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AC_WPNav: allow user to tune loiter

This commit is contained in:
Jonathan Challinger 2015-01-12 19:24:53 -08:00 committed by Randy Mackay
parent 867ca05e17
commit 1da410a6c6
2 changed files with 41 additions and 23 deletions
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61
libraries/AC_WPNav/AC_WPNav.cpp
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@ -79,6 +79,24 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("LOIT_JERK", 7, AC_WPNav, _loiter_jerk_max_cmsss, WPNAV_LOITER_JERK_MAX_DEFAULT), AP_GROUPINFO("LOIT_JERK", 7, AC_WPNav, _loiter_jerk_max_cmsss, WPNAV_LOITER_JERK_MAX_DEFAULT),
// @Param: LOIT_MAXA
// @DisplayName: Loiter maximum acceleration
// @Description: Loiter maximum acceleration in cm/s/s
// @Units: cm/s/s
// @Range: 100 981
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("LOIT_MAXA", 8, AC_WPNav, _loiter_accel_cmss, WPNAV_LOITER_ACCEL),
// @Param: LOIT_MINA
// @DisplayName: Loiter minimum acceleration
// @Description: Loiter minimum acceleration in cm/s/s
// @Units: cm/s/s
// @Range: 100 981
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("LOIT_MINA", 9, AC_WPNav, _loiter_accel_min_cmss, WPNAV_LOITER_ACCEL_MIN),
AP_GROUPEND AP_GROUPEND
}; };
@ -94,7 +112,6 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosContro
_loiter_step(0), _loiter_step(0),
_pilot_accel_fwd_cms(0), _pilot_accel_fwd_cms(0),
_pilot_accel_rgt_cms(0), _pilot_accel_rgt_cms(0),
_loiter_accel_cms(WPNAV_LOITER_ACCEL),
_wp_last_update(0), _wp_last_update(0),
_wp_step(0), _wp_step(0),
_track_length(0.0f), _track_length(0.0f),
@ -124,8 +141,7 @@ void AC_WPNav::init_loiter_target(const Vector3f& position, bool reset_I)
// initialise pos controller speed and acceleration // initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_loiter_speed_cms); _pos_control.set_speed_xy(_loiter_speed_cms);
_loiter_accel_cms = _loiter_speed_cms/2.0f; _pos_control.set_accel_xy(_loiter_accel_cmss);
_pos_control.set_accel_xy(_loiter_accel_cms);
// set target position // set target position
_pos_control.set_xy_target(position.x, position.y); _pos_control.set_xy_target(position.x, position.y);
@ -153,8 +169,7 @@ void AC_WPNav::init_loiter_target()
// initialise pos controller speed and acceleration // initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_loiter_speed_cms); _pos_control.set_speed_xy(_loiter_speed_cms);
_loiter_accel_cms = _loiter_speed_cms/2.0f; _pos_control.set_accel_xy(_loiter_accel_cmss);
_pos_control.set_accel_xy(_loiter_accel_cms);
// set target position // set target position
_pos_control.set_xy_target(curr_pos.x, curr_pos.y); _pos_control.set_xy_target(curr_pos.x, curr_pos.y);
@ -163,8 +178,8 @@ void AC_WPNav::init_loiter_target()
_pos_control.set_desired_velocity_xy(curr_vel.x, curr_vel.y); _pos_control.set_desired_velocity_xy(curr_vel.x, curr_vel.y);
// initialise desired accel and add fake wind // initialise desired accel and add fake wind
_loiter_desired_accel.x = (_loiter_accel_cms)*curr_vel.x/_loiter_speed_cms; _loiter_desired_accel.x = (_loiter_accel_cmss)*curr_vel.x/_loiter_speed_cms;
_loiter_desired_accel.y = (_loiter_accel_cms)*curr_vel.y/_loiter_speed_cms; _loiter_desired_accel.y = (_loiter_accel_cmss)*curr_vel.y/_loiter_speed_cms;
// initialise pilot input // initialise pilot input
_pilot_accel_fwd_cms = 0; _pilot_accel_fwd_cms = 0;
@ -193,8 +208,7 @@ void AC_WPNav::set_loiter_velocity(float velocity_cms)
_pos_control.set_speed_xy(_loiter_speed_cms); _pos_control.set_speed_xy(_loiter_speed_cms);
// initialise pos controller acceleration // initialise pos controller acceleration
_loiter_accel_cms = _loiter_speed_cms/2.0f; _pos_control.set_accel_xy(_loiter_accel_cmss);
_pos_control.set_accel_xy(_loiter_accel_cms);
} }
} }
@ -202,8 +216,8 @@ void AC_WPNav::set_loiter_velocity(float velocity_cms)
void AC_WPNav::set_pilot_desired_acceleration(float control_roll, float control_pitch) void AC_WPNav::set_pilot_desired_acceleration(float control_roll, float control_pitch)
{ {
// convert pilot input to desired acceleration in cm/s/s // convert pilot input to desired acceleration in cm/s/s
_pilot_accel_fwd_cms = -control_pitch * _loiter_accel_cms / 4500.0f; _pilot_accel_fwd_cms = -control_pitch * _loiter_accel_cmss / 4500.0f;
_pilot_accel_rgt_cms = control_roll * _loiter_accel_cms / 4500.0f; _pilot_accel_rgt_cms = control_roll * _loiter_accel_cmss / 4500.0f;
} }
/// get_loiter_stopping_point_xy - returns vector to stopping point based on a horizontal position and velocity /// get_loiter_stopping_point_xy - returns vector to stopping point based on a horizontal position and velocity
@ -224,9 +238,11 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
// check loiter speed and avoid divide by zero // check loiter speed and avoid divide by zero
if( _loiter_speed_cms < WPNAV_LOITER_SPEED_MIN) { if( _loiter_speed_cms < WPNAV_LOITER_SPEED_MIN) {
_loiter_speed_cms = WPNAV_LOITER_SPEED_MIN; _loiter_speed_cms = WPNAV_LOITER_SPEED_MIN;
_loiter_accel_cms = _loiter_speed_cms/2.0f;
} }
_pos_control.set_speed_xy(_loiter_speed_cms);
_pos_control.set_accel_xy(_loiter_accel_cmss);
// rotate pilot input to lat/lon frame // rotate pilot input to lat/lon frame
Vector2f desired_accel; Vector2f desired_accel;
desired_accel.x = (_pilot_accel_fwd_cms*_ahrs.cos_yaw() - _pilot_accel_rgt_cms*_ahrs.sin_yaw()); desired_accel.x = (_pilot_accel_fwd_cms*_ahrs.cos_yaw() - _pilot_accel_rgt_cms*_ahrs.sin_yaw());
@ -238,10 +254,12 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
// constrain and scale the desired acceleration // constrain and scale the desired acceleration
float des_accel_change_total = pythagorous2(des_accel_diff.x, des_accel_diff.y); float des_accel_change_total = pythagorous2(des_accel_diff.x, des_accel_diff.y);
float accel_change_max = _loiter_jerk_max_cmsss * nav_dt; float accel_change_max = _loiter_jerk_max_cmsss * nav_dt;
if (des_accel_change_total > accel_change_max && des_accel_change_total > 0.0f) {
if (_loiter_jerk_max_cmsss > 0.0f && des_accel_change_total > accel_change_max && des_accel_change_total > 0.0f) {
des_accel_diff.x = accel_change_max * des_accel_diff.x/des_accel_change_total; des_accel_diff.x = accel_change_max * des_accel_diff.x/des_accel_change_total;
des_accel_diff.y = accel_change_max * des_accel_diff.y/des_accel_change_total; des_accel_diff.y = accel_change_max * des_accel_diff.y/des_accel_change_total;
} }
// adjust the desired acceleration // adjust the desired acceleration
_loiter_desired_accel += des_accel_diff; _loiter_desired_accel += des_accel_diff;
@ -252,22 +270,21 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
desired_vel.x += _loiter_desired_accel.x * nav_dt; desired_vel.x += _loiter_desired_accel.x * nav_dt;
desired_vel.y += _loiter_desired_accel.y * nav_dt; desired_vel.y += _loiter_desired_accel.y * nav_dt;
// reduce velocity with fake wind resistance
if (_pilot_accel_fwd_cms != 0.0f || _pilot_accel_rgt_cms != 0.0f) { if (_pilot_accel_fwd_cms != 0.0f || _pilot_accel_rgt_cms != 0.0f) {
desired_vel.x -= (_loiter_accel_cms)*nav_dt*desired_vel.x/_loiter_speed_cms; desired_vel.x -= (_loiter_accel_cmss)*nav_dt*desired_vel.x/_loiter_speed_cms;
desired_vel.y -= (_loiter_accel_cms)*nav_dt*desired_vel.y/_loiter_speed_cms; desired_vel.y -= (_loiter_accel_cmss)*nav_dt*desired_vel.y/_loiter_speed_cms;
} else { } else {
desired_vel.x -= (_loiter_accel_cms-WPNAV_LOITER_ACCEL_MIN)*nav_dt*desired_vel.x/_loiter_speed_cms; desired_vel.x -= (_loiter_accel_cmss-_loiter_accel_min_cmss)*nav_dt*desired_vel.x/_loiter_speed_cms;
if(desired_vel.x > 0 ) { if(desired_vel.x > 0 ) {
desired_vel.x = max(desired_vel.x - WPNAV_LOITER_ACCEL_MIN*nav_dt, 0); desired_vel.x = max(desired_vel.x - _loiter_accel_min_cmss*nav_dt, 0);
}else if(desired_vel.x < 0) { }else if(desired_vel.x < 0) {
desired_vel.x = min(desired_vel.x + WPNAV_LOITER_ACCEL_MIN*nav_dt, 0); desired_vel.x = min(desired_vel.x + _loiter_accel_min_cmss*nav_dt, 0);
} }
desired_vel.y -= (_loiter_accel_cms-WPNAV_LOITER_ACCEL_MIN)*nav_dt*desired_vel.y/_loiter_speed_cms; desired_vel.y -= (_loiter_accel_cmss-_loiter_accel_min_cmss)*nav_dt*desired_vel.y/_loiter_speed_cms;
if(desired_vel.y > 0 ) { if(desired_vel.y > 0 ) {
desired_vel.y = max(desired_vel.y - WPNAV_LOITER_ACCEL_MIN*nav_dt, 0); desired_vel.y = max(desired_vel.y - _loiter_accel_min_cmss*nav_dt, 0);
}else if(desired_vel.y < 0) { }else if(desired_vel.y < 0) {
desired_vel.y = min(desired_vel.y + WPNAV_LOITER_ACCEL_MIN*nav_dt, 0); desired_vel.y = min(desired_vel.y + _loiter_accel_min_cmss*nav_dt, 0);
} }
} }

3
libraries/AC_WPNav/AC_WPNav.h
View File

@ -277,6 +277,8 @@ protected:
// parameters // parameters
AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter
AP_Float _loiter_jerk_max_cmsss; // maximum jerk in cm/s/s/s while in loiter AP_Float _loiter_jerk_max_cmsss; // maximum jerk in cm/s/s/s while in loiter
AP_Float _loiter_accel_cmss; // loiter's acceleration in cm/s/s
AP_Float _loiter_accel_min_cmss; // loiter's acceleration in cm/s/s
AP_Float _wp_speed_cms; // maximum horizontal speed in cm/s during missions AP_Float _wp_speed_cms; // maximum horizontal speed in cm/s during missions
AP_Float _wp_speed_up_cms; // climb speed target in cm/s AP_Float _wp_speed_up_cms; // climb speed target in cm/s
AP_Float _wp_speed_down_cms; // descent speed target in cm/s AP_Float _wp_speed_down_cms; // descent speed target in cm/s
@ -289,7 +291,6 @@ protected:
int16_t _pilot_accel_fwd_cms; // pilot's desired acceleration forward (body-frame) int16_t _pilot_accel_fwd_cms; // pilot's desired acceleration forward (body-frame)
int16_t _pilot_accel_rgt_cms; // pilot's desired acceleration right (body-frame) int16_t _pilot_accel_rgt_cms; // pilot's desired acceleration right (body-frame)
Vector2f _loiter_desired_accel; // slewed pilot's desired acceleration in lat/lon frame Vector2f _loiter_desired_accel; // slewed pilot's desired acceleration in lat/lon frame
float _loiter_accel_cms; // loiter's acceleration in cm/s/s
// waypoint controller internal variables // waypoint controller internal variables
uint32_t _wp_last_update; // time of last update_wpnav call uint32_t _wp_last_update; // time of last update_wpnav call