);}
// Set output throttle
void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override;
// Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain) override;
// Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain) override;
// enable/disable inverted flight
void set_inverted_flight(bool inverted) override {
_inverted_flight = inverted;
}
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// user settable parameters
static const struct AP_Param::GroupInfo var_info[];
private:
// To-Do: move these limits flags into the heli motors class
struct AttControlHeliFlags {
uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move
uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move
uint8_t limit_yaw : 1; // 1 if we have requested larger yaw angle than tail servo can physically move
uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage
uint8_t flybar_passthrough : 1; // 1 if we should pass through pilots roll & pitch input directly to swash-plate
uint8_t tail_passthrough : 1; // 1 if we should pass through pilots yaw input to tail
uint8_t do_piro_comp : 1; // 1 if we should do pirouette compensation on roll/pitch
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} _flags_heli;
//
// body-frame rate controller
//
// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in radians/sec) for roll, pitch and yaw
// outputs are sent directly to motor class
void rate_bf_to_motor_roll_pitch(const Vector3f &rate_rads, float rate_roll_target_rads, float rate_pitch_target_rads);
float rate_target_to_motor_yaw(float rate_yaw_actual_rads, float rate_yaw_rads) override;
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//
// throttle methods
//
// pass through for roll and pitch
int16_t _passthrough_roll;
int16_t _passthrough_pitch;
// pass through for yaw if tail_passthrough is set
int16_t _passthrough_yaw;
// get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover
float get_roll_trim_rad() { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));}
// internal variables
float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim
// This represents an euler axis-angle rotation vector from the vehicles
// estimated attitude to the reference (setpoint) attitude used in the attitude
// controller, in radians in the vehicle body frame of reference.
Vector3f _att_error_rot_vec_rad;
// parameters
AP_Int8 _piro_comp_enabled; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _hover_roll_trim; // Angle in centi-degrees used to counter tail rotor thrust in hover
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AC_HELI_PID _pid_rate_roll;
AC_HELI_PID _pid_rate_pitch;
AC_HELI_PID _pid_rate_yaw;
// LPF filters to act on Rate Feedforward terms to linearize output.
// Due to complicated aerodynamic effects, feedforwards acting too fast can lead
// to jerks on rate change requests.
LowPassFilterFloat pitch_feedforward_filter;
LowPassFilterFloat roll_feedforward_filter;
LowPassFilterFloat yaw_velocity_feedforward_filter;
LowPassFilterFloat yaw_acceleration_feedforward_filter;
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};