mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.5 KiB
C++
91 lines
3.5 KiB
C++
|
#include "Copter.h"
|
||
|
|
||
|
// adjust_climb_rate - hold copter at the desired distance above the
|
||
|
// ground; returns climb rate (in cm/s) which should be passed to
|
||
|
// the position controller
|
||
|
float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
|
||
|
{
|
||
|
#if RANGEFINDER_ENABLED == ENABLED
|
||
|
if (!copter.rangefinder_alt_ok()) {
|
||
|
// if rangefinder is not ok, do not use surface tracking
|
||
|
return target_rate;
|
||
|
}
|
||
|
|
||
|
const float current_alt = copter.inertial_nav.get_altitude();
|
||
|
const float current_alt_target = copter.pos_control->get_alt_target();
|
||
|
float distance_error;
|
||
|
float velocity_correction;
|
||
|
|
||
|
uint32_t now = millis();
|
||
|
|
||
|
valid_for_logging = true;
|
||
|
|
||
|
// reset target altitude if this controller has just been engaged
|
||
|
if (now - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
|
||
|
target_alt_cm = copter.rangefinder_state.alt_cm + current_alt_target - current_alt;
|
||
|
}
|
||
|
last_update_ms = now;
|
||
|
|
||
|
// adjust rangefinder target alt if motors have not hit their limits
|
||
|
if ((target_rate<0 && !copter.motors->limit.throttle_lower) || (target_rate>0 && !copter.motors->limit.throttle_upper)) {
|
||
|
target_alt_cm += target_rate * copter.G_Dt;
|
||
|
}
|
||
|
|
||
|
/*
|
||
|
handle rangefinder glitches. When we get a rangefinder reading
|
||
|
more than RANGEFINDER_GLITCH_ALT_CM different from the current
|
||
|
rangefinder reading then we consider it a glitch and reject
|
||
|
until we get RANGEFINDER_GLITCH_NUM_SAMPLES samples in a
|
||
|
row. When that happens we reset the target altitude to the new
|
||
|
reading
|
||
|
*/
|
||
|
int32_t glitch_cm = copter.rangefinder_state.alt_cm - target_alt_cm;
|
||
|
if (glitch_cm >= RANGEFINDER_GLITCH_ALT_CM) {
|
||
|
copter.rangefinder_state.glitch_count = MAX(copter.rangefinder_state.glitch_count+1,1);
|
||
|
} else if (glitch_cm <= -RANGEFINDER_GLITCH_ALT_CM) {
|
||
|
copter.rangefinder_state.glitch_count = MIN(copter.rangefinder_state.glitch_count-1,-1);
|
||
|
} else {
|
||
|
copter.rangefinder_state.glitch_count = 0;
|
||
|
}
|
||
|
if (abs(copter.rangefinder_state.glitch_count) >= RANGEFINDER_GLITCH_NUM_SAMPLES) {
|
||
|
// shift to the new rangefinder reading
|
||
|
target_alt_cm = copter.rangefinder_state.alt_cm;
|
||
|
copter.rangefinder_state.glitch_count = 0;
|
||
|
}
|
||
|
if (copter.rangefinder_state.glitch_count != 0) {
|
||
|
// we are currently glitching, just use the target rate
|
||
|
return target_rate;
|
||
|
}
|
||
|
|
||
|
// calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
|
||
|
distance_error = (target_alt_cm - copter.rangefinder_state.alt_cm) - (current_alt_target - current_alt);
|
||
|
velocity_correction = distance_error * copter.g.rangefinder_gain;
|
||
|
velocity_correction = constrain_float(velocity_correction, -SURFACE_TRACKING_VELZ_MAX, SURFACE_TRACKING_VELZ_MAX);
|
||
|
|
||
|
// return combined pilot climb rate + rate to correct rangefinder alt error
|
||
|
return (target_rate + velocity_correction);
|
||
|
#else
|
||
|
return target_rate;
|
||
|
#endif
|
||
|
}
|
||
|
|
||
|
// get surfacing tracking alt
|
||
|
// returns true if there is a valid target
|
||
|
bool Copter::SurfaceTracking::get_target_alt_cm(float &_target_alt_cm) const
|
||
|
{
|
||
|
// check target has been updated recently
|
||
|
if (AP_HAL::millis() - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
|
||
|
return false;
|
||
|
}
|
||
|
_target_alt_cm = target_alt_cm;
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
// set surface tracking target altitude
|
||
|
void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm)
|
||
|
{
|
||
|
target_alt_cm = _target_alt_cm;
|
||
|
last_update_ms = AP_HAL::millis();
|
||
|
}
|
||
|
|