mirror of https://github.com/ArduPilot/ardupilot
Mount_Servo: Servo functions moved to backend
This commit is contained in:
Randy Mackay
Andrew Tridgell
parent
7df2892b8d
commit
8a9df1c894
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_Mount_Servo.h>
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// init - performs any required initialisation for this instance
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void AP_Mount_Servo::init()
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{
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if (_instance == 0) {
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_roll_idx = RC_Channel_aux::k_mount_roll;
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_tilt_idx = RC_Channel_aux::k_mount_tilt;
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_pan_idx = RC_Channel_aux::k_mount_pan;
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_open_idx = RC_Channel_aux::k_mount_open;
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} else {
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// this must be the 2nd mount
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_roll_idx = RC_Channel_aux::k_mount2_roll;
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_tilt_idx = RC_Channel_aux::k_mount2_tilt;
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_pan_idx = RC_Channel_aux::k_mount2_pan;
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_open_idx = RC_Channel_aux::k_mount2_open;
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}
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// check which servos have been assigned
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check_servo_map();
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}
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// update mount position - should be called periodically
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void AP_Mount_Servo::update()
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{
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static bool mount_open = 0; // 0 is closed
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switch(_frontend.get_mode(_instance)) {
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// move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
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case MAV_MOUNT_MODE_RETRACT:
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{
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_angle_bf_output_deg = _frontend.state[_instance]._retract_angles.get();
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break;
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}
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// move mount to a neutral position, typically pointing forward
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case MAV_MOUNT_MODE_NEUTRAL:
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{
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_angle_bf_output_deg = _frontend.state[_instance]._neutral_angles.get();
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break;
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}
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// point to the angles given by a mavlink message
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case MAV_MOUNT_MODE_MAVLINK_TARGETING:
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{
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// earth-frame angle targets (i.e. _angle_ef_target_rad) should have already been set by a MOUNT_CONTROL message from GCS
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stabilize();
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break;
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}
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// RC radio manual angle control, but with stabilization from the AHRS
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case MAV_MOUNT_MODE_RC_TARGETING:
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{
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#define rc_ch(i) RC_Channel::rc_channel(i-1)
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uint8_t roll_rc_in = _frontend.state[_instance]._roll_rc_in;
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uint8_t tilt_rc_in = _frontend.state[_instance]._tilt_rc_in;
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uint8_t pan_rc_in = _frontend.state[_instance]._pan_rc_in;
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if (_frontend._joystick_speed) { // for spring loaded joysticks
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// allow pilot speed position input to come directly from an RC_Channel
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if (roll_rc_in && rc_ch(roll_rc_in)) {
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_angle_ef_target_rad.x += rc_ch(roll_rc_in)->norm_input_dz() * 0.0001f * _frontend._joystick_speed;
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constrain_float(_angle_ef_target_rad.x, radians(_frontend.state[_instance]._roll_angle_min*0.01f), radians(_frontend.state[_instance]._roll_angle_max*0.01f));
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}
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if (tilt_rc_in && (rc_ch(tilt_rc_in))) {
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_angle_ef_target_rad.y += rc_ch(tilt_rc_in)->norm_input_dz() * 0.0001f * _frontend._joystick_speed;
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constrain_float(_angle_ef_target_rad.y, radians(_frontend.state[_instance]._tilt_angle_min*0.01f), radians(_frontend.state[_instance]._tilt_angle_max*0.01f));
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}
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if (pan_rc_in && (rc_ch(pan_rc_in))) {
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_angle_ef_target_rad.z += rc_ch(pan_rc_in)->norm_input_dz() * 0.0001f * _frontend._joystick_speed;
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constrain_float(_angle_ef_target_rad.z, radians(_frontend.state[_instance]._pan_angle_min*0.01f), radians(_frontend.state[_instance]._pan_angle_max*0.01f));
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}
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} else {
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// allow pilot position input to come directly from an RC_Channel
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if (roll_rc_in && (rc_ch(roll_rc_in))) {
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_angle_ef_target_rad.x = angle_input_rad(rc_ch(roll_rc_in), _frontend.state[_instance]._roll_angle_min, _frontend.state[_instance]._roll_angle_max);
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}
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if (tilt_rc_in && (rc_ch(tilt_rc_in))) {
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_angle_ef_target_rad.y = angle_input_rad(rc_ch(tilt_rc_in), _frontend.state[_instance]._tilt_angle_min, _frontend.state[_instance]._tilt_angle_max);
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}
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if (pan_rc_in && (rc_ch(pan_rc_in))) {
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_angle_ef_target_rad.z = angle_input_rad(rc_ch(pan_rc_in), _frontend.state[_instance]._pan_angle_min, _frontend.state[_instance]._pan_angle_max);
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}
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}
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stabilize();
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break;
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}
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// point mount to a GPS point given by the mission planner
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case MAV_MOUNT_MODE_GPS_POINT:
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{
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if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
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calc_angle_to_location(_frontend.state[_instance]._roi_target, _angle_ef_target_rad);
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stabilize();
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}
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break;
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}
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default:
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//do nothing
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break;
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}
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// move mount to a "retracted position" into the fuselage with a fourth servo
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bool mount_open_new = (_frontend.get_mode(_instance) == MAV_MOUNT_MODE_RETRACT) ? 0 : 1;
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if (mount_open != mount_open_new) {
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mount_open = mount_open_new;
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move_servo(_open_idx, mount_open_new, 0, 1);
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}
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// write the results to the servos
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move_servo(_roll_idx, _angle_bf_output_deg.x*10, _frontend.state[_instance]._roll_angle_min*0.1f, _frontend.state[_instance]._roll_angle_max*0.1f);
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move_servo(_tilt_idx, _angle_bf_output_deg.y*10, _frontend.state[_instance]._tilt_angle_min*0.1f, _frontend.state[_instance]._tilt_angle_max*0.1f);
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move_servo(_pan_idx, _angle_bf_output_deg.z*10, _frontend.state[_instance]._pan_angle_min*0.1f, _frontend.state[_instance]._pan_angle_max*0.1f);
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}
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// set_roi_target - sets target location that mount should attempt to point towards
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void AP_Mount_Servo::set_roi_target(const struct Location &target_loc)
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{
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// set the target gps location
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_frontend.state[_instance]._roi_target = target_loc;
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// set the mode to GPS tracking mode
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_frontend.set_mode(_instance, MAV_MOUNT_MODE_GPS_POINT);
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}
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// private methods
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// check_servo_map - detects which axis we control using the functions assigned to the servos in the RC_Channel_aux
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// should be called periodically (i.e. 1hz or less)
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void AP_Mount_Servo::check_servo_map()
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{
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_flags.roll_control = RC_Channel_aux::function_assigned(_roll_idx);
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_flags.tilt_control = RC_Channel_aux::function_assigned(_tilt_idx);
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_flags.pan_control = RC_Channel_aux::function_assigned(_pan_idx);
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}
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// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target
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void AP_Mount_Servo::calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad)
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{
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float GPS_vector_x = (target.lng-_frontend._current_loc.lng)*cosf(ToRad((_frontend._current_loc.lat+target.lat)*0.00000005f))*0.01113195f;
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float GPS_vector_y = (target.lat-_frontend._current_loc.lat)*0.01113195f;
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float GPS_vector_z = (target.alt-_frontend._current_loc.alt); // baro altitude(IN CM) should be adjusted to known home elevation before take off (Set altimeter).
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float target_distance = 100.0f*pythagorous2(GPS_vector_x, GPS_vector_y); // Careful , centimeters here locally. Baro/alt is in cm, lat/lon is in meters.
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// initialise all angles to zero
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angles_to_target_rad.zero();
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// tilt calcs
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if (_flags.tilt_control) {
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angles_to_target_rad.y = atan2f(GPS_vector_z, target_distance);
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}
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// pan calcs
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if (_flags.pan_control) {
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angles_to_target_rad.z = atan2f(GPS_vector_x, GPS_vector_y);
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}
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}
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// configure_msg - process MOUNT_CONFIGURE messages received from GCS
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void AP_Mount_Servo::configure_msg(mavlink_message_t* msg)
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{
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__mavlink_mount_configure_t packet;
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mavlink_msg_mount_configure_decode(msg, &packet);
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// set mode
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_frontend.set_mode(_instance,(enum MAV_MOUNT_MODE)packet.mount_mode);
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// set which axis are stabilized
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_frontend.state[_instance]._stab_roll = packet.stab_roll;
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_frontend.state[_instance]._stab_tilt = packet.stab_pitch;
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_frontend.state[_instance]._stab_pan = packet.stab_yaw;
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}
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// control_msg - process MOUNT_CONTROL messages received from GCS
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void AP_Mount_Servo::control_msg(mavlink_message_t *msg)
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{
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__mavlink_mount_control_t packet;
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mavlink_msg_mount_control_decode(msg, &packet);
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// interpret message fields based on mode
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switch (_frontend.get_mode(_instance)) {
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case MAV_MOUNT_MODE_RETRACT:
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case MAV_MOUNT_MODE_NEUTRAL:
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// do nothing with request if mount is retracted or in neutral position
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break;
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// set earth frame target angles from mavlink message
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case MAV_MOUNT_MODE_MAVLINK_TARGETING:
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_angle_ef_target_rad.x = packet.input_b*0.01f; // convert roll in centi-degrees to degrees
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_angle_ef_target_rad.y = packet.input_a*0.01f; // convert tilt in centi-degrees to degrees
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_angle_ef_target_rad.z = packet.input_c*0.01f; // convert pan in centi-degrees to degrees
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break;
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// Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
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case MAV_MOUNT_MODE_RC_TARGETING:
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// do nothing if pilot is controlling the roll, pitch and yaw
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break;
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// set lat, lon, alt position targets from mavlink message
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case MAV_MOUNT_MODE_GPS_POINT:
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Location target_location;
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target_location.lat = packet.input_a;
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target_location.lng = packet.input_b;
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target_location.alt = packet.input_c;
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set_roi_target(target_location);
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break;
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default:
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// do nothing
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break;
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}
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}
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// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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void AP_Mount_Servo::status_msg(mavlink_channel_t chan)
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{
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mavlink_msg_mount_status_send(chan, 0, 0, _angle_bf_output_deg.x*100, _angle_bf_output_deg.y*100, _angle_bf_output_deg.z*100);
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}
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// stabilize - stabilizes the mount relative to the Earth's frame
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// input: _angle_ef_target_rad (earth frame targets in radians)
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// output: _angle_bf_output_deg (body frame angles in degrees)
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void AP_Mount_Servo::stabilize()
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{
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// only do the full 3D frame transform if we are doing pan control
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if (_frontend.state[_instance]._stab_pan) {
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Matrix3f m; ///< holds 3 x 3 matrix, var is used as temp in calcs
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Matrix3f cam; ///< Rotation matrix earth to camera. Desired camera from input.
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Matrix3f gimbal_target; ///< Rotation matrix from plane to camera. Then Euler angles to the servos.
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m = _frontend._ahrs.get_dcm_matrix();
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m.transpose();
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cam.from_euler(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z);
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gimbal_target = m * cam;
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gimbal_target.to_euler(&_angle_bf_output_deg.x, &_angle_bf_output_deg.y, &_angle_bf_output_deg.z);
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_angle_bf_output_deg.x = _frontend.state[_instance]._stab_roll ? degrees(_angle_bf_output_deg.x) : degrees(_angle_ef_target_rad.x);
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_angle_bf_output_deg.y = _frontend.state[_instance]._stab_tilt ? degrees(_angle_bf_output_deg.y) : degrees(_angle_ef_target_rad.y);
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_angle_bf_output_deg.z = degrees(_angle_bf_output_deg.z);
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} else {
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// otherwise base mount roll and tilt on the ahrs
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// roll/tilt attitude, plus any requested angle
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_angle_bf_output_deg.x = degrees(_angle_ef_target_rad.x);
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_angle_bf_output_deg.y = degrees(_angle_ef_target_rad.y);
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_angle_bf_output_deg.z = degrees(_angle_ef_target_rad.z);
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if (_frontend.state[_instance]._stab_roll) {
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_angle_bf_output_deg.x -= degrees(_frontend._ahrs.roll);
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}
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if (_frontend.state[_instance]._stab_tilt) {
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_angle_bf_output_deg.y -= degrees(_frontend._ahrs.pitch);
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}
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// lead filter
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const Vector3f &gyro = _frontend._ahrs.get_gyro();
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if (_frontend.state[_instance]._stab_roll && _frontend.state[_instance]._roll_stb_lead != 0.0f && fabsf(_frontend._ahrs.pitch) < M_PI/3.0f) {
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// Compute rate of change of euler roll angle
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float roll_rate = gyro.x + (_frontend._ahrs.sin_pitch() / _frontend._ahrs.cos_pitch()) * (gyro.y * _frontend._ahrs.sin_roll() + gyro.z * _frontend._ahrs.cos_roll());
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_angle_bf_output_deg.x -= degrees(roll_rate) * _frontend.state[_instance]._roll_stb_lead;
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}
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if (_frontend.state[_instance]._stab_tilt && _frontend.state[_instance]._pitch_stb_lead != 0.0f) {
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// Compute rate of change of euler pitch angle
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float pitch_rate = _frontend._ahrs.cos_pitch() * gyro.y - _frontend._ahrs.sin_roll() * gyro.z;
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_angle_bf_output_deg.y -= degrees(pitch_rate) * _frontend.state[_instance]._pitch_stb_lead;
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}
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}
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}
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// returns the angle (degrees*100) that the RC_Channel input is receiving
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int32_t
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AP_Mount_Servo::angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max)
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{
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return (rc->get_reverse() ? -1 : 1) * (rc->radio_in - rc->radio_min) * (int32_t)(angle_max - angle_min) / (rc->radio_max - rc->radio_min) + (rc->get_reverse() ? angle_max : angle_min);
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}
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// returns the angle (radians) that the RC_Channel input is receiving
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float
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AP_Mount_Servo::angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max)
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{
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return radians(angle_input(rc, angle_min, angle_max)*0.01f);
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}
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// closest_limit - returns closest angle to 'angle' taking into account limits. all angles are in degrees * 10
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int16_t AP_Mount_Servo::closest_limit(int16_t angle, int16_t angle_min, int16_t angle_max)
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{
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// Make sure the angle lies in the interval [-180 .. 180[ degrees
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while (angle < -1800) angle += 3600;
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while (angle >= 1800) angle -= 3600;
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// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
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while (angle_min < -1800) angle_min += 3600;
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while (angle_min >= 1800) angle_min -= 3600;
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while (angle_max < -1800) angle_max += 3600;
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while (angle_max >= 1800) angle_max -= 3600;
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// TODO call this function somehow, otherwise this will never work
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//set_range(min, max);
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// If the angle is outside servo limits, saturate the angle to the closest limit
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// On a circle the closest angular position must be carefully calculated to account for wrap-around
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if ((angle < angle_min) && (angle > angle_max)) {
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// angle error if min limit is used
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int16_t err_min = angle_min - angle + (angle<angle_min ? 0 : 3600); // add 360 degrees if on the "wrong side"
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// angle error if max limit is used
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int16_t err_max = angle - angle_max + (angle>angle_max ? 0 : 3600); // add 360 degrees if on the "wrong side"
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angle = err_min<err_max ? angle_min : angle_max;
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}
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return angle;
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}
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// move_servo - moves servo with the given id to the specified angle. all angles are in degrees * 10
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void AP_Mount_Servo::move_servo(uint8_t function_idx, int16_t angle, int16_t angle_min, int16_t angle_max)
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{
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// saturate to the closest angle limit if outside of [min max] angle interval
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int16_t servo_out = closest_limit(angle, angle_min, angle_max);
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RC_Channel_aux::move_servo((RC_Channel_aux::Aux_servo_function_t)function_idx, servo_out, angle_min, angle_max);
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}
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@ -0,0 +1,95 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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Servo controlled mount backend class
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*/
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#ifndef __AP_MOUNT_SERVO_H__
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#define __AP_MOUNT_SERVO_H__
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#include <AP_Math.h>
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#include <AP_Common.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <GCS_MAVLink.h>
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#include <RC_Channel_aux.h>
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#include "AP_Mount_Backend.h"
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class AP_Mount_Servo : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Servo(AP_Mount &frontend, uint8_t instance):
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AP_Mount_Backend(frontend, instance),
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_roll_idx(RC_Channel_aux::k_none),
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_tilt_idx(RC_Channel_aux::k_none),
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_pan_idx(RC_Channel_aux::k_none),
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_open_idx(RC_Channel_aux::k_none)
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{
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// init to no axis being controlled
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_flags.roll_control = false;
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_flags.tilt_control = false;
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_flags.pan_control = false;
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}
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// init - performs any required initialisation for this instance
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virtual void init();
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// update mount position - should be called periodically
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virtual void update();
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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virtual bool has_pan_control() const { return _flags.pan_control; }
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// set_roi_target - sets target location that mount should attempt to point towards
|
||||
virtual void set_roi_target(const struct Location &target_loc);
|
||||
|
||||
// configure_msg - process MOUNT_CONFIGURE messages received from GCS
|
||||
virtual void configure_msg(mavlink_message_t* msg);
|
||||
|
||||
// control_msg - process MOUNT_CONTROL messages received from GCS
|
||||
virtual void control_msg(mavlink_message_t* msg);
|
||||
|
||||
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
|
||||
virtual void status_msg(mavlink_channel_t chan);
|
||||
|
||||
private:
|
||||
|
||||
// flags structure
|
||||
struct {
|
||||
bool roll_control :1; // true if mount has roll control
|
||||
bool tilt_control :1; // true if mount has tilt control
|
||||
bool pan_control :1; // true if mount has pan control
|
||||
} _flags;
|
||||
|
||||
// check_servo_map - detects which axis we control (i.e. _flags) using the functions assigned to the servos in the RC_Channel_aux
|
||||
// should be called periodically (i.e. 1hz or less)
|
||||
void check_servo_map();
|
||||
|
||||
// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target
|
||||
void calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad);
|
||||
|
||||
// stabilize - stabilizes the mount relative to the Earth's frame
|
||||
void stabilize();
|
||||
|
||||
// angle_input, angle_input_rad - convert RC input into an earth-frame target angle
|
||||
int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
|
||||
float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
|
||||
|
||||
// closest_limit - returns closest angle to 'angle' taking into account limits. all angles are in degrees * 10
|
||||
int16_t closest_limit(int16_t angle, int16_t angle_min, int16_t angle_max);
|
||||
|
||||
/// move_servo - moves servo with the given id to the specified angle. all angles are in degrees * 10
|
||||
void move_servo(uint8_t rc, int16_t angle, int16_t angle_min, int16_t angle_max);
|
||||
|
||||
// RC_Channel_aux - different id numbers are used depending upon the instance number
|
||||
RC_Channel_aux::Aux_servo_function_t _roll_idx; // RC_Channel_aux mount roll function index
|
||||
RC_Channel_aux::Aux_servo_function_t _tilt_idx; // RC_Channel_aux mount tilt function index
|
||||
RC_Channel_aux::Aux_servo_function_t _pan_idx; // RC_Channel_aux mount pan function index
|
||||
RC_Channel_aux::Aux_servo_function_t _open_idx; // RC_Channel_aux mount open function index
|
||||
|
||||
Vector3f _angle_ef_target_rad; // desired earth-frame roll, tilt and pan angles in radians
|
||||
Vector3f _angle_bf_output_deg; // final body frame output angle in degres
|
||||
};
|
||||
|
||||
#endif // __AP_MOUNT_SERVO_H__
|
||||
Loading…
Reference in New Issue