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AntennaTracker: fixes for antenna tracker 

- use pressure to calculate vehicle altitude
- changed approach to slewing
- fixed mavlink mode
This commit is contained in:
Andrew Tridgell 2014-03-12 14:36:51 +11:00
parent 4f44351d4e
commit 7b1ce2eeb7
3 changed files with 86 additions and 57 deletions
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1
Tools/AntennaTracker/AntennaTracker.pde
View File

@ -102,6 +102,7 @@ static struct {
float bearing;
float distance;
float pitch;
float altitude_difference;
} nav_status;

17
Tools/AntennaTracker/GCS_Mavlink.pde
View File

@ -38,12 +38,12 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
// ArduPlane documentation
switch (control_mode) {
case MANUAL:
base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case AUTO:
base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
MAV_MODE_FLAG_STABILIZE_ENABLED;
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED |
MAV_MODE_FLAG_STABILIZE_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
@ -263,7 +263,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
nav_status.bearing,
nav_status.bearing,
nav_status.distance,
0,
nav_status.altitude_difference,
0,
0);
}
@ -1072,6 +1072,15 @@ mission_failed:
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// decode
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(msg, &packet);
tracking_update_pressure(packet);
break;
}
default:
break;

125
Tools/AntennaTracker/tracking.pde
View File

@ -21,7 +21,7 @@ static void update_pitch_servo(float pitch)
// degrees(ahrs.pitch) is -90 to 90, where 0 is horizontal
// pitch argument is -90 to 90, where 0 is horizontal
// servo_out is in 100ths of a degree
float ahrs_pitch = degrees(ahrs.pitch);
float ahrs_pitch = ahrs.pitch_sensor*0.01f;
int32_t err = (ahrs_pitch - pitch) * 100.0;
// Need to configure your servo so that increasing servo_out causes increase in pitch/elevation (ie pointing higher into the sky,
// above the horizon. On my antenna tracker this requires the pitch/elevation servo to be reversed
@ -46,19 +46,17 @@ static void update_pitch_servo(float pitch)
}
/**
update the yaw (azimuth) servo. The aim is to drive the boards ahrs yaw to the
requested yaw, so the board (and therefore the antenna) will be pinting at the target
update the yaw (azimuth) servo. The aim is to drive the boards ahrs
yaw to the requested yaw, so the board (and therefore the antenna)
will be pointing at the target
*/
static void update_yaw_servo(float yaw)
{
// yaw = 0.0; // TEST
// degrees(ahrs.yaw) is -180 to 180, where 0 is north
float ahrs_yaw = degrees(ahrs.yaw);
// yaw argument is 0 to 360 where 0 and 360 are north
// Make yaw -180-0-180 too
if (yaw > 180)
yaw = yaw - 360;
int32_t ahrs_yaw_cd = wrap_180_cd(ahrs.yaw_sensor);
int32_t yaw_cd = wrap_180_cd(yaw*100);
const int16_t margin = 500; // 5 degrees slop
// Antenna as Ballerina. Use with antenna that do not have continuously rotating servos, ie at some point in rotation
// the servo limits are reached and the servo has to slew 360 degrees to the 'other side' to keep tracking.
@ -86,49 +84,56 @@ static void update_yaw_servo(float yaw)
// param set RC1_MIN 680
// According to the specs at https://www.servocity.com/html/hs-645mg_ultra_torque.html,
// that should be 600 through 2400, but the azimuth gearing in my antenna pointer is not exactly 2:1
int32_t err = (ahrs_yaw - yaw) * 100.0;
static int32_t last_err = 0;
// Correct for wrapping yaw at +-180
// so we get the error to the _closest_ version of the target azimuth
// +ve error requires anticlockwise motion (ie towards more negative yaw)
if (err > 18000)
err -= 36000;
else if (err < -18000)
err += 36000;
int32_t err = wrap_180_cd(ahrs_yaw_cd - yaw_cd);
/*
a positive error means that we need to rotate counter-clockwise
a negative error means that we need to rotate clockwise
Use our current yawspeed to determine if we are moving in the
right direction
*/
static int8_t slew_dir = 0;
if (slew_dir == 0 &&
channel_yaw.servo_out == 18000 &&
err < -1000 && // 10 degree deadband
err < last_err)
{
slew_dir = -1; // Too far +ve, slew in the -ve direction
}
else if (slew_dir == 0 &&
channel_yaw.servo_out == -18000 &&
err > 1000 && // 10 degree deadband
err > last_err)
{
slew_dir = 1; // Too far -ve, slew in the +ve direction
}
else if (slew_dir < 0 &&
err > 0)
{
slew_dir = 0;
}
else if (slew_dir > 0 &&
err < 0)
{
slew_dir = 0;
int8_t new_slew_dir = slew_dir;
Vector3f omega = ahrs.get_gyro();
if (abs(channel_yaw.servo_out) == 18000 && abs(err) > margin && err * omega.z >= 0) {
// we are at the limit of the servo and are not moving in the
// right direction, so slew the other way
new_slew_dir = -channel_yaw.servo_out / 18000;
}
last_err = err;
if (slew_dir > 0)
err -= 27000;
else if (slew_dir < 0)
err += 27000;
/*
stop slewing and revert to normal control when normal control
should move us in the right direction
*/
if (slew_dir * err < -margin) {
new_slew_dir = 0;
}
#if 0
::printf("err=%d slew_dir=%d new_slew_dir=%d servo=%d\n",
err, slew_dir, new_slew_dir, channel_yaw.servo_out);
#endif
slew_dir = new_slew_dir;
int16_t new_servo_out;
if (slew_dir != 0) {
new_servo_out = slew_dir * 18000;
g.pidYaw2Srv.reset_I();
} else {
float servo_change = g.pidYaw2Srv.get_pid(err);
servo_change = constrain_float(servo_change, -18000, 18000);
new_servo_out = constrain_float(channel_yaw.servo_out - servo_change, -18000, 18000);
}
if (new_servo_out - channel_yaw.servo_out > 100) {
new_servo_out = channel_yaw.servo_out + 100;
} else if (new_servo_out - channel_yaw.servo_out < -100) {
new_servo_out = channel_yaw.servo_out - 100;
}
channel_yaw.servo_out = new_servo_out;
{
// Normal tracking
@ -139,8 +144,6 @@ static void update_yaw_servo(float yaw)
// param set YAW2SRV_D 0
// param set YAW2SRV_IMAX 4000
int32_t new_servo_out = channel_yaw.servo_out - g.pidYaw2Srv.get_pid(err);
channel_yaw.servo_out = constrain_float(new_servo_out, -18000, 18000);
}
channel_yaw.calc_pwm();
channel_yaw.output();
@ -171,10 +174,8 @@ static void update_tracking(void)
// calculate the bearing to the vehicle
float bearing = get_bearing_cd(current_loc, vehicle.location) * 0.01f;
float distance = get_distance(current_loc, vehicle.location);
int32_t alt_diff_cm = current_loc.options & MASK_OPTIONS_RELATIVE_ALT // Do we know our absolute altitude?
? (vehicle.relative_alt - current_loc.alt)
: (vehicle.location.alt - current_loc.alt); // cm
float pitch = degrees(atan2(alt_diff_cm/100, distance));
float pitch = degrees(atan2f(nav_status.altitude_difference, distance));
// update the servos
update_pitch_servo(pitch);
update_yaw_servo(bearing);
@ -186,6 +187,7 @@ static void update_tracking(void)
}
}
/**
handle an updated position from the aircraft
*/
@ -200,3 +202,20 @@ static void tracking_update_position(const mavlink_global_position_int_t &msg)
vehicle.last_update_us = hal.scheduler->micros();
}
/**
handle an updated pressure reading from the aircraft
*/
static void tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
{
float local_pressure = barometer.get_pressure();
float aircraft_pressure = msg.press_abs*100.0f;
float ground_temp = barometer.get_temperature();
float scaling = local_pressure / aircraft_pressure;
// calculate altitude difference based on difference in barometric pressure
float alt_diff = logf(scaling) * (ground_temp+273.15f) * 29271.267 * 0.001f;
if (!isnan(alt_diff)) {
nav_status.altitude_difference = alt_diff;
}
}