ardupilot/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6D...

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#include <AP_Scripting/AP_Scripting_config.h>
#if AP_SCRIPTING_ENABLED
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#include "AC_AttitudeControl_Multi_6DoF.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
// 6DoF control is extracted from the existing copter code by treating desired angles as thrust angles rather than vehicle attitude.
// Vehicle attitude is then set separately, typically the vehicle would matain 0 roll and pitch.
// rate commands result in the vehicle behaving as a ordinary copter.
// run lowest level body-frame rate controller and send outputs to the motors
void AC_AttitudeControl_Multi_6DoF::rate_controller_run() {
// pass current offsets to motors and run baseclass controller
// motors require the offsets to know which way is up
float roll_deg = roll_offset_deg;
float pitch_deg = pitch_offset_deg;
// if 6DoF control, always point directly up
// this stops horizontal drift due to error between target and true attitude
if (lateral_enable) {
roll_deg = degrees(AP::ahrs().get_roll());
}
if (forward_enable) {
pitch_deg = degrees(AP::ahrs().get_pitch());
}
_motors.set_roll_pitch(roll_deg,pitch_deg);
AC_AttitudeControl_Multi::rate_controller_run();
}
/*
override all input to the attitude controller and convert desired angles into thrust angles and substitute
*/
// Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
void AC_AttitudeControl_Multi_6DoF::input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds) {
set_forward_lateral(euler_pitch_angle_cd, euler_roll_angle_cd);
AC_AttitudeControl_Multi::input_euler_angle_roll_pitch_euler_rate_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_rate_cds);
}
// Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
void AC_AttitudeControl_Multi_6DoF::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw) {
set_forward_lateral(euler_pitch_angle_cd, euler_roll_angle_cd);
AC_AttitudeControl_Multi::input_euler_angle_roll_pitch_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_angle_cd, slew_yaw);
}
// Command a thrust vector and heading rate
void AC_AttitudeControl_Multi_6DoF::input_thrust_vector_rate_heading(const Vector3f& thrust_vector, float heading_rate_cds, bool slew_yaw)
{
// convert thrust vector to a roll and pitch angles
// this negates the advantage of using thrust vector control, but works just fine
Vector3f angle_target = attitude_from_thrust_vector(thrust_vector, _ahrs.yaw).to_vector312();
input_euler_angle_roll_pitch_euler_rate_yaw(degrees(angle_target.x) * 100.0f, degrees(angle_target.y) * 100.0f, heading_rate_cds);
}
// Command a thrust vector, heading and heading rate
void AC_AttitudeControl_Multi_6DoF::input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_angle_cd, float heading_rate_cds)
{
// convert thrust vector to a roll and pitch angles
Vector3f angle_target = attitude_from_thrust_vector(thrust_vector, _ahrs.yaw).to_vector312();
// note that we are throwing away heading rate here
input_euler_angle_roll_pitch_yaw(degrees(angle_target.x) * 100.0f, degrees(angle_target.y) * 100.0f, heading_angle_cd, true);
}
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void AC_AttitudeControl_Multi_6DoF::set_forward_lateral(float &euler_pitch_angle_cd, float &euler_roll_angle_cd)
{
// pitch/forward
if (forward_enable) {
_motors.set_forward(-sinf(radians(euler_pitch_angle_cd * 0.01f)));
euler_pitch_angle_cd = pitch_offset_deg * 100.0f;
} else {
_motors.set_forward(0.0f);
euler_pitch_angle_cd += pitch_offset_deg * 100.0f;
}
euler_pitch_angle_cd = wrap_180_cd(euler_pitch_angle_cd);
// roll/lateral
if (lateral_enable) {
_motors.set_lateral(sinf(radians(euler_roll_angle_cd * 0.01f)));
euler_roll_angle_cd = roll_offset_deg * 100.0f;
} else {
_motors.set_lateral(0.0f);
euler_roll_angle_cd += roll_offset_deg * 100.0f;
}
euler_roll_angle_cd = wrap_180_cd(euler_roll_angle_cd);
}
/*
all other input functions should zero thrust vectoring
*/
// Command euler yaw rate and pitch angle with roll angle specified in body frame
// (used only by tailsitter quadplanes)
void AC_AttitudeControl_Multi_6DoF::input_euler_rate_yaw_euler_angle_pitch_bf_roll(bool plane_controls, float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds) {
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_euler_rate_yaw_euler_angle_pitch_bf_roll(plane_controls, euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_rate_cds);
}
// Command an euler roll, pitch, and yaw rate with angular velocity feedforward and smoothing
void AC_AttitudeControl_Multi_6DoF::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds) {
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_euler_rate_roll_pitch_yaw(euler_roll_rate_cds, euler_pitch_rate_cds, euler_yaw_rate_cds);
}
// Command an angular velocity with angular velocity feedforward and smoothing
void AC_AttitudeControl_Multi_6DoF::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) {
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_rate_bf_roll_pitch_yaw(roll_rate_bf_cds, pitch_rate_bf_cds, yaw_rate_bf_cds);
}
// Command an angular velocity with angular velocity feedforward and smoothing
void AC_AttitudeControl_Multi_6DoF::input_rate_bf_roll_pitch_yaw_2(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) {
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_rate_bf_roll_pitch_yaw_2(roll_rate_bf_cds, pitch_rate_bf_cds, yaw_rate_bf_cds);
}
// Command an angular velocity with angular velocity smoothing using rate loops only with integrated rate error stabilization
void AC_AttitudeControl_Multi_6DoF::input_rate_bf_roll_pitch_yaw_3(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) {
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_rate_bf_roll_pitch_yaw_3(roll_rate_bf_cds, pitch_rate_bf_cds, yaw_rate_bf_cds);
}
// Command an angular step (i.e change) in body frame angle
void AC_AttitudeControl_Multi_6DoF::input_angle_step_bf_roll_pitch_yaw(float roll_angle_step_bf_cd, float pitch_angle_step_bf_cd, float yaw_angle_step_bf_cd) {
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_angle_step_bf_roll_pitch_yaw(roll_angle_step_bf_cd, pitch_angle_step_bf_cd, yaw_angle_step_bf_cd);
}
// Command a Quaternion attitude with feedforward and smoothing
// attitude_desired_quat: is updated on each time_step (_dt) by the integral of the angular velocity
// not used anywhere in current code, panic in SITL so this implementation is not overlooked
void AC_AttitudeControl_Multi_6DoF::input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_target) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("input_quaternion not implemented AC_AttitudeControl_Multi_6DoF");
#endif
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_quaternion(attitude_desired_quat, ang_vel_target);
}
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AC_AttitudeControl_Multi_6DoF *AC_AttitudeControl_Multi_6DoF::_singleton = nullptr;
#endif // AP_SCRIPTING_ENABLED