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Copter: hybrid works for 100hz and 400hz

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Randy Mackay 2014-04-13 14:33:31 +09:00
parent 705ff3f44f
commit e2aaafe40b
1 changed files with 47 additions and 12 deletions
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59
ArduCopter/control_hybrid.pde
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@ -6,12 +6,26 @@
*/
#define HYBRID_SPEED_0 10 // speed below which it is always safe to switch to loiter
#define HYBRID_LOITER_STAB_TIMER 300 // Must be higher than HYBRID_BRAKE_LOITER_MIX_TIMER (twice is a good deal) set it from 100 to 500, the number of centiseconds between loiter engage and getting wind_comp (once loiter stabilized)
#define HYBRID_BRAKE_TIME_ESTIMATE_MAX 600 // max number of cycles the brake will be applied before we switch to loiter
#define HYBRID_BRAKE_TO_LOITER_TIMER 150 // Number of cycles to transition from brake mode to loiter mode. Must be lower than HYBRID_LOITER_STAB_TIMER
#define HYBRID_LOITER_TO_PILOT_MIX_TIMER 50 // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
#define HYBRID_SMOOTH_RATE_FACTOR 0.04f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
#if MAIN_LOOP_RATE == 100
// definitions for 100hz loop update rate
# define HYBRID_BRAKE_TIME_ESTIMATE_MAX 600 // max number of cycles the brake will be applied before we switch to loiter
# define HYBRID_BRAKE_TO_LOITER_TIMER 150 // Number of cycles to transition from brake mode to loiter mode. Must be lower than HYBRID_LOITER_STAB_TIMER
# define HYBRID_LOITER_TO_PILOT_MIX_TIMER 50 // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
# define HYBRID_SMOOTH_RATE_FACTOR 0.04f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define HYBRID_WIND_COMP_TIMER_10HZ 10 // counter value used to reduce wind compensation to 10hz
#else
// definitions for 400hz loop update rate
# define HYBRID_BRAKE_TIME_ESTIMATE_MAX (600*4) // max number of cycles the brake will be applied before we switch to loiter
# define HYBRID_BRAKE_TO_LOITER_TIMER (150*4) // Number of cycles to transition from brake mode to loiter mode. Must be lower than HYBRID_LOITER_STAB_TIMER
# define HYBRID_LOITER_TO_PILOT_MIX_TIMER (50*4) // Set it from 100 to 200, the number of centiseconds loiter and manual commands are mixed to make a smooth transition.
# define HYBRID_SMOOTH_RATE_FACTOR 0.01f // filter applied to pilot's roll/pitch input as it returns to center. A lower number will cause the roll/pitch to return to zero more slowly if the brake_rate is also low.
# define HYBRID_WIND_COMP_TIMER_10HZ 40 // counter value used to reduce wind compensation to 10hz
#endif
// definitions that are independent of main loop rate
#define HYBRID_STICK_RELEASE_SMOOTH_ANGLE 1800 // max angle required (in centi-degrees) after which the smooth stick release effect is applied
#define HYBRID_WIND_COMP_START_TIMER 15 // delay (in 10zh increments) to start of wind compensation after loiter is engaged
#define HYBRID_WIND_COMP_ESTIMATE_SPEED_MAX 30 // wind compensation estimates will only run when velocity is at or below this speed in cm/s
// declare some function to keep compiler happy
@ -61,6 +75,7 @@ static struct {
Vector2f wind_comp_ef; // wind compensation in earth frame, filtered lean angles from position controller
int16_t wind_comp_roll; // roll angle to compensate for wind
int16_t wind_comp_pitch; // pitch angle to compensate for wind
int8_t wind_comp_start_timer; // counter to delay start of wind compensation for a short time after loiter is engaged
int8_t wind_comp_timer; // counter to reduce wind_offset calcs to 10hz
// final output
@ -186,7 +201,7 @@ static void hybrid_run()
hybrid.roll_mode = HYBRID_BRAKE; // Set brake roll mode
hybrid.brake_roll = 0; // initialise braking angle to zero
hybrid.brake_angle_max_roll = 0; // reset brake_angle_max so we can detect when vehicle begins to flatten out during braking
hybrid.brake_timeout_roll = HYBRID_BRAKE_TIME_ESTIMATE_MAX; // number of cycles the brake will be applied, updated during braking mode. To-Do: this must be adjusted based on loop rate
hybrid.brake_timeout_roll = HYBRID_BRAKE_TIME_ESTIMATE_MAX; // number of cycles the brake will be applied, updated during braking mode.
hybrid.braking_time_updated_roll = false; // flag the braking time can be re-estimated
}
@ -279,7 +294,7 @@ static void hybrid_run()
hybrid.pitch_mode = HYBRID_BRAKE; // set brake pitch mode
hybrid.brake_pitch = 0; // initialise braking angle to zero
hybrid.brake_angle_max_pitch = 0; // reset brake_angle_max so we can detect when vehicle begins to flatten out during braking
hybrid.brake_timeout_pitch = HYBRID_BRAKE_TIME_ESTIMATE_MAX; // number of cycles the brake will be applied, updated during braking mode. To-Do: this must be adjusted based on loop rate
hybrid.brake_timeout_pitch = HYBRID_BRAKE_TIME_ESTIMATE_MAX; // number of cycles the brake will be applied, updated during braking mode.
hybrid.braking_time_updated_pitch = false; // flag the braking time can be re-estimated
}
@ -369,6 +384,8 @@ static void hybrid_run()
// move wind compensation back into loiter I term
g.pid_loiter_rate_lat.set_integrator(hybrid.wind_comp_ef.x);
g.pid_loiter_rate_lon.set_integrator(hybrid.wind_comp_ef.y);
// set delay to start of wind compensation estimate updates
hybrid.wind_comp_start_timer = HYBRID_WIND_COMP_START_TIMER;
}
// roll-mode is used as the combined roll+pitch mode when in BRAKE_TO_LOITER or LOITER modes
@ -497,13 +514,11 @@ static void hybrid_update_pilot_lean_angle(int16_t &lean_angle_filtered, int16_t
// lean_angle_raw must be pulling lean_angle_filtered towards zero, smooth the decrease
if (lean_angle_filtered > 0) {
// reduce the filtered lean angle at 4% or the brake rate (whichever is faster).
// To-Do: the HYBRID_SMOOTH_RATE_FACTOR must be adjusted based on update rate
lean_angle_filtered -= max((float)lean_angle_filtered * HYBRID_SMOOTH_RATE_FACTOR, g.hybrid_brake_rate);
// do not let the filtered angle fall below the pilot's input lean angle.
// the above line pulls the filtered angle down and the below line acts as a catch
lean_angle_filtered = max(lean_angle_filtered, lean_angle_raw);
}else{
// To-Do: the HYBRID_SMOOTH_RATE_FACTOR must be adjusted based on update rate
lean_angle_filtered += max(-(float)lean_angle_filtered * HYBRID_SMOOTH_RATE_FACTOR, g.hybrid_brake_rate);
lean_angle_filtered = min(lean_angle_filtered, lean_angle_raw);
}
@ -524,6 +539,14 @@ static int16_t hybrid_mix_controls(float mix_ratio, int16_t first_control, int16
static void hybrid_update_brake_angle_from_velocity(int16_t &brake_angle, float velocity)
{
float lean_angle;
int16_t brake_rate = g.hybrid_brake_rate;
#if MAIN_LOOP_RATE == 400
brake_rate /= 4;
if (brake_rate <= 0) {
brake_rate = 1;
}
#endif
// calculate velocity-only based lean angle
if (velocity >= 0) {
@ -533,8 +556,7 @@ static void hybrid_update_brake_angle_from_velocity(int16_t &brake_angle, float
}
// do not let lean_angle be too far from brake_angle
// To-Do: this constraint needs to account for loop update rate
brake_angle = constrain_int16((int16_t)lean_angle, brake_angle - g.hybrid_brake_rate, brake_angle + g.hybrid_brake_rate);
brake_angle = constrain_int16((int16_t)lean_angle, brake_angle - brake_rate, brake_angle + brake_rate);
// constrain final brake_angle
brake_angle = constrain_int16(brake_angle, -g.hybrid_brake_angle_max, g.hybrid_brake_angle_max);
@ -542,9 +564,22 @@ static void hybrid_update_brake_angle_from_velocity(int16_t &brake_angle, float
// hybrid_update_wind_comp_estimate - updates wind compensation estimate
// should be called at the maximum loop rate when loiter is engaged
// To-Do: adjust the filtering for 100hz and 400hz update rates
static void hybrid_update_wind_comp_estimate()
{
// reduce rate to 10hz
hybrid.wind_comp_timer++;
if (hybrid.wind_comp_timer < HYBRID_WIND_COMP_TIMER_10HZ) {
return;
}
hybrid.wind_comp_timer = 0;
// check wind estimate start has not been delayed
if (hybrid.wind_comp_start_timer > 0) {
hybrid.wind_comp_start_timer--;
return;
}
// check horizontal velocity is low
if (inertial_nav.get_velocity_xy() > HYBRID_WIND_COMP_ESTIMATE_SPEED_MAX) {
return;
}