From 95a13bdbd23f0bcf5f3a66df8ad9ab6bf3f4e51e Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Fri, 12 Oct 2012 10:53:42 -0700
Subject: [PATCH] APM_Control: ported to AP_HAL
Unable to test since there are no unit tests.
---
libraries/APM_Control/AP_PitchController.cpp | 12 +++++++++---
libraries/APM_Control/AP_PitchController.h | 7 +++----
libraries/APM_Control/AP_RollController.cpp | 5 ++++-
libraries/APM_Control/AP_RollController.h | 7 +++----
libraries/APM_Control/AP_YawController.cpp | 15 +++++++++------
libraries/APM_Control/AP_YawController.h | 7 +++----
6 files changed, 31 insertions(+), 22 deletions(-)
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index bec4ac0a5d..1d950edb35 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -8,8 +8,11 @@
// version 2.1 of the License, or (at your option) any later version.
#include <math.h>
+#include <AP_HAL.h>
#include "AP_PitchController.h"
+extern const AP_HAL::HAL& hal;
+
const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
AP_GROUPINFO("AP", 0, AP_PitchController, _kp_angle, 1.0),
AP_GROUPINFO("FF", 1, AP_PitchController, _kp_ff, 0.4),
@@ -24,7 +27,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
int32_t AP_PitchController::get_servo_out(int32_t angle, float scaler, bool stabilize)
{
- uint32_t tnow = millis();
+ uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;
if (_last_t == 0 || dt > 1000) {
@@ -52,8 +55,11 @@ int32_t AP_PitchController::get_servo_out(int32_t angle, float scaler, bool stab
int32_t desired_rate = angle_err * _kp_angle;
- if (_max_rate_neg && desired_rate < -_max_rate_neg) desired_rate = -_max_rate_neg;
- else if (_max_rate_pos && desired_rate > _max_rate_pos) desired_rate = _max_rate_pos;
+ if (_max_rate_neg && desired_rate < -_max_rate_neg) {
+ desired_rate = -_max_rate_neg;
+ } else if (_max_rate_pos && desired_rate > _max_rate_pos) {
+ desired_rate = _max_rate_pos;
+ }
desired_rate *= roll_scaler;
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index 3dd6552fbe..c3264e2afb 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -1,9 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-#ifndef AP_PitchController_h
-#define AP_PitchController_h
+#ifndef __AP_PITCH_CONTROLLER_H__
+#define __AP_PITCH_CONTROLLER_H__
-#include <FastSerial.h>
#include <AP_AHRS.h>
#include <AP_Common.h>
#include <math.h> // for fabs()
@@ -42,4 +41,4 @@ private:
static const uint8_t _fCut = 20;
};
-#endif
+#endif // __AP_PITCH_CONTROLLER_H__
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index 89cfcbe82e..2499c80716 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -8,9 +8,12 @@
// version 2.1 of the License, or (at your option) any later version.
#include <math.h>
+#include <AP_HAL.h>
#include "AP_RollController.h"
+extern const AP_HAL::HAL& hal;
+
const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
AP_GROUPINFO("AP", 0, AP_RollController, _kp_angle, 1.0),
AP_GROUPINFO("FF", 1, AP_RollController, _kp_ff, 0.4),
@@ -23,7 +26,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
int32_t AP_RollController::get_servo_out(int32_t angle, float scaler, bool stabilize)
{
- uint32_t tnow = millis();
+ uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;
if (_last_t == 0 || dt > 1000) {
dt = 0;
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index dd2cf8c8f4..2565d08333 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -1,9 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-#ifndef AP_RollController_h
-#define AP_RollController_h
+#ifndef __AP_ROLL_CONTROLLER_H__
+#define __AP_ROLL_CONTROLLER_H__
-#include <FastSerial.h>
#include <AP_AHRS.h>
#include <AP_Common.h>
#include <math.h> // for fabs()
@@ -40,4 +39,4 @@ private:
static const uint8_t _fCut = 20;
};
-#endif
+#endif // __AP_ROLL_CONTROLLER_H__
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 396510b736..03acdc4984 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -8,9 +8,11 @@
// version 2.1 of the License, or (at your option) any later version.
#include <math.h>
-
+#include <AP_HAL.h>
#include "AP_YawController.h"
+extern const AP_HAL::HAL& hal;
+
const AP_Param::GroupInfo AP_YawController::var_info[] PROGMEM = {
AP_GROUPINFO("P", 0, AP_YawController, _kp, 0),
AP_GROUPINFO("I", 1, AP_YawController, _ki, 0),
@@ -20,7 +22,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] PROGMEM = {
int32_t AP_YawController::get_servo_out(float scaler, bool stick_movement)
{
- uint32_t tnow = millis();
+ uint32_t tnow = hal.scheduler->millis();
uint32_t dt = tnow - _last_t;
if (_last_t == 0 || dt > 1000) {
dt = 0;
@@ -46,8 +48,10 @@ int32_t AP_YawController::get_servo_out(float scaler, bool stick_movement)
Vector3f accels = _ins->get_accel();
- // I didn't pull 512 out of a hat - it is a (very) loose approximation of 100*ToDeg(asin(-accels.y/9.81))
- // which, with a P of 1.0, would mean that your rudder angle would be equal to your roll angle when
+ // I didn't pull 512 out of a hat - it is a (very) loose approximation of
+ // 100*ToDeg(asin(-accels.y/9.81))
+ // which, with a P of 1.0, would mean that your rudder angle would be
+ // equal to your roll angle when
// the plane is still. Thus we have an (approximate) unit to go by.
float error = 512 * -accels.y;
@@ -58,8 +62,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool stick_movement)
_last_error = error;
// integrator
if(_freeze_start_time < (tnow - 2000)) {
- if ((fabs(_ki) > 0) && (dt > 0))
- {
+ if ((fabs(_ki) > 0) && (dt > 0)) {
_integrator += (error * _ki) * scaler * delta_time;
if (_integrator < -_imax) _integrator = -_imax;
else if (_integrator > _imax) _integrator = _imax;
diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h
index 693db2021f..b735cadb9a 100644
--- a/libraries/APM_Control/AP_YawController.h
+++ b/libraries/APM_Control/AP_YawController.h
@@ -1,9 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-#ifndef AP_YawController_h
-#define AP_YawController_h
+#ifndef __AP_YAW_CONTROLLER_H__
+#define __AP_YAW_CONTROLLER_H__
-#include <FastSerial.h>
#include <AP_AHRS.h>
#include <AP_Common.h>
#include <math.h> // for fabs()
@@ -42,4 +41,4 @@ private:
static const float _fCut = FCUT(.5);
};
-#endif
+#endif // __AP_YAW_CONTROLLER_H__