ardupilot/ArduCopter/mode_drift.cpp

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#include "Copter.h"
#if MODE_DRIFT_ENABLED == ENABLED
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/*
* Init and run calls for drift flight mode
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*/
#ifndef DRIFT_SPEEDGAIN
# define DRIFT_SPEEDGAIN 8.0f
#endif
#ifndef DRIFT_SPEEDLIMIT
# define DRIFT_SPEEDLIMIT 560.0f
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#endif
#ifndef DRIFT_THR_ASSIST_GAIN
# define DRIFT_THR_ASSIST_GAIN 0.0018f // gain controlling amount of throttle assistance
#endif
#ifndef DRIFT_THR_ASSIST_MAX
# define DRIFT_THR_ASSIST_MAX 0.3f // maximum assistance throttle assist will provide
#endif
#ifndef DRIFT_THR_MIN
# define DRIFT_THR_MIN 0.213f // throttle assist will be active when pilot's throttle is above this value
#endif
#ifndef DRIFT_THR_MAX
# define DRIFT_THR_MAX 0.787f // throttle assist will be active when pilot's throttle is below this value
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#endif
// drift_init - initialise drift controller
bool ModeDrift::init(bool ignore_checks)
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{
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return true;
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}
// drift_run - runs the drift controller
// should be called at 100hz or more
void ModeDrift::run()
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{
static float braker = 0.0f;
static float roll_input = 0.0f;
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// convert pilot input to lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// Grab inertial velocity
const Vector3f& vel = inertial_nav.get_velocity();
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// rotate roll, pitch input from north facing to vehicle's perspective
float roll_vel = vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
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// gain scheduling for yaw
float pitch_vel2 = MIN(fabsf(pitch_vel), 2000);
float target_yaw_rate = target_roll * (1.0f - (pitch_vel2 / 5000.0f)) * g2.acro_y_rate / 45.0;
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roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
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ArduCopter: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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roll_input = roll_input * .96f + (float)channel_yaw->get_control_in() * .04f;
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// convert user input into desired roll velocity
float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
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// roll velocity is feed into roll acceleration to minimize slip
target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
target_roll = constrain_float(target_roll, -4500.0f, 4500.0f);
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// If we let go of sticks, bring us to a stop
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if (is_zero(target_pitch)) {
// .14/ (.03 * 100) = 4.6 seconds till full braking
braker += .03f;
braker = MIN(braker, DRIFT_SPEEDGAIN);
target_pitch = pitch_vel * braker;
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} else {
braker = 0.0f;
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}
if (!motors->armed()) {
// Motors should be Stopped
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
} else if (copter.ap.throttle_zero) {
// Attempting to Land
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->reset_yaw_target_and_rate(false);
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly();
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing
break;
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// output pilot's throttle with angle boost
const float assisted_throttle = get_throttle_assist(vel.z, get_pilot_desired_throttle());
attitude_control->set_throttle_out(assisted_throttle, true, g.throttle_filt);
}
// get_throttle_assist - return throttle output (range 0 ~ 1) based on pilot input and z-axis velocity
float ModeDrift::get_throttle_assist(float velz, float pilot_throttle_scaled)
{
// throttle assist - adjusts throttle to slow the vehicle's vertical velocity
// Only active when pilot's throttle is between 213 ~ 787
// Assistance is strongest when throttle is at mid, drops linearly to no assistance at 213 and 787
float thr_assist = 0.0f;
if (pilot_throttle_scaled > DRIFT_THR_MIN && pilot_throttle_scaled < DRIFT_THR_MAX) {
// calculate throttle assist gain
thr_assist = 1.2f - ((float)fabsf(pilot_throttle_scaled - 0.5f) / 0.24f);
thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_ASSIST_GAIN * velz;
// ensure throttle assist never adjusts the throttle by more than 300 pwm
thr_assist = constrain_float(thr_assist, -DRIFT_THR_ASSIST_MAX, DRIFT_THR_ASSIST_MAX);
}
return constrain_float(pilot_throttle_scaled + thr_assist, 0.0f, 1.0f);
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}
#endif