diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 716fe026d4..71a478ad09 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -399,7 +399,7 @@ float AC_PosControl::pos_offset_z_scaler(float pos_offset_z, float pos_offset_z_ if (is_zero(pos_offset_z_buffer)) { return 1.0; } - float pos_offset_error_z = _inav.get_altitude() - (_pos_target.z - _pos_offset_z + pos_offset_z); + float pos_offset_error_z = _inav.get_position_z_up_cm() - (_pos_target.z - _pos_offset_z + pos_offset_z); return constrain_float((1.0 - (fabsf(pos_offset_error_z) - 0.5 * pos_offset_z_buffer) / (0.5 * pos_offset_z_buffer)), 0.01, 1.0); } @@ -491,9 +491,9 @@ void AC_PosControl::init_xy() _yaw_target = att_target_euler_cd.z; // todo: this should be thrust vector heading, not yaw. _yaw_rate_target = 0.0f; - _pos_target.xy() = _inav.get_position_xy().topostype(); + _pos_target.xy() = _inav.get_position_xy_cm().topostype(); - const Vector2f &curr_vel = _inav.get_velocity_xy(); + const Vector2f &curr_vel = _inav.get_velocity_xy_cms(); _vel_desired.xy() = curr_vel; _vel_target.xy() = curr_vel; @@ -561,15 +561,15 @@ void AC_PosControl::input_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const V /// stop_pos_xy_stabilisation - sets the target to the current position to remove any position corrections from the system void AC_PosControl::stop_pos_xy_stabilisation() { - _pos_target.xy() = _inav.get_position_xy().topostype(); + _pos_target.xy() = _inav.get_position_xy_cm().topostype(); } /// stop_vel_xy_stabilisation - sets the target to the current position and velocity to the current velocity to remove any position and velocity corrections from the system void AC_PosControl::stop_vel_xy_stabilisation() { - _pos_target.xy() = _inav.get_position_xy().topostype(); + _pos_target.xy() = _inav.get_position_xy_cm().topostype(); - const Vector2f &curr_vel = _inav.get_velocity_xy(); + const Vector2f &curr_vel = _inav.get_velocity_xy_cms(); _vel_desired.xy() = curr_vel; // with zero position error _vel_target = _vel_desired _vel_target.xy() = curr_vel; @@ -609,7 +609,7 @@ void AC_PosControl::update_xy_controller() // Position Controller - const Vector3f &curr_pos = _inav.get_position(); + const Vector3f &curr_pos = _inav.get_position_neu_cm(); Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, curr_pos); // add velocity feed-forward scaled to compensate for optical flow measurement induced EKF noise @@ -624,7 +624,7 @@ void AC_PosControl::update_xy_controller() if (_flags.vehicle_horiz_vel_override) { _flags.vehicle_horiz_vel_override = false; } else { - _vehicle_horiz_vel = _inav.get_velocity_xy(); + _vehicle_horiz_vel = _inav.get_velocity_xy_cms(); } Vector2f accel_target = _pid_vel_xy.update_all(Vector2f{_vel_target.x, _vel_target.y}, _vehicle_horiz_vel, Vector2f(_limit_vector.x, _limit_vector.y)); // acceleration to correct for velocity error and scale PID output to compensate for optical flow measurement induced EKF noise @@ -752,9 +752,9 @@ void AC_PosControl::relax_z_controller(float throttle_setting) /// This function is private and contains all the shared z axis initialisation functions void AC_PosControl::init_z() { - _pos_target.z = _inav.get_altitude(); + _pos_target.z = _inav.get_position_z_up_cm(); - const float &curr_vel_z = _inav.get_velocity_z(); + const float &curr_vel_z = _inav.get_velocity_z_up_cms(); _vel_desired.z = curr_vel_z; // with zero position error _vel_target = _vel_desired _vel_target.z = curr_vel_z; @@ -946,7 +946,7 @@ void AC_PosControl::update_z_controller() // calculate the target velocity correction float pos_target_zf = _pos_target.z; - _vel_target.z = _p_pos_z.update_all(pos_target_zf, _inav.get_altitude()); + _vel_target.z = _p_pos_z.update_all(pos_target_zf, _inav.get_position_z_up_cm()); _vel_target.z *= AP::ahrs().getControlScaleZ(); _pos_target.z = pos_target_zf; @@ -956,7 +956,7 @@ void AC_PosControl::update_z_controller() // Velocity Controller - const Vector3f& curr_vel = _inav.get_velocity(); + const Vector3f& curr_vel = _inav.get_velocity_neu_cms(); _accel_target.z = _pid_vel_z.update_all(_vel_target.z, curr_vel.z, _motors.limit.throttle_lower, _motors.limit.throttle_upper); _accel_target.z *= AP::ahrs().getControlScaleZ(); @@ -1063,10 +1063,10 @@ Vector3f AC_PosControl::get_thrust_vector() const /// function does not change the z axis void AC_PosControl::get_stopping_point_xy_cm(Vector2p &stopping_point) const { - stopping_point = _inav.get_position_xy().topostype(); + stopping_point = _inav.get_position_xy_cm().topostype(); float kP = _p_pos_xy.kP(); - Vector2f curr_vel = _inav.get_velocity_xy(); + Vector2f curr_vel = _inav.get_velocity_xy_cms(); // calculate current velocity float vel_total = curr_vel.length(); @@ -1088,7 +1088,7 @@ void AC_PosControl::get_stopping_point_xy_cm(Vector2p &stopping_point) const /// get_stopping_point_z_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration void AC_PosControl::get_stopping_point_z_cm(postype_t &stopping_point) const { - const float curr_pos_z = _inav.get_altitude(); + const float curr_pos_z = _inav.get_position_z_up_cm(); // avoid divide by zero by using current position if kP is very low or acceleration is zero if (!is_positive(_p_pos_z.kP()) || !is_positive(_accel_max_z_cmss)) { @@ -1096,13 +1096,13 @@ void AC_PosControl::get_stopping_point_z_cm(postype_t &stopping_point) const return; } - stopping_point = curr_pos_z + constrain_float(stopping_distance(_inav.get_velocity_z(), _p_pos_z.kP(), _accel_max_z_cmss), - POSCONTROL_STOPPING_DIST_DOWN_MAX, POSCONTROL_STOPPING_DIST_UP_MAX); + stopping_point = curr_pos_z + constrain_float(stopping_distance(_inav.get_velocity_z_up_cms(), _p_pos_z.kP(), _accel_max_z_cmss), - POSCONTROL_STOPPING_DIST_DOWN_MAX, POSCONTROL_STOPPING_DIST_UP_MAX); } /// get_bearing_to_target_cd - get bearing to target position in centi-degrees int32_t AC_PosControl::get_bearing_to_target_cd() const { - return get_bearing_cd(_inav.get_position_xy(), _pos_target.tofloat().xy()); + return get_bearing_cd(_inav.get_position_xy_cm(), _pos_target.tofloat().xy()); } @@ -1132,7 +1132,7 @@ void AC_PosControl::standby_xyz_reset() _pid_accel_z.set_integrator(0.0f); // Set the target position to the current pos. - _pos_target = _inav.get_position().topostype(); + _pos_target = _inav.get_position_neu_cm().topostype(); // Set _pid_vel_xy integrator and derivative to zero. _pid_vel_xy.reset_filter(); @@ -1147,17 +1147,17 @@ void AC_PosControl::write_log() if (is_active_xy()) { float accel_x, accel_y; lean_angles_to_accel_xy(accel_x, accel_y); - AP::logger().Write_PSCN(get_pos_target_cm().x, _inav.get_position().x, - get_vel_desired_cms().x, get_vel_target_cms().x, _inav.get_velocity().x, + AP::logger().Write_PSCN(get_pos_target_cm().x, _inav.get_position_neu_cm().x, + get_vel_desired_cms().x, get_vel_target_cms().x, _inav.get_velocity_neu_cms().x, _accel_desired.x, get_accel_target_cmss().x, accel_x); - AP::logger().Write_PSCE(get_pos_target_cm().y, _inav.get_position().y, - get_vel_desired_cms().y, get_vel_target_cms().y, _inav.get_velocity().y, + AP::logger().Write_PSCE(get_pos_target_cm().y, _inav.get_position_neu_cm().y, + get_vel_desired_cms().y, get_vel_target_cms().y, _inav.get_velocity_neu_cms().y, _accel_desired.y, get_accel_target_cmss().y, accel_y); } if (is_active_z()) { - AP::logger().Write_PSCD(-get_pos_target_cm().z, -_inav.get_altitude(), - -get_vel_desired_cms().z, -get_vel_target_cms().z, -_inav.get_velocity_z(), + AP::logger().Write_PSCD(-get_pos_target_cm().z, -_inav.get_position_z_up_cm(), + -get_vel_desired_cms().z, -get_vel_target_cms().z, -_inav.get_velocity_z_up_cms(), -_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss()); } } @@ -1165,7 +1165,7 @@ void AC_PosControl::write_log() /// crosstrack_error - returns horizontal error to the closest point to the current track float AC_PosControl::crosstrack_error() const { - const Vector2f pos_error = _inav.get_position_xy() - (_pos_target.xy()).tofloat(); + const Vector2f pos_error = _inav.get_position_xy_cm() - (_pos_target.xy()).tofloat(); if (is_zero(_vel_desired.xy().length_squared())) { // crosstrack is the horizontal distance to target when stationary return pos_error.length(); @@ -1249,8 +1249,8 @@ void AC_PosControl::handle_ekf_xy_reset() uint32_t reset_ms = _ahrs.getLastPosNorthEastReset(pos_shift); if (reset_ms != _ekf_xy_reset_ms) { - _pos_target.xy() = (_inav.get_position_xy() + _p_pos_xy.get_error()).topostype(); - _vel_target.xy() = _inav.get_velocity_xy() + _pid_vel_xy.get_error(); + _pos_target.xy() = (_inav.get_position_xy_cm() + _p_pos_xy.get_error()).topostype(); + _vel_target.xy() = _inav.get_velocity_xy_cms() + _pid_vel_xy.get_error(); _ekf_xy_reset_ms = reset_ms; } @@ -1271,8 +1271,8 @@ void AC_PosControl::handle_ekf_z_reset() uint32_t reset_ms = _ahrs.getLastPosDownReset(alt_shift); if (reset_ms != 0 && reset_ms != _ekf_z_reset_ms) { - _pos_target.z = _inav.get_altitude() + _p_pos_z.get_error(); - _vel_target.z = _inav.get_velocity_z() + _pid_vel_z.get_error(); + _pos_target.z = _inav.get_position_z_up_cm() + _p_pos_z.get_error(); + _vel_target.z = _inav.get_velocity_z_up_cms() + _pid_vel_z.get_error(); _ekf_z_reset_ms = reset_ms; } diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index 3039940eba..2b1cb83291 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -260,13 +260,13 @@ public: void get_stopping_point_z_cm(postype_t &stopping_point) const; /// get_pos_error_cm - get position error vector between the current and target position - const Vector3f get_pos_error_cm() const { return (_pos_target - _inav.get_position().topostype()).tofloat(); } + const Vector3f get_pos_error_cm() const { return (_pos_target - _inav.get_position_neu_cm().topostype()).tofloat(); } /// get_pos_error_xy_cm - get the length of the position error vector in the xy plane - float get_pos_error_xy_cm() const { return get_horizontal_distance_cm(_inav.get_position_xy().topostype(), _pos_target.xy()); } + float get_pos_error_xy_cm() const { return get_horizontal_distance_cm(_inav.get_position_xy_cm().topostype(), _pos_target.xy()); } /// get_pos_error_z_cm - returns altitude error in cm - float get_pos_error_z_cm() const { return (_pos_target.z - _inav.get_altitude()); } + float get_pos_error_z_cm() const { return (_pos_target.z - _inav.get_position_z_up_cm()); } /// Velocity