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AP_WindVane: add wind speed

This commit is contained in:
IamPete1 2018-10-06 13:51:10 +09:00 committed by Randy Mackay
parent ff4ef4968e
commit bc1cf6a87a
2 changed files with 233 additions and 4 deletions
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193
libraries/AP_WindVane/AP_WindVane.cpp
View File

@ -29,9 +29,11 @@
extern const AP_HAL::HAL& hal;
// by default use the airspeed pin for Vane
#define WINDVANE_DEFAULT_PIN 15
#define WINDVANE_DEFAULT_PIN 15 // default wind vane sensor analog pin
#define WINDVANE_CALIBRATION_VOLT_DIFF_MIN 1.0f // calibration routine's min voltage difference required for success
#define WINDSPEED_DEFAULT_SPEED_PIN 14 // default pin for reading speed from ModernDevice rev p wind sensor
#define WINDSPEED_DEFAULT_TEMP_PIN 13 // default pin for reading temperature from ModernDevice rev p wind sensor
#define WINDSPEED_DEFAULT_VOLT_OFFSET 1.346 // default voltage offset between speed and temp pins from ModernDevice rev p wind sensor
const AP_Param::GroupInfo AP_WindVane::var_info[] = {
@ -107,6 +109,52 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
// @User: Standard
AP_GROUPINFO("ANA_DZ", 9, AP_WindVane, _analog_deadzone, 0),
// @Param: CUTOFF
// @DisplayName: Wind vane cut off wind speed
// @Description: Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present). If the apparent wind is consistently below this value the vane will not work
// @Units: m/s
// @Increment: 0.1
// @Range: 0 5
// @User: Standard
AP_GROUPINFO("CUTOFF", 10, AP_WindVane, _vane_wind_speed_cutoff, 0),
// @Param: SPEED_TYPE
// @DisplayName: Wind speed sensor Type
// @Description: Wind speed sensor type
// @Values: 0:None,1:Airspeed library,2:Moden Devices Wind Sensor rev. p
// @User: Standard
AP_GROUPINFO("SPEED_TYPE", 11, AP_WindVane, _wind_speed_sensor_type, 0),
// @Param: SPEED_PIN1
// @DisplayName: Wind vane speed sensor analog pin
// @Description: Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p
// @Values: 11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6,15:Pixhawk2 ADC,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6,103:Pixhawk SBUS
// @User: Standard
AP_GROUPINFO("SPEED_PIN1", 12, AP_WindVane, _wind_speed_sensor_speed_pin, WINDSPEED_DEFAULT_SPEED_PIN),
// @Param: SPEED_PIN2
// @DisplayName: Wind vane speed sensor analog temp pin
// @Description: Wind speed sensor analog temp input pin for Moden Devices Wind Sensor rev. p, set to -1 to diasble temp readings
// @Values: 11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6,15:Pixhawk2 ADC,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6,103:Pixhawk SBUS
// @User: Standard
AP_GROUPINFO("SPEED_PIN2", 13, AP_WindVane, _wind_speed_sensor_temp_pin, WINDSPEED_DEFAULT_TEMP_PIN),
// @Param: SPEED_OFS
// @DisplayName: Wind speed sensor analog voltage offset
// @Description: Wind sensor analog voltage offset at zero wind speed
// @Units: V
// @Increment: 0.01
// @Range: 0 3.3
// @User: Standard
AP_GROUPINFO("SPEED_OFS", 14, AP_WindVane, _wind_speed_sensor_voltage_offset, WINDSPEED_DEFAULT_VOLT_OFFSET),
// @Param: SPEED_FILT
// @DisplayName: Wind speed low pass filter frequency
// @Description: Wind speed low pass filter frequency, a value of -1 disables filter
// @Units: Hz
// @User: Standard
AP_GROUPINFO("SPEED_FILT", 15, AP_WindVane, _wind_speed_filt_hz, 0.5f),
AP_GROUPEND
};
@ -141,6 +189,16 @@ void AP_WindVane::init()
{
// a pin for reading the Wind Vane voltage
windvane_analog_source = hal.analogin->channel(_analog_pin_no);
// pins for ModernDevice rev p wind sensor
wind_speed_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
wind_speed_temp_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
// check that airspeed is enabled if it is selected as sensor type, if not revert to no wind speed sensor
AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (_wind_speed_sensor_type == Speed_type::WINDSPEED_AIRSPEED && (airspeed == nullptr || !airspeed->enabled())) {
_wind_speed_sensor_type.set(Speed_type::WINDSPEED_NONE);
}
}
// update wind vane, expected to be called at 20hz
@ -154,7 +212,14 @@ void AP_WindVane::update()
// check for calibration
calibrate();
// read apparent wind speed
update_apparent_wind_speed();
// read apparent wind direction (relies on wind speed above)
update_apparent_wind_direction();
// calculate true wind speed and direction from apparent wind
update_true_wind_speed_and_direction();
}
// get the apparent wind direction in radians, 0 = head to wind
@ -223,10 +288,92 @@ float AP_WindVane::read_SITL_direction_ef()
return atan2f(wind_vector_ef.y, wind_vector_ef.x);
}
// read the apparent wind speed in m/s from SITL
float AP_WindVane::read_wind_speed_SITL()
{
// temporarily store true speed and direction for easy access
const float wind_speed = AP::sitl()->wind_speed_active;
const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
// convert true wind speed and direction into a 2D vector
Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
// add vehicle speed to get apparent wind vector
wind_vector_ef.x += AP::sitl()->state.speedN;
wind_vector_ef.y += AP::sitl()->state.speedE;
return wind_vector_ef.length();
}
#endif
// read wind speed from Modern Device rev p wind sensor
// https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
float AP_WindVane::read_wind_speed_ModernDevice()
{
float analog_voltage = 0.0f;
// only read temp pin if defined, sensor will do OK assuming constant temp
float temp_ambient = 28.0f; // assume room temp (deg c), equations were generated at this temp in above data sheet
if (is_positive(_wind_speed_sensor_temp_pin)) {
wind_speed_temp_analog_source->set_pin(_wind_speed_sensor_temp_pin);
analog_voltage = wind_speed_temp_analog_source->voltage_average();
temp_ambient = (analog_voltage - 0.4f) / 0.0195f; // deg C
// constrain to reasonable range to avoid deviating from calibration too much and potential divide by zero
temp_ambient = constrain_float(temp_ambient, 10.0f, 40.0f);
}
wind_speed_analog_source->set_pin(_wind_speed_sensor_speed_pin);
analog_voltage = wind_speed_analog_source->voltage_average();
// apply voltage offset and make sure not negative
// by default the voltage offset is the number provide by the manufacturer
analog_voltage = analog_voltage - _wind_speed_sensor_voltage_offset;
if (is_negative(analog_voltage)) {
analog_voltage = 0.0f;
}
// simplified equation from data sheet, converted from mph to m/s
return 24.254896f * powf((analog_voltage / powf(temp_ambient, 0.115157f)), 3.009364f);
}
// update the apparent wind speed
void AP_WindVane::update_apparent_wind_speed()
{
float apparent_wind_speed_in = 0.0f;
switch (_wind_speed_sensor_type) {
case WINDSPEED_AIRSPEED: {
AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) {
apparent_wind_speed_in = airspeed->get_airspeed();
}
break;
}
case WINDVANE_WIND_SENSOR_REV_P:
apparent_wind_speed_in = read_wind_speed_ModernDevice();
break;
case WINDSPEED_SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
apparent_wind_speed_in = read_wind_speed_SITL();
break;
#endif
default:
_speed_apparent = 0.0f;
return;
}
// apply low pass filter if enabled
if (is_positive(_wind_speed_filt_hz)) {
wind_speed_filt.set_cutoff_frequency(_wind_speed_filt_hz);
_speed_apparent = wind_speed_filt.apply(apparent_wind_speed_in, 0.02f);
} else {
_speed_apparent = apparent_wind_speed_in;
}
}
// calculate the apparent wind direction in radians, the wind comes from this direction, 0 = head to wind
// expected to be called at 20hz
// expected to be called at 20hz after apparent wind speed has been updated
void AP_WindVane::update_apparent_wind_direction()
{
float apparent_angle_ef = 0.0f;
@ -252,6 +399,11 @@ void AP_WindVane::update_apparent_wind_direction()
break;
}
// if not enough wind to move vane do not update the value
if (_speed_apparent < _vane_wind_speed_cutoff){
return;
}
// apply low pass filter if enabled
if (is_positive(_vane_filt_hz)) {
wind_sin_filt.set_cutoff_frequency(_vane_filt_hz);
@ -268,6 +420,41 @@ void AP_WindVane::update_apparent_wind_direction()
_direction_apparent_ef = wrap_PI(_direction_apparent_ef);
}
// calculate true wind speed and direction from apparent wind
// https://en.wikipedia.org/wiki/Apparent_wind
void AP_WindVane::update_true_wind_speed_and_direction()
{
// no wind speed sensor, so can't do true wind calcs
if (_wind_speed_sensor_type == Speed_type::WINDSPEED_NONE) {
_direction_absolute = _direction_apparent_ef;
_speed_true = 0.0f;
return;
}
// if no vehicle speed, can't do calcs
Vector3f veh_velocity;
if (!AP::ahrs().get_velocity_NED(veh_velocity)) {
// if no vehicle speed use apparent speed and direction directly
_direction_absolute = _direction_apparent_ef;
_speed_true = _speed_apparent;
return;
}
// convert apparent wind speed and direction to 2D vector in same frame as vehicle velocity
const float wind_dir_180 = wrap_PI(_direction_apparent_ef + radians(180));
const Vector2f wind_apparent_vec(cosf(wind_dir_180) * _speed_apparent, sinf(wind_dir_180) * _speed_apparent);
// add vehicle velocity
Vector2f wind_true_vec = Vector2f(wind_apparent_vec.x + veh_velocity.x, wind_apparent_vec.y + veh_velocity.y);
// calculate true speed and direction
_direction_absolute = wrap_PI(atan2f(wind_true_vec.y, wind_true_vec.x) - radians(180));
_speed_true = wind_true_vec.length();
// make sure between -pi and pi
_direction_absolute = wrap_PI(_direction_absolute);
}
// calibrate windvane
void AP_WindVane::calibrate()
{

44
libraries/AP_WindVane/AP_WindVane.h
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@ -17,7 +17,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <Filter/LowPassFilter.h>
#include <AP_Airspeed/AP_Airspeed.h>
class AP_WindVane
{
@ -52,6 +52,15 @@ public:
// get the apparent wind direction in body-frame in radians, 0 = head to wind
float get_apparent_wind_direction_rad() const;
// get the absolute wind direction in radians, 0 = wind coming from north
float get_absolute_wind_direction_rad() const { return _direction_absolute; }
// Return apparent wind speed
float get_apparent_wind_speed() const { return _speed_apparent; }
// Return true wind speed
float get_true_wind_speed() const { return _speed_true; }
// record home heading
void record_home_heading();
@ -72,11 +81,23 @@ private:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// read SITL's apparent wind direction in earth-frame in radians
float read_SITL_direction_ef();
// read the apparent wind speed in m/s from SITL
float read_wind_speed_SITL();
#endif
// read wind speed from ModernDevice wind speed sensor rev p
float read_wind_speed_ModernDevice();
// update wind speed sensor
void update_apparent_wind_speed();
// update apparent wind direction
void update_apparent_wind_direction();
// calculate true wind speed and direction from apparent wind
void update_true_wind_speed_and_direction();
// calibrate
void calibrate();
@ -90,25 +111,46 @@ private:
AP_Float _vane_filt_hz; // vane Low pass filter frequency
AP_Int8 _calibration; // enter calibration
AP_Float _analog_deadzone; // analog pot deadzone in degrees
AP_Float _vane_wind_speed_cutoff; // vane cutoff wind speed
AP_Int8 _wind_speed_sensor_type; // wind speed sensor type
AP_Int8 _wind_speed_sensor_speed_pin; // speed sensor analog pin for reading speed
AP_Float _wind_speed_sensor_temp_pin; // speed sensor analog pin for reading temp, -1 if disable
AP_Float _wind_speed_sensor_voltage_offset; // analog speed zero wind voltage offset
AP_Float _wind_speed_filt_hz; // speed sensor low pass filter frequency
static AP_WindVane *_singleton;
// wind direction variables
float _home_heading; // heading in radians recorded when vehicle was armed
float _direction_apparent_ef; // wind's apparent direction in radians (0 = ahead of vehicle)
float _direction_absolute; // wind's absolute direction in radians (0 = North)
float _current_analog_voltage; // wind direction's latest analog voltage reading
// wind speed variables
float _speed_apparent; // wind's apparent speed in m/s
float _speed_true; // wind's true estimated speed in m/s
// calibration variables
uint32_t _cal_start_ms = 0; // calibration start time in milliseconds after boot
float _cal_volt_max; // maximum observed voltage during calibration
float _cal_volt_min; // minimum observed voltage during calibration
enum Speed_type {
WINDSPEED_NONE = 0,
WINDSPEED_AIRSPEED = 1,
WINDVANE_WIND_SENSOR_REV_P = 2,
WINDSPEED_SITL = 10
};
// pin for reading analog voltage
AP_HAL::AnalogSource *windvane_analog_source;
AP_HAL::AnalogSource *wind_speed_analog_source;
AP_HAL::AnalogSource *wind_speed_temp_analog_source;
// low pass filters of direction
LowPassFilterFloat wind_sin_filt = LowPassFilterFloat(2.0f);
LowPassFilterFloat wind_cos_filt = LowPassFilterFloat(2.0f);
LowPassFilterFloat wind_speed_filt = LowPassFilterFloat(2.0f);
};
namespace AP {