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Sub: Guided Mode: Improved guided_set_velocity() and fixed Z-controller in guided_vel_control_run()

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Rakesh Vivekanandan 2023-07-25 18:05:26 -07:00 committed by Willian Galvani
parent d77ac1ae72
commit 79bf9dd05d
1 changed files with 37 additions and 0 deletions
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37
ArduSub/mode_guided.cpp
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@ -109,6 +109,9 @@ void ModeGuided::guided_vel_control_start()
// initialise velocity controller // initialise velocity controller
position_control->init_z_controller(); position_control->init_z_controller();
position_control->init_xy_controller(); position_control->init_xy_controller();
// pilot always controls yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
} }
// initialise guided mode's posvel controller // initialise guided mode's posvel controller
@ -260,6 +263,24 @@ void ModeGuided::guided_set_velocity(const Vector3f& velocity)
position_control->set_vel_desired_cms(velocity); position_control->set_vel_desired_cms(velocity);
} }
// guided_set_velocity - sets guided mode's target velocity
void ModeGuided::guided_set_velocity(const Vector3f& velocity, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{
// check we are in velocity control mode
if (sub.guided_mode != Guided_Velocity) {
guided_vel_control_start();
}
// set yaw state
guided_set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);
update_time_ms = AP_HAL::millis();
// set position controller velocity target
position_control->set_vel_desired_cms(velocity);
}
// set guided mode posvel target // set guided mode posvel target
bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, const Vector3f& velocity) bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, const Vector3f& velocity)
{ {
@ -465,6 +486,12 @@ void ModeGuided::guided_vel_control_run()
target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
} else{
if (sub.yaw_rate_only){
set_auto_yaw_mode(AUTO_YAW_RATE);
} else{
set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING);
}
} }
} }
@ -480,6 +507,8 @@ void ModeGuided::guided_vel_control_run()
position_control->stop_pos_xy_stabilisation(); position_control->stop_pos_xy_stabilisation();
// call velocity controller which includes z axis controller // call velocity controller which includes z axis controller
position_control->update_xy_controller(); position_control->update_xy_controller();
position_control->set_pos_target_z_from_climb_rate_cm(position_control->get_vel_desired_cms().z);
position_control->update_z_controller(); position_control->update_z_controller();
float lateral_out, forward_out; float lateral_out, forward_out;
@ -493,6 +522,14 @@ void ModeGuided::guided_vel_control_run()
if (sub.auto_yaw_mode == AUTO_YAW_HOLD) { if (sub.auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch & yaw rate from pilot // roll & pitch & yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
} else if (sub.auto_yaw_mode == AUTO_YAW_LOOK_AT_HEADING) {
// roll, pitch from pilot, yaw & yaw_rate from auto_control
target_yaw_rate = sub.yaw_look_at_heading_slew * 100.0;
attitude_control->input_euler_angle_roll_pitch_slew_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), target_yaw_rate);
} else if (sub.auto_yaw_mode == AUTO_YAW_RATE) {
// roll, pitch from pilot, yaw_rate from auto_control
target_yaw_rate = sub.yaw_look_at_heading_slew * 100.0;
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
} else { } else {
// roll, pitch from pilot, yaw heading from auto_heading() // roll, pitch from pilot, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true); attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true);