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Sub: Improve althold to handle small inputs with payload/buyoancy better

This commit is contained in:
Willian Galvani 2020-09-04 00:31:33 -03:00
parent e23e2cb63f
commit cd9cc1419b
1 changed files with 14 additions and 27 deletions
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41
ArduSub/control_althold.cpp
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@ -37,7 +37,7 @@ void Sub::althold_run()
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.set_throttle_out(0.5,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
pos_control.relax_z_controller(motors.get_throttle_hover());
last_pilot_heading = ahrs.yaw_sensor;
@ -101,33 +101,20 @@ void Sub::althold_run()
}
void Sub::control_depth() {
// Hold actual position until zero derivative is detected
static bool engageStopZ = true;
// Get last user velocity direction to check for zero derivative points
static bool lastVelocityZWasNegative = false;
if (fabsf(channel_throttle->norm_input()-0.5f) > 0.05f) { // Throttle input above 5%
// output pilot's throttle
attitude_control.set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
// reset z targets to current values
pos_control.relax_z_controller(channel_throttle->norm_input());
engageStopZ = true;
lastVelocityZWasNegative = is_negative(inertial_nav.get_velocity_z_up_cms());
} else { // hold z
float target_climb_rate_cm_s = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate_cm_s = constrain_float(target_climb_rate_cm_s, -get_pilot_speed_dn(), g.pilot_speed_up);
if (ap.at_bottom) {
pos_control.init_z_controller();
pos_control.set_pos_target_z_cm(inertial_nav.get_position_z_up_cm() + 10.0); // set target to 10 cm above bottom
// desired_climb_rate returns 0 when within the deadzone.
//we allow full control to the pilot, but as soon as there's no input, we handle being at surface/bottom
if (fabsf(target_climb_rate_cm_s) < 0.05f) {
if (ap.at_surface) {
pos_control.set_pos_target_z_cm(MIN(pos_control.get_pos_target_z_cm(), g.surface_depth - 5.0f)); // set target to 5 cm below surface level
} else if (ap.at_bottom) {
pos_control.set_pos_target_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, pos_control.get_pos_target_z_cm())); // set target to 10 cm above bottom
}
// Detects a zero derivative
// When detected, move the altitude set point to the actual position
// This will avoid any problem related to joystick delays
// or smaller input signals
if(engageStopZ && (lastVelocityZWasNegative ^ is_negative(inertial_nav.get_velocity_z_up_cms()))) {
engageStopZ = false;
pos_control.init_z_controller();
}
pos_control.update_z_controller();
}
pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate_cm_s);
pos_control.update_z_controller();
}