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Copter: surface tracking format fixes

This commit is contained in:
Randy Mackay 2019-08-22 14:22:30 +09:00
parent d41e7dcbee
commit 808efa4c79
2 changed files with 21 additions and 20 deletions
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16
ArduCopter/Copter.h
View File

@ -293,18 +293,16 @@ private:
class SurfaceTracking {
public:
// get desired climb rate (in cm/s) to achieve surface tracking
float adjust_climb_rate(float target_rate);
// get/set target altitude (in cm) above ground
bool get_target_alt_cm(float &target_alt_cm) const;
void set_target_alt_cm(float target_alt_cm);
float logging_target_alt() const {
if (!valid_for_logging) {
return AP::logger().quiet_nan();
}
return target_alt_cm * 0.01f; // cm->m
}
void invalidate_for_logging() {
valid_for_logging = false;
}
// get target altitude (in cm) for logging purposes
float logging_target_alt() const;
void invalidate_for_logging() { valid_for_logging = false; }
private:
float target_alt_cm; // desired altitude in cm above the ground

25
ArduCopter/surface_tracking.cpp
View File

@ -13,14 +13,9 @@ float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
const float current_alt = copter.inertial_nav.get_altitude();
const float current_alt_target = copter.pos_control->get_alt_target();
float distance_error;
float velocity_correction;
uint32_t now = millis();
valid_for_logging = true;
// reset target altitude if this controller has just been engaged
const uint32_t now = millis();
if (now - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
target_alt_cm = copter.rangefinder_state.alt_cm + current_alt_target - current_alt;
}
@ -30,6 +25,7 @@ float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
if ((target_rate<0 && !copter.motors->limit.throttle_lower) || (target_rate>0 && !copter.motors->limit.throttle_upper)) {
target_alt_cm += target_rate * copter.G_Dt;
}
valid_for_logging = true;
/*
handle rangefinder glitches. When we get a rangefinder reading
@ -39,7 +35,7 @@ float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
row. When that happens we reset the target altitude to the new
reading
*/
int32_t glitch_cm = copter.rangefinder_state.alt_cm - target_alt_cm;
const int32_t glitch_cm = copter.rangefinder_state.alt_cm - target_alt_cm;
if (glitch_cm >= RANGEFINDER_GLITCH_ALT_CM) {
copter.rangefinder_state.glitch_count = MAX(copter.rangefinder_state.glitch_count+1,1);
} else if (glitch_cm <= -RANGEFINDER_GLITCH_ALT_CM) {
@ -58,8 +54,8 @@ float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
}
// calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
distance_error = (target_alt_cm - copter.rangefinder_state.alt_cm) - (current_alt_target - current_alt);
velocity_correction = distance_error * copter.g.rangefinder_gain;
const float distance_error = (target_alt_cm - copter.rangefinder_state.alt_cm) - (current_alt_target - current_alt);
float velocity_correction = distance_error * copter.g.rangefinder_gain;
velocity_correction = constrain_float(velocity_correction, -SURFACE_TRACKING_VELZ_MAX, SURFACE_TRACKING_VELZ_MAX);
// return combined pilot climb rate + rate to correct rangefinder alt error
@ -69,7 +65,7 @@ float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
#endif
}
// get surfacing tracking alt
// get target altitude (in cm) above ground
// returns true if there is a valid target
bool Copter::SurfaceTracking::get_target_alt_cm(float &_target_alt_cm) const
{
@ -81,10 +77,17 @@ bool Copter::SurfaceTracking::get_target_alt_cm(float &_target_alt_cm) const
return true;
}
// set surface tracking target altitude
// set target altitude (in cm) above ground
void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm)
{
target_alt_cm = _target_alt_cm;
last_update_ms = AP_HAL::millis();
}
float Copter::SurfaceTracking::logging_target_alt() const
{
if (!valid_for_logging) {
return AP::logger().quiet_nan();
}
return target_alt_cm * 0.01f; // cm->m
}