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Plane: Add support for landing PID's and servo control

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This commit is contained in:
Michael du Breuil 2017-02-14 12:20:47 -07:00 committed by Andrew Tridgell
parent 8b20577b74
commit cf10b7b841
4 changed files with 33 additions and 4 deletions
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15
ArduPlane/GCS_Mavlink.cpp
View File

@ -388,6 +388,21 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
return;
}
}
if ((g.gcs_pid_mask & 0x10) && (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) {
pid_info = landing.get_pid_info();
if (pid_info != nullptr) {
mavlink_msg_pid_tuning_send(chan, PID_TUNING_LANDING,
pid_info->desired,
gyro.z,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
void Plane::send_rangefinder(mavlink_channel_t chan)

7
ArduPlane/Log.cpp
View File

@ -169,10 +169,17 @@ void Plane::Log_Write_Attitude(void)
DataFlash.Log_Write_PID(LOG_PIDY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, quadplane.pid_accel_z.get_pid_info() );
} else {
const DataFlash_Class::PID_Info *landing_info;
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
landing_info = landing.get_pid_info();
if (landing_info != nullptr) { // only log LANDING PID's while in landing
DataFlash.Log_Write_PID(LOG_PIDL_MSG, *landing_info);
}
}
}
#if AP_AHRS_NAVEKF_AVAILABLE

2
ArduPlane/Parameters.cpp
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@ -73,7 +73,7 @@ const AP_Param::Info Plane::var_info[] = {
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @Bitmask: 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: KFF_RDDRMIX

13
ArduPlane/servos.cpp
View File

@ -408,10 +408,17 @@ void Plane::set_servos_controlled(void)
set_servos_old_elevons();
} else {
// both types of secondary aileron are slaved to the roll servo out
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input, SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input,
SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
// both types of secondary elevator are slaved to the pitch servo out
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input, SRV_Channels::get_output_scaled(SRV_Channel::k_elevator));
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input,
SRV_Channels::get_output_scaled(SRV_Channel::k_elevator));
}
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
// allow landing to override servos if it would like to
landing.override_servos();
}
// convert 0 to 100% (or -100 to +100) into PWM