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Copter: Update ACRO to use rate parameters and update expo function

This commit is contained in:
Leonard Hall 2021-09-17 15:24:19 +09:30 committed by Randy Mackay
parent 77fbcf1741
commit 5d5ccc8c78
28 changed files with 128 additions and 156 deletions
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22
ArduCopter/Parameters.cpp
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@ -336,7 +336,7 @@ const AP_Param::Info Copter::var_info[] = {
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro Roll/Pitch deg/s,40:Acro Yaw deg/s,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: FRAME_TYPE
@ -429,14 +429,12 @@ const AP_Param::Info Copter::var_info[] = {
// @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
// @Description: Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
// @Param: ACRO_BAL_ROLL
@ -468,7 +466,7 @@ const AP_Param::Info Copter::var_info[] = {
// @DisplayName: Acro Roll/Pitch Expo
// @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @Range: -0.5 1.0
// @Range: -0.5 0.95
// @User: Advanced
GSCALAR(acro_rp_expo, "ACRO_RP_EXPO", ACRO_RP_EXPO_DEFAULT),
#endif
@ -824,7 +822,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @DisplayName: Acro Yaw Expo
// @Description: Acro yaw expo to allow faster rotation when stick at edges
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @Range: -0.5 1.0
// @Range: -1.0 0.95
// @User: Advanced
AP_GROUPINFO("ACRO_Y_EXPO", 9, ParametersG2, acro_y_expo, ACRO_Y_EXPO_DEFAULT),
@ -1069,17 +1067,19 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("GUID_TIMEOUT", 46, ParametersG2, guided_timeout, 3.0),
#endif
#if MODE_ACRO_ENABLED == ENABLED
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
// @Param: ACRO_RP_RATE
// @DisplayName: Acro Roll and Pitch Rate
// @Description: Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation
// @Range: 1 360
// @Units: deg/s
// @Range: 1 1080
// @User: Standard
AP_GROUPINFO("ACRO_RP_RATE", 47, ParametersG2, acro_rp_rate, ACRO_RP_RATE_DEFAULT),
// @Param: ACRO_Y_RATE
// @DisplayName: Acro Yaw Rate
// @Description: Acro mode maximum yaw rate. Higher value means faster rate of rotation
// @Units: deg/s
// @Range: 1 360
// @User: Standard
AP_GROUPINFO("ACRO_Y_RATE", 48, ParametersG2, acro_y_rate, ACRO_Y_RATE_DEFAULT),
@ -1088,15 +1088,17 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: PILOT_Y_RATE
// @DisplayName: Pilot controlled yaw rate
// @Description: Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro
// @Units: deg/s
// @Range: 1 360
// @User: Standard
AP_GROUPINFO("PILOT_Y_RATE", 49, ParametersG2, pilot_y_rate, PILOT_Y_RATE_DEFAULT),
// @Param: PILOT_Y_EXPO
// @DisplayName: Pilot controlled yaw expo
// @Description: Pilot controlled yaw expo. Used in all pilot controlled modes except Acrxo
// @Range: 1 360
// @User: Standard
// @Description: Pilot controlled yaw expo to allow faster rotation when stick at edges
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @Range: -0.5 1.0
// @User: Advanced
AP_GROUPINFO("PILOT_Y_EXPO", 50, ParametersG2, pilot_y_expo, PILOT_Y_EXPO_DEFAULT),
AP_GROUPEND

23
ArduCopter/Parameters.h
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@ -339,8 +339,8 @@ public:
//
// 220: PI/D Controllers
//
k_param_acro_rp_p = 221,
k_param_axis_lock_p, // remove
k_param_acro_rp_p = 221, // remove
k_param_axis_lock_p, // remove
k_param_pid_rate_roll, // remove
k_param_pid_rate_pitch, // remove
k_param_pid_rate_yaw, // remove
@ -460,13 +460,17 @@ public:
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
// Acro parameters
AP_Float acro_rp_p;
AP_Float acro_yaw_p;
AP_Float acro_balance_roll;
AP_Float acro_balance_pitch;
#endif
#if MODE_ACRO_ENABLED == ENABLED
// Acro parameters
AP_Int8 acro_trainer;
AP_Float acro_rp_expo;
#endif
// Note: keep initializers here in the same order as they are declared
// above.
@ -651,13 +655,14 @@ public:
AP_Float guided_timeout;
#endif
#if MODE_ACRO_ENABLED == ENABLED
AP_Int16 acro_rp_rate;
AP_Int16 acro_y_rate;
#if MODE_ACRO_ENABLED == ENABLED || MODE_SPORT_ENABLED == ENABLED
// Acro parameters
AP_Float acro_rp_rate;
AP_Float acro_y_rate;
#endif
AP_Int16 pilot_y_rate;
AP_Int16 pilot_y_expo;
AP_Float pilot_y_rate;
AP_Float pilot_y_expo;
};
extern const AP_Param::Info var_info[];

28
ArduCopter/config.h
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@ -450,16 +450,12 @@
//
// Acro Mode
#ifndef ACRO_RP_P
# define ACRO_RP_P 4.5f
#endif
#ifndef ACRO_YAW_P
# define ACRO_YAW_P 4.5f
#endif
#ifndef ACRO_LEVEL_MAX_ANGLE
# define ACRO_LEVEL_MAX_ANGLE 3000
# define ACRO_LEVEL_MAX_ANGLE 3000 // maximum lean angle in trainer mode measured in centidegrees
#endif
#ifndef ACRO_LEVEL_MAX_OVERSHOOT
# define ACRO_LEVEL_MAX_OVERSHOOT 1000 // maximum overshoot angle in trainer mode when full roll or pitch stick is held in centidegrees
#endif
#ifndef ACRO_BALANCE_ROLL
@ -471,11 +467,11 @@
#endif
#ifndef ACRO_RP_EXPO_DEFAULT
#define ACRO_RP_EXPO_DEFAULT 0.3f
#define ACRO_RP_EXPO_DEFAULT 0.3f // ACRO roll and pitch expo parameter default
#endif
#ifndef ACRO_Y_EXPO_DEFAULT
#define ACRO_Y_EXPO_DEFAULT 0.0f
#define ACRO_Y_EXPO_DEFAULT 0.0f // ACRO yaw expo parameter default
#endif
#ifndef ACRO_THR_MID_DEFAULT
@ -483,16 +479,16 @@
#endif
#ifndef ACRO_RP_RATE_DEFAULT
#define ACRO_RP_RATE_DEFAULT 90
#define ACRO_RP_RATE_DEFAULT 360 // ACRO roll and pitch rotation rate parameter default in deg/s
#endif
#ifndef ACRO_Y_RATE_DEFAULT
#define ACRO_Y_RATE_DEFAULT 90
#define ACRO_Y_RATE_DEFAULT 202.5 // ACRO yaw rotation rate parameter default in deg/s
#endif
// RTL Mode
#ifndef RTL_ALT_FINAL
# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
# define RTL_ALT_FINAL 0 // the altitude, in cm, the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
#endif
#ifndef RTL_ALT
@ -584,10 +580,10 @@
#endif
#ifndef PILOT_Y_RATE_DEFAULT
# define PILOT_Y_RATE_DEFAULT 90 // pilot controlled yaw rotation rate parameter default
# define PILOT_Y_RATE_DEFAULT 202.5 // yaw rotation rate parameter default in deg/s for all mode except ACRO
#endif
#ifndef PILOT_Y_EXPO_DEFAULT
# define PILOT_Y_EXPO_DEFAULT 90 // pilot controlled yaw expo parameter default
# define PILOT_Y_EXPO_DEFAULT 0.0 // yaw expo parameter default for all mode except ACRO
#endif
#ifndef AUTO_DISARMING_DELAY

4
ArduCopter/defines.h
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@ -43,7 +43,7 @@ enum tuning_func {
TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
TUNING_ACRO_RP_RATE = 25, // acro controller's desired roll and pitch rate in deg/s
TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
@ -53,7 +53,7 @@ enum tuning_func {
TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
TUNING_DECLINATION = 38, // compass declination in radians
TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
TUNING_ACRO_YAW_RATE = 40, // acro controller's desired yaw rate in deg/s
TUNING_RANGEFINDER_GAIN = 41, // unused
TUNING_EKF_VERTICAL_POS = 42, // unused
TUNING_EKF_HORIZONTAL_POS = 43, // unused

23
ArduCopter/mode.cpp
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@ -635,7 +635,7 @@ void Mode::land_run_horizontal_control()
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -918,32 +918,15 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
// transform pilot's yaw input into a desired yaw rate
// returns desired yaw rate in centi-degrees per second
float Mode::get_pilot_desired_yaw_rate(int16_t stick_angle)
float Mode::get_pilot_desired_yaw_rate(float yaw_in)
{
// throttle failsafe check
if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
return 0.0f;
}
// range check expo
g2.acro_y_expo = constrain_float(g2.acro_y_expo, -0.5f, 1.0f);
// calculate yaw rate request
float yaw_request;
if (is_zero(g2.acro_y_expo)) {
yaw_request = stick_angle * g.acro_yaw_p;
} else {
// expo variables
float y_in, y_in3, y_out;
// yaw expo
y_in = float(stick_angle)/ROLL_PITCH_YAW_INPUT_MAX;
y_in3 = y_in*y_in*y_in;
y_out = (g2.acro_y_expo * y_in3) + ((1.0f - g2.acro_y_expo) * y_in);
yaw_request = ROLL_PITCH_YAW_INPUT_MAX * y_out * g.acro_yaw_p;
}
// convert pilot input to the desired yaw rate
return yaw_request;
return g2.pilot_y_rate * 100.0 * input_expo(yaw_in, g2.pilot_y_expo);
}
// pass-through functions to reduce code churn on conversion;

6
ArduCopter/mode.h
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@ -90,7 +90,7 @@ public:
// pilot input processing
void get_pilot_desired_lean_angles(float &roll_out, float &pitch_out, float angle_max, float angle_limit) const;
float get_pilot_desired_yaw_rate(int16_t stick_angle);
float get_pilot_desired_yaw_rate(float yaw_in);
float get_pilot_desired_throttle() const;
// returns climb target_rate reduced to avoid obstacles and
@ -315,7 +315,9 @@ protected:
const char *name() const override { return "ACRO"; }
const char *name4() const override { return "ACRO"; }
void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
// get_pilot_desired_angle_rates - transform pilot's normalised roll pitch and yaw input into a desired lean angle rates
// inputs are -1 to 1 and the function returns desired angle rates in centi-degrees-per-second
void get_pilot_desired_angle_rates(float roll_in, float pitch_in, float yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
float throttle_hover() const override;

92
ArduCopter/mode_acro.cpp
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@ -12,7 +12,7 @@ void ModeAcro::run()
{
// convert the input to the desired body frame rate
float target_roll, target_pitch, target_yaw;
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
get_pilot_desired_angle_rates(channel_roll->norm_input_dz(), channel_pitch->norm_input_dz(), channel_yaw->norm_input_dz(), target_roll, target_pitch, target_yaw);
if (!motors->armed()) {
// Motors should be Stopped
@ -94,48 +94,32 @@ float ModeAcro::throttle_hover() const
return Mode::throttle_hover();
}
// get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates
// returns desired angle rates in centi-degrees-per-second
void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out)
// get_pilot_desired_angle_rates - transform pilot's normalised roll pitch and yaw input into a desired lean angle rates
// inputs are -1 to 1 and the function returns desired angle rates in centi-degrees-per-second
void ModeAcro::get_pilot_desired_angle_rates(float roll_in, float pitch_in, float yaw_in, float &roll_out, float &pitch_out, float &yaw_out)
{
float rate_limit;
Vector3f rate_ef_level, rate_bf_level, rate_bf_request;
Vector3f rate_ef_level_cd, rate_bf_level_cd, rate_bf_request_cd;
// apply circular limit to pitch and roll inputs
float total_in = norm(pitch_in, roll_in);
if (total_in > ROLL_PITCH_YAW_INPUT_MAX) {
float ratio = (float)ROLL_PITCH_YAW_INPUT_MAX / total_in;
if (total_in > 1.0) {
float ratio = 1.0 / total_in;
roll_in *= ratio;
pitch_in *= ratio;
}
// range check expo
g.acro_rp_expo = constrain_float(g.acro_rp_expo, -0.5f, 1.0f);
// calculate roll, pitch rate requests
if (is_zero(g.acro_rp_expo)) {
rate_bf_request.x = roll_in * g.acro_rp_p;
rate_bf_request.y = pitch_in * g.acro_rp_p;
} else {
// expo variables
float rp_in, rp_in3, rp_out;
// roll expo
rp_in = float(roll_in)/ROLL_PITCH_YAW_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in;
rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
rate_bf_request.x = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
// roll expo
rate_bf_request_cd.x = g2.acro_rp_rate * 100.0 * input_expo(roll_in, g.acro_rp_expo);
// pitch expo
rp_in = float(pitch_in)/ROLL_PITCH_YAW_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in;
rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
rate_bf_request.y = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
}
// pitch expo
rate_bf_request_cd.y = g2.acro_rp_rate * 100.0 * input_expo(pitch_in, g.acro_rp_expo);
// calculate yaw rate request
rate_bf_request.z = get_pilot_desired_yaw_rate(yaw_in);
// yaw expo
rate_bf_request_cd.z = g2.acro_y_rate * 100.0 * input_expo(yaw_in, g2.acro_y_expo);
// calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
@ -146,65 +130,65 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
// Calculate trainer mode earth frame rate command for roll
int32_t roll_angle = wrap_180_cd(att_target.x);
rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
rate_ef_level_cd.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
// Calculate trainer mode earth frame rate command for pitch
int32_t pitch_angle = wrap_180_cd(att_target.y);
rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
rate_ef_level_cd.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
// Calculate trainer mode earth frame rate command for yaw
rate_ef_level.z = 0;
rate_ef_level_cd.z = 0;
// Calculate angle limiting earth frame rate commands
if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){
rate_ef_level.x += sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
rate_ef_level_cd.x += sqrt_controller(angle_max - roll_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}else if (roll_angle < -angle_max) {
rate_ef_level.x += sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
rate_ef_level_cd.x += sqrt_controller(-angle_max - roll_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}
if (pitch_angle > angle_max){
rate_ef_level.y += sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
rate_ef_level_cd.y += sqrt_controller(angle_max - pitch_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}else if (pitch_angle < -angle_max) {
rate_ef_level.y += sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
rate_ef_level_cd.y += sqrt_controller(-angle_max - pitch_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}
}
// convert earth-frame level rates to body-frame level rates
attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd() * radians(0.01f), rate_ef_level_cd, rate_bf_level_cd);
// combine earth frame rate corrections with rate requests
if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
rate_bf_request.x += rate_bf_level.x;
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.z += rate_bf_level.z;
rate_bf_request_cd.x += rate_bf_level_cd.x;
rate_bf_request_cd.y += rate_bf_level_cd.y;
rate_bf_request_cd.z += rate_bf_level_cd.z;
}else{
float acro_level_mix = constrain_float(1-float(MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0), 0, 1)*ahrs.cos_pitch();
// Scale leveling rates by stick input
rate_bf_level = rate_bf_level*acro_level_mix;
// Scale levelling rates by stick input
rate_bf_level_cd = rate_bf_level_cd * acro_level_mix;
// Calculate rate limit to prevent change of rate through inverted
rate_limit = fabsf(fabsf(rate_bf_request.x)-fabsf(rate_bf_level.x));
rate_bf_request.x += rate_bf_level.x;
rate_bf_request.x = constrain_float(rate_bf_request.x, -rate_limit, rate_limit);
rate_limit = fabsf(fabsf(rate_bf_request_cd.x)-fabsf(rate_bf_level_cd.x));
rate_bf_request_cd.x += rate_bf_level_cd.x;
rate_bf_request_cd.x = constrain_float(rate_bf_request_cd.x, -rate_limit, rate_limit);
// Calculate rate limit to prevent change of rate through inverted
rate_limit = fabsf(fabsf(rate_bf_request.y)-fabsf(rate_bf_level.y));
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.y = constrain_float(rate_bf_request.y, -rate_limit, rate_limit);
rate_limit = fabsf(fabsf(rate_bf_request_cd.y)-fabsf(rate_bf_level_cd.y));
rate_bf_request_cd.y += rate_bf_level_cd.y;
rate_bf_request_cd.y = constrain_float(rate_bf_request_cd.y, -rate_limit, rate_limit);
// Calculate rate limit to prevent change of rate through inverted
rate_limit = fabsf(fabsf(rate_bf_request.z)-fabsf(rate_bf_level.z));
rate_bf_request.z += rate_bf_level.z;
rate_bf_request.z = constrain_float(rate_bf_request.z, -rate_limit, rate_limit);
rate_limit = fabsf(fabsf(rate_bf_request_cd.z)-fabsf(rate_bf_level_cd.z));
rate_bf_request_cd.z += rate_bf_level_cd.z;
rate_bf_request_cd.z = constrain_float(rate_bf_request_cd.z, -rate_limit, rate_limit);
}
}
// hand back rate request
roll_out = rate_bf_request.x;
pitch_out = rate_bf_request.y;
yaw_out = rate_bf_request.z;
roll_out = rate_bf_request_cd.x;
pitch_out = rate_bf_request_cd.y;
yaw_out = rate_bf_request_cd.z;
}
#endif

4
ArduCopter/mode_acro_heli.cpp
View File

@ -69,7 +69,7 @@ void ModeAcro_Heli::run()
if (!motors->has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
get_pilot_desired_angle_rates(channel_roll->norm_input_dz(), channel_pitch->norm_input_dz(), channel_yaw->norm_input_dz(), target_roll, target_pitch, target_yaw);
// only mimic flybar response when trainer mode is disabled
if ((Trainer)g.acro_trainer.get() == Trainer::OFF) {
// while landed always leak off target attitude to current attitude
@ -111,7 +111,7 @@ void ModeAcro_Heli::run()
// if there is no external gyro then run the usual
// ACRO_YAW_P gain on the input control, including
// deadzone
yaw_in = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
yaw_in = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
}
// run attitude controller

2
ArduCopter/mode_althold.cpp
View File

@ -36,7 +36,7 @@ void ModeAltHold::run()
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

6
ArduCopter/mode_auto.cpp
View File

@ -858,7 +858,7 @@ void ModeAuto::wp_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -927,7 +927,7 @@ void ModeAuto::circle_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -973,7 +973,7 @@ void ModeAuto::loiter_run()
// accept pilot input of yaw
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
}
// set motors to full range

2
ArduCopter/mode_autorotate.cpp
View File

@ -282,7 +282,7 @@ void ModeAutorotate::run()
get_pilot_desired_lean_angles(pilot_roll, pilot_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
// Get pilot's desired yaw rate
float pilot_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float pilot_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// Pitch target is calculated in autorotation phase switch above
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pilot_roll, _pitch_target, pilot_yaw_rate);

2
ArduCopter/mode_autotune.cpp
View File

@ -85,7 +85,7 @@ void AutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitc
{
copter.mode_autotune.get_pilot_desired_lean_angles(des_roll_cd, des_pitch_cd, copter.aparm.angle_max,
copter.attitude_control->get_althold_lean_angle_max_cd());
yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->norm_input_dz());
}
/*

2
ArduCopter/mode_circle.cpp
View File

@ -33,7 +33,7 @@ void ModeCircle::run()
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// get pilot's desired yaw rate (or zero if in radio failsafe)
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
pilot_yaw_override = true;
}

2
ArduCopter/mode_drift.cpp
View File

@ -54,7 +54,7 @@ void ModeDrift::run()
// gain scheduling for yaw
float pitch_vel2 = MIN(fabsf(pitch_vel), 2000);
float target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
float target_yaw_rate = target_roll * (1.0f - (pitch_vel2 / 5000.0f)) * g2.acro_y_rate / 45.0;
roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);

2
ArduCopter/mode_flowhold.cpp
View File

@ -246,7 +246,7 @@ void ModeFlowHold::run()
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), copter.g.pilot_speed_up);
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(copter.channel_yaw->norm_input_dz());
// Flow Hold State Machine Determination
AltHoldModeState flowhold_state = get_alt_hold_state(target_climb_rate);

10
ArduCopter/mode_guided.cpp
View File

@ -168,7 +168,7 @@ void ModeGuided::wp_control_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -649,7 +649,7 @@ void ModeGuided::pos_control_run()
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -708,7 +708,7 @@ void ModeGuided::accel_control_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -772,7 +772,7 @@ void ModeGuided::velaccel_control_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -848,7 +848,7 @@ void ModeGuided::posvelaccel_control_run()
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}

2
ArduCopter/mode_land.cpp
View File

@ -114,7 +114,7 @@ void ModeLand::nogps_run()
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}

2
ArduCopter/mode_loiter.cpp
View File

@ -96,7 +96,7 @@ void ModeLoiter::run()
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

2
ArduCopter/mode_poshold.cpp
View File

@ -83,7 +83,7 @@ void ModePosHold::run()
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate (for alt-hold mode and take-off)
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

6
ArduCopter/mode_rtl.cpp
View File

@ -167,7 +167,7 @@ void ModeRTL::climb_return_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -225,7 +225,7 @@ void ModeRTL::loiterathome_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
@ -332,7 +332,7 @@ void ModeRTL::descent_run()
if (g.land_repositioning || use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
}
}

2
ArduCopter/mode_smart_rtl.cpp
View File

@ -84,7 +84,7 @@ void ModeSmartRTL::path_follow_run()
float target_yaw_rate = 0.0f;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}

14
ArduCopter/mode_sport.cpp
View File

@ -34,8 +34,8 @@ void ModeSport::run()
// get pilot's desired roll and pitch rates
// calculate rate requests
float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;
float target_roll_rate = channel_roll->get_control_in() * g2.acro_rp_rate * 100.0 / ROLL_PITCH_YAW_INPUT_MAX;
float target_pitch_rate = channel_pitch->get_control_in() * g2.acro_rp_rate * 100.0 / ROLL_PITCH_YAW_INPUT_MAX;
// get attitude targets
const Vector3f att_target = attitude_control->get_att_target_euler_cd();
@ -50,19 +50,19 @@ void ModeSport::run()
const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){
target_roll_rate += sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
target_roll_rate += sqrt_controller(angle_max - roll_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}else if (roll_angle < -angle_max) {
target_roll_rate += sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
target_roll_rate += sqrt_controller(-angle_max - roll_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}
if (pitch_angle > angle_max){
target_pitch_rate += sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
target_pitch_rate += sqrt_controller(angle_max - pitch_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}else if (pitch_angle < -angle_max) {
target_pitch_rate += sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
target_pitch_rate += sqrt_controller(-angle_max - pitch_angle, g2.acro_rp_rate * 100.0 / ACRO_LEVEL_MAX_OVERSHOOT, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

2
ArduCopter/mode_stabilize.cpp
View File

@ -16,7 +16,7 @@ void ModeStabilize::run()
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!motors->armed()) {
// Motors should be Stopped

2
ArduCopter/mode_stabilize_heli.cpp
View File

@ -29,7 +29,7 @@ void ModeStabilize_Heli::run()
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot's desired throttle
pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());

2
ArduCopter/mode_systemid.cpp
View File

@ -114,7 +114,7 @@ void ModeSystemId::run()
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!motors->armed()) {
// Motors should be Stopped

4
ArduCopter/mode_zigzag.cpp
View File

@ -264,7 +264,7 @@ void ModeZigZag::auto_control()
float target_yaw_rate = 0;
if (!copter.failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
}
// set motors to full range
@ -305,7 +305,7 @@ void ModeZigZag::manual_control()
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

2
ArduCopter/takeoff.cpp
View File

@ -110,7 +110,7 @@ void Mode::auto_takeoff_run()
float target_yaw_rate = 0;
if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
}
// aircraft stays in landed state until rotor speed runup has finished

12
ArduCopter/tuning.cpp
View File

@ -104,14 +104,14 @@ void Copter::tuning()
wp_nav->set_speed_xy(tuning_value);
break;
// Acro roll pitch gain
case TUNING_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
// Acro roll pitch rates
case TUNING_ACRO_RP_RATE:
g2.acro_rp_rate = tuning_value;
break;
// Acro yaw gain
case TUNING_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
// Acro yaw rate
case TUNING_ACRO_YAW_RATE:
g2.acro_y_rate = tuning_value;
break;
#if FRAME_CONFIG == HELI_FRAME