ardupilot/ArduSub/mode_poshold.cpp

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// ArduSub position hold flight mode
// GPS required
// Jacob Walser August 2016
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#include "Sub.h"
#if POSHOLD_ENABLED == ENABLED
// poshold_init - initialise PosHold controller
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bool ModePoshold::init(bool ignore_checks)
{
// fail to initialise PosHold mode if no GPS lock
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if (!sub.position_ok()) {
return false;
}
// initialize vertical speeds and acceleration
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position_control->set_max_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
position_control->set_correction_speed_accel_xy(sub.wp_nav.get_default_speed_xy(), sub.wp_nav.get_wp_acceleration());
position_control->set_max_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_z(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise position and desired velocity
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position_control->init_xy_controller_stopping_point();
position_control->init_z_controller();
// Stop all thrusters
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attitude_control->set_throttle_out(0.5f ,true, g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->relax_z_controller(0.5f);
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sub.last_pilot_heading = ahrs.yaw_sensor;
return true;
}
// poshold_run - runs the PosHold controller
// should be called at 100hz or more
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void ModePoshold::run()
{
uint32_t tnow = AP_HAL::millis();
// When unarmed, disable motors and stabilization
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if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
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attitude_control->set_throttle_out(0.5f ,true, g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->init_xy_controller_stopping_point();
position_control->relax_z_controller(0.5f);
sub.last_pilot_heading = ahrs.yaw_sensor;
return;
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
///////////////////////
// update xy outputs //
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float pilot_lateral = channel_lateral->norm_input();
float pilot_forward = channel_forward->norm_input();
float lateral_out = 0;
float forward_out = 0;
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if (sub.position_ok()) {
// Allow pilot to reposition the sub
if (fabsf(pilot_lateral) > 0.1 || fabsf(pilot_forward) > 0.1) {
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position_control->init_xy_controller_stopping_point();
}
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sub.translate_pos_control_rp(lateral_out, forward_out);
position_control->update_xy_controller();
} else {
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position_control->init_xy_controller_stopping_point();
}
motors.set_forward(forward_out + pilot_forward);
motors.set_lateral(lateral_out + pilot_lateral);
/////////////////////
// Update attitude //
// get pilot's desired yaw rate
float yaw_input = channel_yaw->pwm_to_angle_dz_trim(channel_yaw->get_dead_zone() * sub.gain, channel_yaw->get_radio_trim());
float target_yaw_rate = sub.get_pilot_desired_yaw_rate(yaw_input);
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
float target_roll, target_pitch;
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sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);
// update attitude controller targets
if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
sub.last_pilot_heading = ahrs.yaw_sensor;
sub.last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
} else { // hold current heading
// this check is required to prevent bounce back after very fast yaw manoeuvres
// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
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if (tnow < sub.last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
target_yaw_rate = 0; // Stop rotation on yaw axis
// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
sub.last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
} else { // call attitude controller holding absolute absolute bearing
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attitude_control->input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, sub.last_pilot_heading, true);
}
}
// Update z axis //
control_depth();
}
#endif // POSHOLD_ENABLED == ENABLED