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https://github.com/ArduPilot/ardupilot
synced 2025-01-18 06:38:29 -04:00
Copter: move surface tracking implementation to surface_tracking.cpp
This commit is contained in:
Randy Mackay
parent
b54cf410ef
commit
d41e7dcbee
@ -124,94 +124,6 @@ float Copter::get_non_takeoff_throttle()
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return MAX(0,motors->get_throttle_hover()/2.0f);
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}
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// adjust_climb_rate - hold copter at the desired distance above the
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// ground; returns climb rate (in cm/s) which should be passed to
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// the position controller
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float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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if (!copter.rangefinder_alt_ok()) {
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// if rangefinder is not ok, do not use surface tracking
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return target_rate;
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}
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const float current_alt = copter.inertial_nav.get_altitude();
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const float current_alt_target = copter.pos_control->get_alt_target();
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float distance_error;
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float velocity_correction;
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uint32_t now = millis();
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valid_for_logging = true;
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// reset target altitude if this controller has just been engaged
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if (now - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
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target_alt_cm = copter.rangefinder_state.alt_cm + current_alt_target - current_alt;
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}
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last_update_ms = now;
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// adjust rangefinder target alt if motors have not hit their limits
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if ((target_rate<0 && !copter.motors->limit.throttle_lower) || (target_rate>0 && !copter.motors->limit.throttle_upper)) {
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target_alt_cm += target_rate * copter.G_Dt;
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}
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/*
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handle rangefinder glitches. When we get a rangefinder reading
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more than RANGEFINDER_GLITCH_ALT_CM different from the current
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rangefinder reading then we consider it a glitch and reject
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until we get RANGEFINDER_GLITCH_NUM_SAMPLES samples in a
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row. When that happens we reset the target altitude to the new
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reading
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*/
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int32_t glitch_cm = copter.rangefinder_state.alt_cm - target_alt_cm;
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if (glitch_cm >= RANGEFINDER_GLITCH_ALT_CM) {
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copter.rangefinder_state.glitch_count = MAX(copter.rangefinder_state.glitch_count+1,1);
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} else if (glitch_cm <= -RANGEFINDER_GLITCH_ALT_CM) {
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copter.rangefinder_state.glitch_count = MIN(copter.rangefinder_state.glitch_count-1,-1);
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} else {
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copter.rangefinder_state.glitch_count = 0;
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}
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if (abs(copter.rangefinder_state.glitch_count) >= RANGEFINDER_GLITCH_NUM_SAMPLES) {
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// shift to the new rangefinder reading
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target_alt_cm = copter.rangefinder_state.alt_cm;
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copter.rangefinder_state.glitch_count = 0;
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}
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if (copter.rangefinder_state.glitch_count != 0) {
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// we are currently glitching, just use the target rate
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return target_rate;
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}
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// calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
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distance_error = (target_alt_cm - copter.rangefinder_state.alt_cm) - (current_alt_target - current_alt);
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velocity_correction = distance_error * copter.g.rangefinder_gain;
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velocity_correction = constrain_float(velocity_correction, -SURFACE_TRACKING_VELZ_MAX, SURFACE_TRACKING_VELZ_MAX);
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// return combined pilot climb rate + rate to correct rangefinder alt error
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return (target_rate + velocity_correction);
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#else
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return target_rate;
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#endif
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}
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// get surfacing tracking alt
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// returns true if there is a valid target
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bool Copter::SurfaceTracking::get_target_alt_cm(float &_target_alt_cm) const
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{
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// check target has been updated recently
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if (AP_HAL::millis() - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
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return false;
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}
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_target_alt_cm = target_alt_cm;
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return true;
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}
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// set surface tracking target altitude
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void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm)
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{
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target_alt_cm = _target_alt_cm;
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last_update_ms = AP_HAL::millis();
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}
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// get target climb rate reduced to avoid obstacles and altitude fence
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float Copter::get_avoidance_adjusted_climbrate(float target_rate)
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{
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90
ArduCopter/surface_tracking.cpp
Normal file
90
ArduCopter/surface_tracking.cpp
Normal file
@ -0,0 +1,90 @@
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#include "Copter.h"
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// adjust_climb_rate - hold copter at the desired distance above the
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// ground; returns climb rate (in cm/s) which should be passed to
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// the position controller
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float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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if (!copter.rangefinder_alt_ok()) {
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// if rangefinder is not ok, do not use surface tracking
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return target_rate;
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}
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const float current_alt = copter.inertial_nav.get_altitude();
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const float current_alt_target = copter.pos_control->get_alt_target();
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float distance_error;
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float velocity_correction;
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uint32_t now = millis();
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valid_for_logging = true;
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// reset target altitude if this controller has just been engaged
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if (now - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
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target_alt_cm = copter.rangefinder_state.alt_cm + current_alt_target - current_alt;
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}
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last_update_ms = now;
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// adjust rangefinder target alt if motors have not hit their limits
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if ((target_rate<0 && !copter.motors->limit.throttle_lower) || (target_rate>0 && !copter.motors->limit.throttle_upper)) {
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target_alt_cm += target_rate * copter.G_Dt;
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}
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/*
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handle rangefinder glitches. When we get a rangefinder reading
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more than RANGEFINDER_GLITCH_ALT_CM different from the current
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rangefinder reading then we consider it a glitch and reject
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until we get RANGEFINDER_GLITCH_NUM_SAMPLES samples in a
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row. When that happens we reset the target altitude to the new
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reading
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*/
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int32_t glitch_cm = copter.rangefinder_state.alt_cm - target_alt_cm;
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if (glitch_cm >= RANGEFINDER_GLITCH_ALT_CM) {
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copter.rangefinder_state.glitch_count = MAX(copter.rangefinder_state.glitch_count+1,1);
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} else if (glitch_cm <= -RANGEFINDER_GLITCH_ALT_CM) {
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copter.rangefinder_state.glitch_count = MIN(copter.rangefinder_state.glitch_count-1,-1);
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} else {
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copter.rangefinder_state.glitch_count = 0;
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}
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if (abs(copter.rangefinder_state.glitch_count) >= RANGEFINDER_GLITCH_NUM_SAMPLES) {
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// shift to the new rangefinder reading
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target_alt_cm = copter.rangefinder_state.alt_cm;
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copter.rangefinder_state.glitch_count = 0;
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}
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if (copter.rangefinder_state.glitch_count != 0) {
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// we are currently glitching, just use the target rate
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return target_rate;
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}
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// calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
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distance_error = (target_alt_cm - copter.rangefinder_state.alt_cm) - (current_alt_target - current_alt);
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velocity_correction = distance_error * copter.g.rangefinder_gain;
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velocity_correction = constrain_float(velocity_correction, -SURFACE_TRACKING_VELZ_MAX, SURFACE_TRACKING_VELZ_MAX);
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// return combined pilot climb rate + rate to correct rangefinder alt error
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return (target_rate + velocity_correction);
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#else
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return target_rate;
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#endif
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}
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// get surfacing tracking alt
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// returns true if there is a valid target
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bool Copter::SurfaceTracking::get_target_alt_cm(float &_target_alt_cm) const
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{
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// check target has been updated recently
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if (AP_HAL::millis() - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
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return false;
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}
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_target_alt_cm = target_alt_cm;
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return true;
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}
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// set surface tracking target altitude
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void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm)
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{
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target_alt_cm = _target_alt_cm;
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last_update_ms = AP_HAL::millis();
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}
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