mirror of https://github.com/ArduPilot/ardupilot
Sub: Implement guided mode
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@ -839,6 +839,7 @@ private:
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void translate_wpnav_rp(float &lateral_out, float &forward_out);
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void translate_circle_nav_rp(float &lateral_out, float &forward_out);
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void translate_pos_control_rp(float &lateral_out, float &forward_out);
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bool surface_init(bool ignore_flags);
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void surface_run();
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@ -36,17 +36,15 @@ struct Guided_Limit {
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// guided_init - initialise guided controller
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bool Sub::guided_init(bool ignore_checks)
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{
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return false; // Not implemented
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// if (position_ok() || ignore_checks) {
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// // initialise yaw
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// set_auto_yaw_mode(get_default_auto_yaw_mode(false));
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// // start in position control mode
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// guided_pos_control_start();
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// return true;
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// }else{
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// return false;
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// }
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if (position_ok() || ignore_checks) {
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// initialise yaw
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set_auto_yaw_mode(get_default_auto_yaw_mode(false));
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// start in position control mode
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guided_pos_control_start();
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return true;
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}else{
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return false;
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}
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}
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// initialise guided mode's position controller
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@ -304,16 +302,23 @@ void Sub::guided_pos_control_run()
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// run waypoint controller
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failsafe_terrain_set_status(wp_nav.update_wpnav());
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float lateral_out, forward_out;
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translate_wpnav_rp(lateral_out, forward_out);
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// Send to forward/lateral outputs
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motors.set_lateral(lateral_out);
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motors.set_forward(forward_out);
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// call z-axis position controller (wpnav should have already updated it's alt target)
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pos_control.update_z_controller();
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// call attitude controller
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if (auto_yaw_mode == AUTO_YAW_HOLD) {
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate, get_smoothing_gain());
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} else {
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// roll, pitch from waypoint controller, yaw heading from auto_heading()
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attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true, get_smoothing_gain());
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}
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}
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@ -354,13 +359,20 @@ void Sub::guided_vel_control_run()
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// call velocity controller which includes z axis controller
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pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
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float lateral_out, forward_out;
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translate_pos_control_rp(lateral_out, forward_out);
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// Send to forward/lateral outputs
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motors.set_lateral(lateral_out);
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motors.set_forward(forward_out);
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// call attitude controller
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if (auto_yaw_mode == AUTO_YAW_HOLD) {
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate, get_smoothing_gain());
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} else {
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// roll, pitch from waypoint controller, yaw heading from auto_heading()
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attitude_control.input_euler_angle_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true, get_smoothing_gain());
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}
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}
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@ -421,15 +433,22 @@ void Sub::guided_posvel_control_run()
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pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler, false);
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}
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float lateral_out, forward_out;
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translate_pos_control_rp(lateral_out, forward_out);
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// Send to forward/lateral outputs
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motors.set_lateral(lateral_out);
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motors.set_forward(forward_out);
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pos_control.update_z_controller();
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// call attitude controller
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if (auto_yaw_mode == AUTO_YAW_HOLD) {
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate, get_smoothing_gain());
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} else {
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// roll, pitch from waypoint controller, yaw heading from auto_heading()
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attitude_control.input_euler_angle_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true, get_smoothing_gain());
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}
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}
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@ -229,7 +229,22 @@ void Sub::translate_circle_nav_rp(float &lateral_out, float &forward_out)
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int32_t forward = -circle_nav.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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// The outputs of wp_nav.get_roll and get_pitch should already be constrained to these values
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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}
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// translate pos_control roll/pitch outputs to lateral/forward
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void Sub::translate_pos_control_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = pos_control.get_roll();
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int32_t forward = -pos_control.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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