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Working on sailboat controller.

This commit is contained in:
Jason Kemmerling 2011-12-07 19:17:29 -05:00
parent 1d9efea9af
commit e7882b6d1b
2 changed files with 37 additions and 10 deletions
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44
ArduBoat/ControllerSailboat.h
View File

@ -19,7 +19,7 @@ public:
AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidsail(new AP_Var_group(k_pidsail, PSTR("SAIL_")), 1, throttleP,
pidSail(new AP_Var_group(k_pidSail, PSTR("SAIL_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _sailCmd(0)
{
@ -32,7 +32,7 @@ public:
new AP_RcChannel(k_chStr, PSTR("STR_"), hal->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chsail, PSTR("SAIL_"), hal->radio, 2, 1100, 1500,
new AP_RcChannel(k_chSail, PSTR("SAIL_"), hal->radio, 2, 1100, 1100,
1900, RC_MODE_INOUT, false));
}
@ -41,20 +41,46 @@ private:
void manualLoop(const float dt) {
_strCmd = _hal->rc[ch_str]->getRadioPosition();
_sailCmd = _hal->rc[ch_sail]->getRadioPosition();
_hal->debug->printf_P(PSTR("sail: %f, steering: %f\n"),_sailCmd,_strCmd);
}
void autoLoop(const float dt) {
//_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_sail]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
float windDir = analogRead(1);
_hal->debug->printf_P(PSTR("wind directiono: %f\n"),windDir);
float windDir = -.339373*analogRead(1)+175.999;
// neglects heading command derivative
float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
float sail = 0;
float sail = 0.00587302*fabs(windDir) - 0.05;
if (sail < 0.0) sail = 0.0;
_hal->debug->printf_P(PSTR("wind direction: %f, sail: %f, steering: %f\n"),windDir,sail,steering);
/* float calibrate = 0.34; //Calibration Factor from analog reading
* float relwinddir = windDir*calibrate; //Wind Direction Relative to boat
float pathideal; //Path from boat to waypoint
float psi = relwinddir-pathideal; //Angle between relative wind direction and path from boat to waypoint
float alpha = relwinddir-heading; //Angle between relatvive wind direction and the heading
_hal->debug->printf_P(PSTR("heading: %f\n"),heading); //Print Heading
if(fabs(psi)<45) //Tacking Logic
{
if(psi<-10)
alpha = -45;
else if(psi>10)
alpha = 45;
else
{
if(psi==10)
alpha = 45;
else if(psi==-10)
alpha = -45;
else
alpha = alpha;
}
}*/
_strCmd = steering;
_sailCmd = sail;
}
void setMotors() {
_hal->rc[ch_str]->setPosition(_strCmd);
_hal->rc[ch_sail]->setPosition(fabs(_sailCmd) < 0.1 ? 0 : _sailCmd);
_hal->rc[ch_sail]->setPosition(_sailCmd);
}
void handleFailsafe() {
// turn off
@ -66,13 +92,13 @@ private:
ch_mode = 0, ch_str, ch_sail
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chsail
k_chMode = k_radioChannelsStart, k_chStr, k_chSail
};
enum {
k_pidStr = k_controllersStart, k_pidsail
k_pidStr = k_controllersStart, k_pidSail
};
BlockPIDDfb pidStr;
BlockPID pidsail;
BlockPID pidSail;
float _strCmd, _sailCmd;
};

3
ArduBoat/SailboatLaser.h
View File

@ -11,7 +11,8 @@
// vehicle options
static const MAV_TYPE vehicle = UGV_SURFACE_SHIP;
static const apo::halMode_t halMode = apo::MODE_LIVE;
//static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;