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Sub: change stabilize mode to rate controls

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This commit is contained in:
Willian Galvani 2019-09-27 08:54:49 -03:00 committed by Jacob Walser
parent 4ffc08449c
commit 51e4f00cd2
1 changed files with 9 additions and 38 deletions
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47
ArduSub/control_stabilize.cpp
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@ -5,8 +5,10 @@ bool Sub::stabilize_init()
{
// set target altitude to zero for reporting
pos_control.set_alt_target(0);
last_pilot_heading = ahrs.yaw_sensor;
last_roll = ahrs.roll_sensor;
last_pitch = ahrs.pitch_sensor;
last_yaw = ahrs.yaw_sensor;
last_input_ms = AP_HAL::millis();
return true;
}
@ -14,51 +16,20 @@ bool Sub::stabilize_init()
// should be called at 100hz or more
void Sub::stabilize_run()
{
uint32_t tnow = AP_HAL::millis();
float target_roll, target_pitch;
float target_yaw_rate;
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
last_pilot_heading = ahrs.yaw_sensor;
last_roll = ahrs.roll_sensor;
last_pitch = ahrs.pitch_sensor;
last_yaw = ahrs.yaw_sensor;
return;
}
// Vehicle is armed, motors are free to run
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// call attitude controller
// update attitude controller targets
if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
last_pilot_heading = ahrs.yaw_sensor;
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 maneuvers
// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
if (tnow < 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
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
} else { // call attitude controller holding absolute absolute bearing
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true);
}
}
handle_attitude();
// output pilot's throttle
attitude_control.set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);