mirror of https://github.com/ArduPilot/ardupilot
Blimp: Remove extra defines and other code, fixup some formatting and naming
This commit is contained in:
Michelle Rossouw
Andrew Tridgell
parent
de0dcdd9e4
commit
b5d22ce47c
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@ -364,8 +364,8 @@ private:
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void Log_Write_Data(LogDataID id, float value);
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void Log_Write_Data(LogDataID id, float value);
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void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
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void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
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void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
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void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
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void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
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void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);
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void Log_Write_Vehicle_Startup_Messages();
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void Log_Write_Vehicle_Startup_Messages();
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void log_init(void);
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void log_init(void);
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void Write_FINI(float right, float front, float down, float yaw);
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void Write_FINI(float right, float front, float down, float yaw);
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@ -382,7 +382,7 @@ private:
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void notify_flight_mode();
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void notify_flight_mode();
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// mode_land.cpp
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// mode_land.cpp
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void set_mode_land_with_pause(ModeReason reason);
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void set_mode_land_failsafe(ModeReason reason);
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bool landing_with_GPS();
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bool landing_with_GPS();
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// // motors.cpp
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// // motors.cpp
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@ -102,7 +102,7 @@ int16_t GCS_MAVLINK_Blimp::vfr_hud_throttle() const
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*/
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*/
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void GCS_MAVLINK_Blimp::send_pid_tuning()
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void GCS_MAVLINK_Blimp::send_pid_tuning()
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{
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{
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if(blimp.control_mode == Mode::Number::MANUAL || blimp.control_mode == Mode::Number::LAND) {
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if (blimp.control_mode == Mode::Number::MANUAL || blimp.control_mode == Mode::Number::LAND) {
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//No PIDs are used in Manual or Land mode.
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//No PIDs are used in Manual or Land mode.
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return;
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return;
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}
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}
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@ -92,7 +92,9 @@ void Blimp::Log_Write_PIDs()
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// Write an attitude packet
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// Write an attitude packet
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void Blimp::Log_Write_Attitude()
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void Blimp::Log_Write_Attitude()
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{
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{
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//Attitude targets are all zero since Blimp doesn't have attitude control,
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//but the rest of the log message is useful.
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ahrs.Write_Attitude(Vector3f{0,0,0});
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}
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}
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// Write an EKF and POS packet
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// Write an EKF and POS packet
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@ -232,7 +234,6 @@ tuning_max : tune_max
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
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logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
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}
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}
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// type and unit information can be found in
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// type and unit information can be found in
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
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// libraries/AP_Logger/Logstructure.h; search for "log_Units" for
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// units and "Format characters" for field type information
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// units and "Format characters" for field type information
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@ -403,8 +404,6 @@ void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
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void Blimp::Log_Write_Data(LogDataID id, float value) {}
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void Blimp::Log_Write_Data(LogDataID id, float value) {}
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void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
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void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
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void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
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void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
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void Blimp::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {}
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void Blimp::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z) {}
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void Blimp::Log_Write_Vehicle_Startup_Messages() {}
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void Blimp::Log_Write_Vehicle_Startup_Messages() {}
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void Blimp::log_init(void) {}
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void Blimp::log_init(void) {}
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@ -53,15 +53,6 @@ const AP_Param::Info Blimp::var_info[] = {
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// @Increment: .5
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// @Increment: .5
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GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
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GSCALAR(throttle_filt, "PILOT_THR_FILT", 0),
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// @Param: PILOT_TKOFF_ALT
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// @DisplayName: Pilot takeoff altitude
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// @Description: Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.
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// @User: Standard
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// @Units: cm
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// @Range: 0.0 1000.0
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// @Increment: 10
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GSCALAR(pilot_takeoff_alt, "PILOT_TKOFF_ALT", PILOT_TKOFF_ALT_DEFAULT),
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// @Param: PILOT_THR_BHV
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// @Param: PILOT_THR_BHV
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// @DisplayName: Throttle stick behavior
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// @DisplayName: Throttle stick behavior
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// @Description: Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
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// @Description: Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
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@ -184,7 +175,7 @@ const AP_Param::Info Blimp::var_info[] = {
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// @Param: LOG_BITMASK
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// @Param: LOG_BITMASK
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// @DisplayName: Log bitmask
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// @DisplayName: Log bitmask
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// @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.
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// @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.
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// @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,6:RC Input,7:IMU,9:Battery Monitor,10:RC Output,11:Optical Flow,12:PID,13:Compass
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// @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,6:RC Input,7:IMU,9:Battery Monitor,10:RC Output,12:PID,13:Compass
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// @User: Standard
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// @User: Standard
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GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
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GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
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@ -272,7 +263,7 @@ const AP_Param::Info Blimp::var_info[] = {
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// @Param: DIS_MASK
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// @Param: DIS_MASK
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// @DisplayName: Disable output mask
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// @DisplayName: Disable output mask
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// @Description: Mask for disabling one or more of the 4 output axis in mode Velocity or Loiter
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// @Description: Mask for disabling (setting to zero) one or more of the 4 output axis in mode Velocity or Loiter
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// @Values: 0:All enabled,1:Right,2:Front,4:Down,8:Yaw,3:Down and Yaw only,12:Front & Right only
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// @Values: 0:All enabled,1:Right,2:Front,4:Down,8:Yaw,3:Down and Yaw only,12:Front & Right only
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// @Bitmask: 0:Right,1:Front,2:Down,3:Yaw
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// @Bitmask: 0:Right,1:Front,2:Down,3:Yaw
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// @User: Standard
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// @User: Standard
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@ -87,7 +87,7 @@ public:
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k_param_log_bitmask,
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k_param_log_bitmask,
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k_param_throttle_filt,
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k_param_throttle_filt,
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k_param_throttle_behavior,
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k_param_throttle_behavior,
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k_param_pilot_takeoff_alt,
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k_param_pilot_takeoff_alt, //unused
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// AP_ADSB Library
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// AP_ADSB Library
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k_param_adsb,
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k_param_adsb,
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@ -136,7 +136,7 @@ public:
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k_param_gcs2,
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k_param_gcs2,
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k_param_serial_manager,
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k_param_serial_manager,
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k_param_gcs3,
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k_param_gcs3,
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k_param_gcs_pid_mask, // 126
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k_param_gcs_pid_mask,
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k_param_gcs4,
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k_param_gcs4,
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k_param_gcs5,
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k_param_gcs5,
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k_param_gcs6,
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k_param_gcs6,
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@ -214,7 +214,6 @@ public:
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AP_Float throttle_filt;
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AP_Float throttle_filt;
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AP_Int16 throttle_behavior;
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AP_Int16 throttle_behavior;
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AP_Float pilot_takeoff_alt;
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AP_Int8 failsafe_gcs; // ground station failsafe behavior
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AP_Int8 failsafe_gcs; // ground station failsafe behavior
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
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AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
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317
Blimp/config.h
317
Blimp/config.h
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@ -22,13 +22,6 @@
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# define ARMING_DELAY_SEC 2.0f
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# define ARMING_DELAY_SEC 2.0f
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG MULTICOPTER_FRAME
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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// PWM control
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// default RC speed in Hz
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// default RC speed in Hz
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@ -36,53 +29,6 @@
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# define RC_FAST_SPEED 490
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# define RC_FAST_SPEED 490
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rangefinder
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//
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#ifndef RANGEFINDER_ENABLED
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# define RANGEFINDER_ENABLED ENABLED
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#endif
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#ifndef RANGEFINDER_HEALTH_MAX
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# define RANGEFINDER_HEALTH_MAX 3 // number of good reads that indicates a healthy rangefinder
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#endif
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#ifndef RANGEFINDER_TIMEOUT_MS
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# define RANGEFINDER_TIMEOUT_MS 1000 // rangefinder filter reset if no updates from sensor in 1 second
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#endif
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#ifndef RANGEFINDER_GAIN_DEFAULT
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# define RANGEFINDER_GAIN_DEFAULT 0.8f // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
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#endif
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#ifndef SURFACE_TRACKING_TIMEOUT_MS
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# define SURFACE_TRACKING_TIMEOUT_MS 1000 // surface tracking target alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
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#endif
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#ifndef RANGEFINDER_WPNAV_FILT_HZ
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# define RANGEFINDER_WPNAV_FILT_HZ 0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
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#endif
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#ifndef RANGEFINDER_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF
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# define RANGEFINDER_TILT_CORRECTION ENABLED
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#endif
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#ifndef RANGEFINDER_GLITCH_ALT_CM
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# define RANGEFINDER_GLITCH_ALT_CM 200 // amount of rangefinder change to be considered a glitch
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#endif
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#ifndef RANGEFINDER_GLITCH_NUM_SAMPLES
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# define RANGEFINDER_GLITCH_NUM_SAMPLES 3 // number of rangefinder glitches in a row to take new reading
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Proximity sensor
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//
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#ifndef PROXIMITY_ENABLED
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# define PROXIMITY_ENABLED ENABLED
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#endif
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#ifndef MAV_SYSTEM_ID
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#ifndef MAV_SYSTEM_ID
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# define MAV_SYSTEM_ID 1
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# define MAV_SYSTEM_ID 1
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#endif
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#endif
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@ -125,100 +71,9 @@
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto Tuning
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#ifndef AUTOTUNE_ENABLED
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# define AUTOTUNE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Parachute release
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#ifndef PARACHUTE
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# define PARACHUTE HAL_PARACHUTE_ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Acro - fly vehicle in acrobatic mode
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#ifndef MODE_ACRO_ENABLED
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# define MODE_ACRO_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Auto mode - allows vehicle to trace waypoints and perform automated actions
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#ifndef MODE_AUTO_ENABLED
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# define MODE_AUTO_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Brake mode - bring vehicle to stop
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#ifndef MODE_BRAKE_ENABLED
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# define MODE_BRAKE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Circle - fly vehicle around a central point
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#ifndef MODE_CIRCLE_ENABLED
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# define MODE_CIRCLE_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Drift - fly vehicle in altitude-held, coordinated-turn mode
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#ifndef MODE_DRIFT_ENABLED
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# define MODE_DRIFT_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// flip - fly vehicle in flip in pitch and roll direction mode
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#ifndef MODE_FLIP_ENABLED
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# define MODE_FLIP_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Guided mode - control vehicle's position or angles from GCS
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#ifndef MODE_GUIDED_ENABLED
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# define MODE_GUIDED_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter mode - allows vehicle to hold global position
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#ifndef MODE_LOITER_ENABLED
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# define MODE_LOITER_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Position Hold - enable holding of global position
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#ifndef MODE_POSHOLD_ENABLED
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# define MODE_POSHOLD_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RTL - Return To Launch
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#ifndef MODE_RTL_ENABLED
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# define MODE_RTL_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
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#ifndef MODE_SMARTRTL_ENABLED
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# define MODE_SMARTRTL_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// FLIGHT_MODE
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// FLIGHT_MODE
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//
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//
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#ifndef FLIGHT_MODE_1
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#ifndef FLIGHT_MODE_1
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# define FLIGHT_MODE_1 Mode::Number::MANUAL
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# define FLIGHT_MODE_1 Mode::Number::MANUAL
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#endif
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#endif
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@ -238,7 +93,6 @@
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# define FLIGHT_MODE_6 Mode::Number::MANUAL
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# define FLIGHT_MODE_6 Mode::Number::MANUAL
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// Throttle Failsafe
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// Throttle Failsafe
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//
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//
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@ -246,188 +100,17 @@
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# define FS_THR_VALUE_DEFAULT 975
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# define FS_THR_VALUE_DEFAULT 975
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#endif
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#endif
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||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Takeoff
|
|
||||||
//
|
|
||||||
#ifndef PILOT_TKOFF_ALT_DEFAULT
|
|
||||||
# define PILOT_TKOFF_ALT_DEFAULT 0 // default final alt above home for pilot initiated takeoff
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Landing
|
|
||||||
//
|
|
||||||
#ifndef LAND_SPEED
|
|
||||||
# define LAND_SPEED 50 // the descent speed for the final stage of landing in cm/s
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_REPOSITION_DEFAULT
|
|
||||||
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_WITH_DELAY_MS
|
|
||||||
# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_CANCEL_TRIGGER_THR
|
|
||||||
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_RANGEFINDER_MIN_ALT_CM
|
|
||||||
#define LAND_RANGEFINDER_MIN_ALT_CM 200
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Landing Detector
|
|
||||||
//
|
|
||||||
#ifndef LAND_DETECTOR_TRIGGER_SEC
|
|
||||||
# define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
|
|
||||||
# define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
|
|
||||||
# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter
|
|
||||||
#endif
|
|
||||||
#ifndef LAND_DETECTOR_ACCEL_MAX
|
|
||||||
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Flight mode definitions
|
|
||||||
//
|
|
||||||
|
|
||||||
// Acro Mode
|
|
||||||
#ifndef ACRO_RP_P
|
|
||||||
# define ACRO_RP_P 4.5f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_YAW_P
|
|
||||||
# define ACRO_YAW_P 4.5f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_LEVEL_MAX_ANGLE
|
|
||||||
# define ACRO_LEVEL_MAX_ANGLE 3000
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_BALANCE_ROLL
|
|
||||||
#define ACRO_BALANCE_ROLL 1.0f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_BALANCE_PITCH
|
|
||||||
#define ACRO_BALANCE_PITCH 1.0f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_RP_EXPO_DEFAULT
|
|
||||||
#define ACRO_RP_EXPO_DEFAULT 0.3f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_Y_EXPO_DEFAULT
|
|
||||||
#define ACRO_Y_EXPO_DEFAULT 0.0f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef ACRO_THR_MID_DEFAULT
|
|
||||||
#define ACRO_THR_MID_DEFAULT 0.0f
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// RTL Mode
|
|
||||||
#ifndef RTL_ALT_FINAL
|
|
||||||
# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_ALT
|
|
||||||
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_ALT_MIN
|
|
||||||
# define RTL_ALT_MIN 200 // min height above ground for RTL (i.e 2m)
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_CLIMB_MIN_DEFAULT
|
|
||||||
# define RTL_CLIMB_MIN_DEFAULT 0 // vehicle will always climb this many cm as first stage of RTL
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_ABS_MIN_CLIMB
|
|
||||||
# define RTL_ABS_MIN_CLIMB 250 // absolute minimum initial climb
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_CONE_SLOPE_DEFAULT
|
|
||||||
# define RTL_CONE_SLOPE_DEFAULT 3.0f // slope of RTL cone (height / distance). 0 = No cone
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_MIN_CONE_SLOPE
|
|
||||||
# define RTL_MIN_CONE_SLOPE 0.5f // minimum slope of cone
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef RTL_LOITER_TIME
|
|
||||||
# define RTL_LOITER_TIME 5000 // Time (in milliseconds) to loiter above home before beginning final descent
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// AUTO Mode
|
|
||||||
#ifndef WP_YAW_BEHAVIOR_DEFAULT
|
|
||||||
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef YAW_LOOK_AHEAD_MIN_SPEED
|
|
||||||
# define YAW_LOOK_AHEAD_MIN_SPEED 100 // minimum ground speed in cm/s required before blimp is aimed at ground course
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Stabilize Rate Control
|
|
||||||
//
|
|
||||||
#ifndef ROLL_PITCH_YAW_INPUT_MAX
|
|
||||||
# define ROLL_PITCH_YAW_INPUT_MAX 4500 // roll, pitch and yaw input range
|
|
||||||
#endif
|
|
||||||
#ifndef DEFAULT_ANGLE_MAX
|
|
||||||
# define DEFAULT_ANGLE_MAX 4500 // ANGLE_MAX parameters default value
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Stop mode defaults
|
|
||||||
//
|
|
||||||
#ifndef BRAKE_MODE_SPEED_Z
|
|
||||||
# define BRAKE_MODE_SPEED_Z 250 // z-axis speed in cm/s in Brake Mode
|
|
||||||
#endif
|
|
||||||
#ifndef BRAKE_MODE_DECEL_RATE
|
|
||||||
# define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// PosHold parameter defaults
|
|
||||||
//
|
|
||||||
#ifndef POSHOLD_BRAKE_RATE_DEFAULT
|
|
||||||
# define POSHOLD_BRAKE_RATE_DEFAULT 8 // default POSHOLD_BRAKE_RATE param value. Rotation rate during braking in deg/sec
|
|
||||||
#endif
|
|
||||||
#ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
|
|
||||||
# define POSHOLD_BRAKE_ANGLE_DEFAULT 3000 // default POSHOLD_BRAKE_ANGLE param value. Max lean angle during braking in centi-degrees
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////////////////////
|
||||||
// Throttle control defaults
|
// Throttle control defaults
|
||||||
//
|
//
|
||||||
|
|
||||||
#ifndef THR_DZ_DEFAULT
|
#ifndef THR_DZ_DEFAULT
|
||||||
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
|
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// default maximum vertical velocity and acceleration the pilot may request
|
|
||||||
#ifndef PILOT_VELZ_MAX
|
|
||||||
# define PILOT_VELZ_MAX 250 // maximum vertical velocity in cm/s
|
|
||||||
#endif
|
|
||||||
#ifndef PILOT_ACCEL_Z_DEFAULT
|
|
||||||
# define PILOT_ACCEL_Z_DEFAULT 250 // vertical acceleration in cm/s/s while altitude is under pilot control
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifndef AUTO_DISARMING_DELAY
|
#ifndef AUTO_DISARMING_DELAY
|
||||||
# define AUTO_DISARMING_DELAY 10
|
# define AUTO_DISARMING_DELAY 10
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Throw mode configuration
|
|
||||||
//
|
|
||||||
#ifndef THROW_HIGH_SPEED
|
|
||||||
# define THROW_HIGH_SPEED 500.0f // vehicle much reach this total 3D speed in cm/s (or be free falling)
|
|
||||||
#endif
|
|
||||||
#ifndef THROW_VERTICAL_SPEED
|
|
||||||
# define THROW_VERTICAL_SPEED 50.0f // motors start when vehicle reaches this total 3D speed in cm/s
|
|
||||||
#endif
|
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////////////////////
|
||||||
// Logging control
|
// Logging control
|
||||||
//
|
//
|
||||||
|
|
|
||||||
108
Blimp/defines.h
108
Blimp/defines.h
|
|
@ -10,111 +10,6 @@
|
||||||
#define ENABLE ENABLED
|
#define ENABLE ENABLED
|
||||||
#define DISABLE DISABLED
|
#define DISABLE DISABLED
|
||||||
|
|
||||||
// Autopilot Yaw Mode enumeration
|
|
||||||
enum autopilot_yaw_mode {
|
|
||||||
AUTO_YAW_HOLD = 0, // pilot controls the heading
|
|
||||||
AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
|
|
||||||
AUTO_YAW_ROI = 2, // point towards a location held in roi (no pilot input accepted)
|
|
||||||
AUTO_YAW_FIXED = 3, // point towards a particular angle (no pilot input accepted)
|
|
||||||
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the blimp is moving
|
|
||||||
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed
|
|
||||||
AUTO_YAW_RATE = 6, // turn at a specified rate (held in auto_yaw_rate)
|
|
||||||
AUTO_YAW_CIRCLE = 7, // use AC_Circle's provided yaw (used during Loiter-Turns commands)
|
|
||||||
};
|
|
||||||
|
|
||||||
// Frame types
|
|
||||||
#define UNDEFINED_FRAME 0
|
|
||||||
#define MULTICOPTER_FRAME 1
|
|
||||||
#define HELI_FRAME 2
|
|
||||||
|
|
||||||
// Tuning enumeration
|
|
||||||
enum tuning_func {
|
|
||||||
TUNING_NONE = 0, //
|
|
||||||
TUNING_STABILIZE_ROLL_PITCH_KP = 1, // stabilize roll/pitch angle controller's P term
|
|
||||||
TUNING_STABILIZE_YAW_KP = 3, // stabilize yaw heading controller's P term
|
|
||||||
TUNING_RATE_ROLL_PITCH_KP = 4, // body frame roll/pitch rate controller's P term
|
|
||||||
TUNING_RATE_ROLL_PITCH_KI = 5, // body frame roll/pitch rate controller's I term
|
|
||||||
TUNING_YAW_RATE_KP = 6, // body frame yaw rate controller's P term
|
|
||||||
TUNING_THROTTLE_RATE_KP = 7, // throttle rate controller's P term (desired rate to acceleration or motor output)
|
|
||||||
TUNING_WP_SPEED = 10, // maximum speed to next way point (0 to 10m/s)
|
|
||||||
TUNING_LOITER_POSITION_KP = 12, // loiter distance controller's P term (position error to speed)
|
|
||||||
TUNING_HELI_EXTERNAL_GYRO = 13, // TradHeli specific external tail gyro gain
|
|
||||||
TUNING_ALTITUDE_HOLD_KP = 14, // altitude hold controller's P term (alt error to desired rate)
|
|
||||||
TUNING_RATE_ROLL_PITCH_KD = 21, // body frame roll/pitch rate controller's D term
|
|
||||||
TUNING_VEL_XY_KP = 22, // loiter rate controller's P term (speed error to tilt angle)
|
|
||||||
TUNING_ACRO_RP_KP = 25, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
|
|
||||||
TUNING_YAW_RATE_KD = 26, // body frame yaw rate controller's D term
|
|
||||||
TUNING_VEL_XY_KI = 28, // loiter rate controller's I term (speed error to tilt angle)
|
|
||||||
TUNING_AHRS_YAW_KP = 30, // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
|
|
||||||
TUNING_AHRS_KP = 31, // accelerometer effect on roll/pitch angle (0=low)
|
|
||||||
TUNING_ACCEL_Z_KP = 34, // accel based throttle controller's P term
|
|
||||||
TUNING_ACCEL_Z_KI = 35, // accel based throttle controller's I term
|
|
||||||
TUNING_ACCEL_Z_KD = 36, // accel based throttle controller's D term
|
|
||||||
TUNING_DECLINATION = 38, // compass declination in radians
|
|
||||||
TUNING_CIRCLE_RATE = 39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
|
|
||||||
TUNING_ACRO_YAW_KP = 40, // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
|
|
||||||
TUNING_RANGEFINDER_GAIN = 41, // rangefinder gain
|
|
||||||
TUNING_EKF_VERTICAL_POS = 42, // unused
|
|
||||||
TUNING_EKF_HORIZONTAL_POS = 43, // unused
|
|
||||||
TUNING_EKF_ACCEL_NOISE = 44, // unused
|
|
||||||
TUNING_RC_FEEL_RP = 45, // roll-pitch input smoothing
|
|
||||||
TUNING_RATE_PITCH_KP = 46, // body frame pitch rate controller's P term
|
|
||||||
TUNING_RATE_PITCH_KI = 47, // body frame pitch rate controller's I term
|
|
||||||
TUNING_RATE_PITCH_KD = 48, // body frame pitch rate controller's D term
|
|
||||||
TUNING_RATE_ROLL_KP = 49, // body frame roll rate controller's P term
|
|
||||||
TUNING_RATE_ROLL_KI = 50, // body frame roll rate controller's I term
|
|
||||||
TUNING_RATE_ROLL_KD = 51, // body frame roll rate controller's D term
|
|
||||||
TUNING_RATE_PITCH_FF = 52, // body frame pitch rate controller FF term
|
|
||||||
TUNING_RATE_ROLL_FF = 53, // body frame roll rate controller FF term
|
|
||||||
TUNING_RATE_YAW_FF = 54, // body frame yaw rate controller FF term
|
|
||||||
TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
|
|
||||||
TUNING_RATE_YAW_FILT = 56, // yaw rate input filter
|
|
||||||
UNUSED = 57, // was winch control
|
|
||||||
TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal
|
|
||||||
};
|
|
||||||
|
|
||||||
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
|
|
||||||
#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
|
|
||||||
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
|
|
||||||
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
|
|
||||||
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
|
|
||||||
|
|
||||||
// Auto modes
|
|
||||||
enum AutoMode {
|
|
||||||
Auto_TakeOff,
|
|
||||||
Auto_WP,
|
|
||||||
Auto_Land,
|
|
||||||
Auto_RTL,
|
|
||||||
Auto_CircleMoveToEdge,
|
|
||||||
Auto_Circle,
|
|
||||||
Auto_Spline,
|
|
||||||
Auto_NavGuided,
|
|
||||||
Auto_Loiter,
|
|
||||||
Auto_LoiterToAlt,
|
|
||||||
Auto_NavPayloadPlace,
|
|
||||||
};
|
|
||||||
|
|
||||||
// Guided modes
|
|
||||||
enum GuidedMode {
|
|
||||||
Guided_TakeOff,
|
|
||||||
Guided_WP,
|
|
||||||
Guided_Velocity,
|
|
||||||
Guided_PosVel,
|
|
||||||
Guided_Angle,
|
|
||||||
};
|
|
||||||
|
|
||||||
enum PayloadPlaceStateType {
|
|
||||||
PayloadPlaceStateType_FlyToLocation,
|
|
||||||
PayloadPlaceStateType_Descent_Start,
|
|
||||||
PayloadPlaceStateType_Descent,
|
|
||||||
PayloadPlaceStateType_Release,
|
|
||||||
PayloadPlaceStateType_Releasing,
|
|
||||||
PayloadPlaceStateType_Delay,
|
|
||||||
PayloadPlaceStateType_Ascent_Start,
|
|
||||||
PayloadPlaceStateType_Ascent,
|
|
||||||
PayloadPlaceStateType_Done,
|
|
||||||
};
|
|
||||||
|
|
||||||
// bit options for DEV_OPTIONS parameter
|
// bit options for DEV_OPTIONS parameter
|
||||||
enum DevOptions {
|
enum DevOptions {
|
||||||
DevOptionADSBMAVLink = 1,
|
DevOptionADSBMAVLink = 1,
|
||||||
|
|
@ -184,8 +79,7 @@ enum LoggingParameters {
|
||||||
|
|
||||||
// EKF failsafe definitions (FS_EKF_ACTION parameter)
|
// EKF failsafe definitions (FS_EKF_ACTION parameter)
|
||||||
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
|
#define FS_EKF_ACTION_LAND 1 // switch to LAND mode on EKF failsafe
|
||||||
#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
|
#define FS_EKF_ACTION_LAND_EVEN_MANUAL 3 // switch to Land mode on EKF failsafe even if in Manual mode
|
||||||
#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
|
|
||||||
|
|
||||||
// for PILOT_THR_BHV parameter
|
// for PILOT_THR_BHV parameter
|
||||||
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
|
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
|
||||||
|
|
|
||||||
|
|
@ -148,16 +148,16 @@ void Blimp::failsafe_ekf_event()
|
||||||
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
|
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
|
||||||
|
|
||||||
// does this mode require position?
|
// does this mode require position?
|
||||||
if (!blimp.flightmode->requires_GPS() && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) {
|
if (!blimp.flightmode->requires_GPS() && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_MANUAL)) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
// take action based on fs_ekf_action parameter
|
// take action based on fs_ekf_action parameter
|
||||||
switch (g.fs_ekf_action) {
|
switch (g.fs_ekf_action) {
|
||||||
case FS_EKF_ACTION_LAND:
|
case FS_EKF_ACTION_LAND:
|
||||||
case FS_EKF_ACTION_LAND_EVEN_STABILIZE:
|
case FS_EKF_ACTION_LAND_EVEN_MANUAL:
|
||||||
default:
|
default:
|
||||||
set_mode_land_with_pause(ModeReason::EKF_FAILSAFE);
|
set_mode_land_failsafe(ModeReason::EKF_FAILSAFE);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -98,8 +98,8 @@ void Blimp::failsafe_gcs_check()
|
||||||
|
|
||||||
const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
|
const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
|
||||||
if (gcs_last_seen_ms == 0) {
|
if (gcs_last_seen_ms == 0) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
// calc time since last gcs update
|
// calc time since last gcs update
|
||||||
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
|
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
|
||||||
|
|
@ -148,7 +148,7 @@ void Blimp::do_failsafe_action(Failsafe_Action action, ModeReason reason)
|
||||||
case Failsafe_Action_None:
|
case Failsafe_Action_None:
|
||||||
return;
|
return;
|
||||||
case Failsafe_Action_Land:
|
case Failsafe_Action_Land:
|
||||||
set_mode_land_with_pause(reason);
|
set_mode_land_failsafe(reason);
|
||||||
break;
|
break;
|
||||||
case Failsafe_Action_Terminate: {
|
case Failsafe_Action_Terminate: {
|
||||||
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
|
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
|
||||||
|
|
|
||||||
59
Blimp/mode.h
59
Blimp/mode.h
|
|
@ -113,65 +113,6 @@ protected:
|
||||||
float &G_Dt;
|
float &G_Dt;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
// Navigation Yaw control
|
|
||||||
class AutoYaw
|
|
||||||
{
|
|
||||||
|
|
||||||
public:
|
|
||||||
// mode(): current method of determining desired yaw:
|
|
||||||
autopilot_yaw_mode mode() const
|
|
||||||
{
|
|
||||||
return (autopilot_yaw_mode)_mode;
|
|
||||||
}
|
|
||||||
void set_mode_to_default(bool rtl);
|
|
||||||
void set_mode(autopilot_yaw_mode new_mode);
|
|
||||||
autopilot_yaw_mode default_mode(bool rtl) const;
|
|
||||||
|
|
||||||
void set_rate(float new_rate_cds);
|
|
||||||
|
|
||||||
// set_roi(...): set a "look at" location:
|
|
||||||
void set_roi(const Location &roi_location);
|
|
||||||
|
|
||||||
void set_fixed_yaw(float angle_deg,
|
|
||||||
float turn_rate_dps,
|
|
||||||
int8_t direction,
|
|
||||||
bool relative_angle);
|
|
||||||
|
|
||||||
private:
|
|
||||||
|
|
||||||
// yaw_cd(): main product of AutoYaw; the heading:
|
|
||||||
float yaw_cd();
|
|
||||||
|
|
||||||
// rate_cds(): desired yaw rate in centidegrees/second:
|
|
||||||
float rate_cds();
|
|
||||||
|
|
||||||
float look_ahead_yaw();
|
|
||||||
float roi_yaw();
|
|
||||||
|
|
||||||
// auto flight mode's yaw mode
|
|
||||||
uint8_t _mode = AUTO_YAW_LOOK_AT_NEXT_WP;
|
|
||||||
|
|
||||||
// Yaw will point at this location if mode is set to AUTO_YAW_ROI
|
|
||||||
Vector3f roi;
|
|
||||||
|
|
||||||
// bearing from current location to the ROI
|
|
||||||
float _roi_yaw;
|
|
||||||
|
|
||||||
// yaw used for YAW_FIXED yaw_mode
|
|
||||||
int32_t _fixed_yaw;
|
|
||||||
|
|
||||||
// Deg/s we should turn
|
|
||||||
int16_t _fixed_yaw_slewrate;
|
|
||||||
|
|
||||||
// heading when in yaw_look_ahead_yaw
|
|
||||||
float _look_ahead_yaw;
|
|
||||||
|
|
||||||
// used to reduce update rate to 100hz:
|
|
||||||
uint8_t roi_yaw_counter;
|
|
||||||
|
|
||||||
};
|
|
||||||
static AutoYaw auto_yaw;
|
|
||||||
|
|
||||||
// pass-through functions to reduce code churn on conversion;
|
// pass-through functions to reduce code churn on conversion;
|
||||||
// these are candidates for moving into the Mode base
|
// these are candidates for moving into the Mode base
|
||||||
// class.
|
// class.
|
||||||
|
|
|
||||||
|
|
@ -13,12 +13,11 @@ void ModeLand::run()
|
||||||
motors->down_out = 0;
|
motors->down_out = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
// set_mode_land_with_pause - sets mode to LAND and triggers 4 second delay before descent starts
|
// set_mode_land_failsafe - sets mode to LAND
|
||||||
// this is always called from a failsafe so we trigger notification to pilot
|
// this is always called from a failsafe so we trigger notification to pilot
|
||||||
void Blimp::set_mode_land_with_pause(ModeReason reason)
|
void Blimp::set_mode_land_failsafe(ModeReason reason)
|
||||||
{
|
{
|
||||||
set_mode(Mode::Number::LAND, reason);
|
set_mode(Mode::Number::LAND, reason);
|
||||||
//TODO: Add pause
|
|
||||||
|
|
||||||
// alert pilot to mode change
|
// alert pilot to mode change
|
||||||
AP_Notify::events.failsafe_mode_change = 1;
|
AP_Notify::events.failsafe_mode_change = 1;
|
||||||
|
|
|
||||||
|
|
@ -7,9 +7,7 @@ def build(bld):
|
||||||
name=vehicle + '_libs',
|
name=vehicle + '_libs',
|
||||||
ap_vehicle=vehicle,
|
ap_vehicle=vehicle,
|
||||||
ap_libraries=bld.ap_common_vehicle_libraries() + [
|
ap_libraries=bld.ap_common_vehicle_libraries() + [
|
||||||
'AC_AttitudeControl',
|
|
||||||
'AC_InputManager',
|
'AC_InputManager',
|
||||||
'AC_WPNav',
|
|
||||||
'AP_InertialNav',
|
'AP_InertialNav',
|
||||||
'AP_RCMapper',
|
'AP_RCMapper',
|
||||||
'AP_Avoidance',
|
'AP_Avoidance',
|
||||||
|
|
@ -27,5 +25,4 @@ def build(bld):
|
||||||
program_name='blimp',
|
program_name='blimp',
|
||||||
program_groups=['bin', 'blimp'],
|
program_groups=['bin', 'blimp'],
|
||||||
use=vehicle + '_libs',
|
use=vehicle + '_libs',
|
||||||
defines=['FRAME_CONFIG=MULTICOPTER_FRAME'],
|
|
||||||
)
|
)
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue