mirror of https://github.com/ArduPilot/ardupilot
ACM -
Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing. - alt hold estimation moved to 50 hz - simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs - auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights. - remove filtering for Nav_throttle - added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower. - removed old throttle hold set point code - made throttle override for alt hold +- 200 vs 250
This commit is contained in:
Jason Short
parent
5117ddff26
commit
43b3e1ccd1
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@ -568,7 +568,11 @@ static int32_t ground_pressure;
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static int16_t ground_temperature;
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// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
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static int32_t altitude_error;
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// The cm/s we are moving up or down - Positive = UP
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// The cm/s we are moving up or down based on sensor data - Positive = UP
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static int16_t climb_rate_actual;
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// Used to dither our climb_rate over 50hz
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static int16_t climb_rate_error;
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// The cm/s we are moving up or down based on filtered data - Positive = UP
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static int16_t climb_rate;
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// The altitude as reported by Sonar in cm – Values are 20 to 700 generally.
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static int16_t sonar_alt;
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@ -578,8 +582,10 @@ static int16_t sonar_rate;
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static int32_t baro_alt;
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// The climb_rate as reported by Baro in cm/s
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static int16_t baro_rate;
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//
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// used to switch out of Manual Boost
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static boolean reset_throttle_flag;
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// used to track when to read sensors vs estimate alt
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static boolean alt_sensor_flag;
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////////////////////////////////////////////////////////////////////////////////
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@ -690,13 +696,6 @@ static int16_t nav_throttle; // 0-1000 for throttle control
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// This is a simple counter to track the amount of throttle used during flight
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// This could be useful later in determining and debuging current usage and predicting battery life
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static uint32_t throttle_integrator;
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// This is a future value for replacing the throttle_cruise setup procedure. It's an average of throttle control
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// that is generated when the climb rate is within a certain threshold
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//static float throttle_avg = THROTTLE_CRUISE;
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// This is a flag used to trigger the updating of nav_throttle at 10hz
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static bool invalid_throttle;
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// Used to track the altitude offset for climbrate control
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//static int32_t target_altitude;
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////////////////////////////////////////////////////////////////////////////////
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// Climb rate control
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@ -1005,10 +1004,11 @@ static void medium_loop()
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// -----------------------------
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update_navigation();
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if (g.log_bitmask & MASK_LOG_NTUN)
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if (g.log_bitmask & MASK_LOG_NTUN && motor_armed){
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Log_Write_Nav_Tuning();
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}
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}
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}
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break;
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// command processing
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@ -1018,13 +1018,10 @@ static void medium_loop()
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// Read altitude from sensors
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// --------------------------
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#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
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update_altitude();
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#endif
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// invalidate the throttle hold value
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// ----------------------------------
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invalid_throttle = true;
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//#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
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//update_altitude();
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//#endif
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alt_sensor_flag = true;
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break;
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@ -1045,17 +1042,14 @@ static void medium_loop()
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if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
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Log_Write_Attitude();
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if (g.log_bitmask & MASK_LOG_CTUN)
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Log_Write_Control_Tuning();
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if (g.log_bitmask & MASK_LOG_MOTORS)
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Log_Write_Motors();
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}
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// send all requested output streams with rates requested
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// between 5 and 45 Hz
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gcs_data_stream_send(5,45);
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if (g.log_bitmask & MASK_LOG_MOTORS)
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Log_Write_Motors();
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break;
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// This case controls the slow loop
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@ -1102,6 +1096,10 @@ static void medium_loop()
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// ---------------------------
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static void fifty_hz_loop()
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{
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// read altitude sensors or estimate altitude
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// ------------------------------------------
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update_altitude_est();
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// moved to slower loop
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// --------------------
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update_throttle_mode();
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@ -1162,6 +1160,11 @@ static void slow_loop()
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slow_loopCounter++;
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superslow_loopCounter++;
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// update throttle hold every 20 seconds
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if(superslow_loopCounter > 60){
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update_throttle_cruise();
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}
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if(superslow_loopCounter > 1200){
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if(g.rc_3.control_in == 0 && control_mode == STABILIZE && g.compass_enabled){
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@ -1219,13 +1222,14 @@ static void slow_loop()
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// 1Hz loop
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static void super_slow_loop()
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{
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if (g.log_bitmask & MASK_LOG_CUR)
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if (g.log_bitmask & MASK_LOG_CUR && motor_armed)
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Log_Write_Current();
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// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 30s
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// but only of the control mode is manual
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if((control_mode <= ACRO) && (g.rc_3.control_in == 0)){
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auto_disarming_counter++;
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if(auto_disarming_counter == AUTO_ARMING_DELAY){
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init_disarm_motors();
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}else if (auto_disarming_counter > AUTO_ARMING_DELAY){
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@ -1234,8 +1238,10 @@ static void super_slow_loop()
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}else{
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auto_disarming_counter = 0;
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}
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gcs_send_message(MSG_HEARTBEAT);
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gcs_data_stream_send(1,3);
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// agmatthews - USERHOOKS
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#ifdef USERHOOK_SUPERSLOWLOOP
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USERHOOK_SUPERSLOWLOOP
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@ -1359,12 +1365,13 @@ static void update_GPS(void)
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current_loc.lng = g_gps->longitude; // Lon * 10 * *7
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current_loc.lat = g_gps->latitude; // Lat * 10 * *7
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if (g.log_bitmask & MASK_LOG_GPS){
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if (g.log_bitmask & MASK_LOG_GPS && motor_armed){
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Log_Write_GPS();
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}
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#if HIL_MODE == HIL_MODE_ATTITUDE // only execute in HIL mode
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update_altitude();
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//update_altitude();
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alt_sensor_flag = true;
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#endif
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}
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@ -1635,10 +1642,10 @@ void update_throttle_mode(void)
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if(reset_throttle_flag) {
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set_new_altitude(max(current_loc.alt, 100));
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reset_throttle_flag = false;
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update_throttle_cruise();
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}
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// 10hz, don't run up i term
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if(invalid_throttle && motor_auto_armed == true){
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if(motor_auto_armed == true){
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// how far off are we
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altitude_error = get_altitude_error();
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@ -1646,8 +1653,6 @@ void update_throttle_mode(void)
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// get the AP throttle
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nav_throttle = get_nav_throttle(altitude_error);
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// clear the new data flag
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invalid_throttle = false;
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/*
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Serial.printf("tar_alt: %d, actual_alt: %d \talt_err: %d, \tnav_thr: %d, \talt Int: %d\n",
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next_WP.alt,
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@ -1656,6 +1661,7 @@ void update_throttle_mode(void)
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nav_throttle,
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(int16_t)g.pi_alt_hold.get_integrator());
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//*/
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}
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// hack to remove the influence of the ground effect
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@ -1864,7 +1870,6 @@ static void update_altitude()
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{
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static int16_t old_sonar_alt = 0;
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static int32_t old_baro_alt = 0;
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static int16_t old_climb_rate = 0;
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#if HIL_MODE == HIL_MODE_ATTITUDE
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// we are in the SIM, fake out the baro and Sonar
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@ -1889,7 +1894,6 @@ static void update_altitude()
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// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
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#endif
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if(g.sonar_enabled){
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// filter out offset
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float scale;
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@ -1921,35 +1925,47 @@ static void update_altitude()
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current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;
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// solve for a blended climb_rate
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climb_rate = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
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climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
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}else{
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// we must be higher than sonar (>800), don't get tricked by bad sonar reads
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current_loc.alt = baro_alt + home.alt; // home alt = 0
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// dont blend, go straight baro
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climb_rate = baro_rate;
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climb_rate_actual = baro_rate;
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}
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}else{
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// NO Sonar case
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current_loc.alt = baro_alt + home.alt;
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climb_rate = baro_rate;
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climb_rate_actual = baro_rate;
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}
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// simple smoothing
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climb_rate = (climb_rate + old_climb_rate)>>1;
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// manage bad data
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climb_rate = constrain(climb_rate, -800, 800);
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// save for filtering
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old_climb_rate = climb_rate;
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// update the target altitude
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next_WP.alt = get_new_altitude();
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// calc error
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climb_rate_error = (climb_rate_actual - climb_rate) / 5;
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}
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#define THROTTLE_ADJUST 250
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static void update_altitude_est()
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{
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if(alt_sensor_flag){
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update_altitude();
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alt_sensor_flag = false;
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if(g.log_bitmask & MASK_LOG_CTUN && motor_armed){
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Log_Write_Control_Tuning();
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}
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}else{
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// simple dithering of climb rate
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climb_rate += climb_rate_error;
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current_loc.alt += (climb_rate / 50);
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}
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//Serial.printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt);
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}
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#define THROTTLE_ADJUST 200
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static void
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adjust_altitude()
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{
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@ -186,7 +186,7 @@ get_rate_yaw(int32_t target_rate)
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static int16_t
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get_nav_throttle(int32_t z_error)
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{
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static int16_t old_output = 0;
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//static int16_t old_output = 0;
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int16_t rate_error = 0;
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int16_t output = 0;
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@ -198,19 +198,23 @@ get_nav_throttle(int32_t z_error)
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z_error = constrain(z_error, -400, 400);
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// compensates throttle setpoint error for hovering
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int16_t iterm = g.pi_alt_hold.get_i(z_error, .1);
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int16_t iterm = g.pi_alt_hold.get_i(z_error, .02);
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// calculate rate error
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rate_error = rate_error - climb_rate;
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// hack to see if we can smooth out oscillations
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if(rate_error < 0)
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rate_error = rate_error >> 1;
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// limit the rate
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output = constrain(g.pid_throttle.get_pid(rate_error, .1), -160, 180);
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output = constrain(g.pid_throttle.get_pid(rate_error, .02), -80, 120);
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// light filter of output
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output = (old_output + output) / 2;
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//output = (old_output + output) / 2;
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// save our output
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old_output = output;
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//old_output = output;
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// output control:
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return output + iterm;
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@ -219,8 +223,6 @@ get_nav_throttle(int32_t z_error)
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// Keeps old data out of our calculation / logs
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static void reset_nav_params(void)
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{
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// forces us to update nav throttle
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invalid_throttle = true;
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nav_throttle = 0;
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// always start Circle mode at same angle
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@ -741,7 +741,7 @@
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# define THROTTLE_P 0.45 //
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#endif
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#ifndef THROTTLE_I
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# define THROTTLE_I 0.0 //
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# define THROTTLE_I 0.0 // Don't edit
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#endif
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#ifndef THROTTLE_D
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# define THROTTLE_D 0.02 //
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@ -186,9 +186,6 @@ static void auto_trim()
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//Serial.println("Done");
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auto_level_counter = 0;
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// set TC
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init_throttle_cruise();
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}
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}
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}
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@ -532,17 +532,9 @@ static void set_mode(byte mode)
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motor_auto_armed = true;
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}
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if(throttle_mode == THROTTLE_MANUAL){
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// reset all of the throttle iterms
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// called to calculate gain for alt hold
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update_throttle_cruise();
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// reset auto_throttle
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nav_throttle = 0;
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}else {
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// an automatic throttle
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init_throttle_cruise();
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}
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if(roll_pitch_mode <= ROLL_PITCH_ACRO){
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// We are under manual attitude control
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// remove the navigation from roll and pitch command
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@ -594,18 +586,10 @@ static void update_throttle_cruise()
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g.throttle_cruise += tmp;
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reset_throttle_I();
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}
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}
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static void
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init_throttle_cruise()
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{
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#if AUTO_THROTTLE_HOLD == 0
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// are we moving from manual throttle to auto_throttle?
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if((old_control_mode <= STABILIZE) && (g.rc_3.control_in > MINIMUM_THROTTLE)){
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reset_throttle_I();
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g.throttle_cruise.set_and_save(g.rc_3.control_in);
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}
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#endif
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// recalc kp
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g.pid_throttle.kP((float)g.throttle_cruise.get() / 981.0);
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//Serial.printf("kp:%1.4f\n",kp);
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}
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#if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED
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Loading…
Reference in New Issue