mirror of https://github.com/ArduPilot/ardupilot
Added Tri-copter support for Max
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1412 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
d119da451e
commit
e8cc8e08fb
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@ -5,7 +5,7 @@ void init_pids()
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// this creates symmetry with the P gain value preventing oscillations
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max_stabilize_dampener = pid_stabilize_roll.kP() * 2500; // = 0.6 * 2500 = 1500 or 15°
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max_yaw_dampener = pid_yaw.kP() * 6000; // .5 * 6000 = 3000
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max_yaw_dampener = pid_yaw.kP() * 6000; // .5 * 6000 = 3000
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}
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@ -16,8 +16,6 @@ void output_stabilize()
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long rate;
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int dampener;
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//pitch_sensor = roll_sensor = 0; // testing only
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// control +- 45° is mixed with the navigation request by the Autopilot
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// output is in degrees = target pitch and roll of copter
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rc_1.servo_out = rc_1.control_mix(nav_roll);
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@ -30,14 +28,10 @@ void output_stabilize()
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roll_error = constrain(roll_error, -2500, 2500);
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pitch_error = constrain(pitch_error, -2500, 2500);
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//Serial.printf("s: %d \t mix %d, err %d", (int)roll_sensor, (int)rc_1.servo_out, (int)roll_error);
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// write out angles back to servo out - this will be converted to PWM by RC_Channel
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rc_1.servo_out = pid_stabilize_roll.get_pid(roll_error, deltaMiliSeconds, 1.0);
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rc_2.servo_out = pid_stabilize_pitch.get_pid(pitch_error, deltaMiliSeconds, 1.0);
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//Serial.printf("\tpid: %d", (int)rc_1.servo_out);
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// We adjust the output by the rate of rotation:
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// Rate control through bias corrected gyro rates
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// omega is the raw gyro reading
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@ -45,16 +39,11 @@ void output_stabilize()
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// Limit dampening to be equal to propotional term for symmetry
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rate = degrees(omega.x) * 100; // 6rad = 34377
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dampener = ((float)rate * stabilize_dampener); // 34377 * .175 = 6000
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rc_1.servo_out -= constrain(dampener, -max_stabilize_dampener, max_stabilize_dampener); // limit to 1500
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rc_1.servo_out -= constrain(dampener, -max_stabilize_dampener, max_stabilize_dampener); // limit to 1500 based on kP
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rate = degrees(omega.y) * 100; // 6rad = 34377
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dampener = ((float)rate * stabilize_dampener); // 34377 * .175 = 6000
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rc_2.servo_out -= constrain(dampener, -max_stabilize_dampener, max_stabilize_dampener); // limit to 1500
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//Serial.printf(" yaw out: %d, d: %d", (int)rc_4.angle_to_pwm(), yaw_dampener);
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//Serial.printf("\trd: %d", roll_dampener);
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//Serial.printf("\tlimit: %d, PWM: %d", rc_1.servo_out, rc_1.angle_to_pwm());
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rc_2.servo_out -= constrain(dampener, -max_stabilize_dampener, max_stabilize_dampener); // limit to 1500 based on kP
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}
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void
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@ -66,30 +55,32 @@ clear_yaw_control()
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yaw_error = 0;
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}
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void output_yaw_with_hold(boolean hold)
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{
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Vector3f omega = dcm.get_gyro();
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if(hold){
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// yaw hold
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if(rate_yaw_flag){
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// we are still in motion from rate control
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if(fabs(omega.y) < .15){
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//Serial.print("trans ");
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clear_yaw_control();
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hold = true; // just to be explicit
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}else{
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//Serial.print("coast ");
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// return to rate control until we slow down.
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hold = false;
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}
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}else{
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//Serial.print("hold ");
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}
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} else {
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//Serial.print("rate ");
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}else{
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// rate control
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// this indicates we are under rate control, when we enter Yaw Hold and
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// return to 0° per second, we exit rate control and hold the current Yaw
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rate_yaw_flag = true;
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yaw_error = 0;
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}
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@ -100,6 +91,8 @@ void output_yaw_with_hold(boolean hold)
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// limit the error we're feeding to the PID
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yaw_error = constrain(yaw_error, -6000, 6000); // limit error to 60 degees
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// Apply PID and save the new angle back to RC_Channel
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rc_4.servo_out = pid_yaw.get_pid(yaw_error, deltaMiliSeconds, 1.0); // .5 * 6000 = 3000
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// We adjust the output by the rate of rotation
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@ -109,20 +102,16 @@ void output_yaw_with_hold(boolean hold)
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// Limit dampening to be equal to propotional term for symmetry
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rc_4.servo_out -= constrain(dampener, -max_yaw_dampener, max_yaw_dampener); // -3000
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}else{
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//yaw_error = 0;
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}else{
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// rate control
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long rate = degrees(omega.z) * 100; // 3rad = 17188 , 6rad = 34377
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rate = constrain(rate, -36000, 36000); // limit to something fun!
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long error = ((long)rc_4.control_in * 6) - rate; // control is += 6000
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long error = ((long)rc_4.control_in * 6) - rate; // control is += 6000 * 6 = 36000
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// -error = CCW, +error = CW
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rc_4.servo_out = pid_acro_rate_yaw.get_pid(error, deltaMiliSeconds, 1.0); // .075 * 36000 = 2700
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rc_4.servo_out = constrain(rc_4.servo_out, -2400, 2400); // limit to 2400
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// this indicates we are under rate control, when we enter Yaw Hold and
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// return to 0° per second, we exit rate control and hold the current Yaw
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//rate_yaw_flag = true;
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}
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}
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@ -138,6 +138,7 @@ void read_EEPROM_PID(void)
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// yaw
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hold_yaw_dampener = read_EE_compressed_float(EE_HOLD_YAW_DAMPENER, 4);
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init_pids();
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}
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void save_EEPROM_PID(void)
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@ -46,10 +46,10 @@
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#define CH_AUX2 CH_6
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// motors
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#define FRONT 0
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#define RIGHT 1
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#define BACK 2
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#define LEFT 3
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#define RIGHT 0
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#define LEFT 1
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#define FRONT 2
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#define BACK 3
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#define MAX_SERVO_OUTPUT 2700
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@ -37,9 +37,6 @@ float angle_boost()
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}
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/*************************************************************
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yaw control
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****************************************************************/
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@ -50,6 +50,7 @@ void navigate()
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}
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}
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/*
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void verify_missed_wp()
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{
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// check if we have missed the WP
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@ -63,6 +64,7 @@ void verify_missed_wp()
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if (loiter_delta < -170) loiter_delta += 360;
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loiter_sum += abs(loiter_delta);
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}
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*/
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void calc_bearing_error()
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{
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@ -134,13 +134,14 @@ void set_servos_4(void)
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//Serial.printf("yaw: %d ", rc_4.radio_out);
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if(frame_type == PLUS_FRAME){
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//Serial.println("+");
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motor_out[RIGHT] = rc_3.radio_out - rc_1.pwm_out;
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motor_out[LEFT] = rc_3.radio_out + rc_1.pwm_out;
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motor_out[FRONT] = rc_3.radio_out + rc_2.pwm_out;
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out;
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}else if(frame_type == X_FRAME){
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int roll_out = rc_1.pwm_out / 2;
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int pitch_out = rc_2.pwm_out / 2;
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@ -149,28 +150,39 @@ void set_servos_4(void)
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out;
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}else{
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/*
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replace this with Tri-frame control law
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int roll_out = rc_1.pwm_out / 2;
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}else if(frame_type == TRI_FRAME){
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// Tri-copter power distribution
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int roll_out = (float)rc_1.pwm_out * .866;
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int pitch_out = rc_2.pwm_out / 2;
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motor_out[FRONT] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[LEFT] = rc_3.radio_out + roll_out - pitch_out;
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// front two motors
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motor_out[LEFT] = rc_3.radio_out + roll_out + pitch_out;
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motor_out[RIGHT] = rc_3.radio_out - roll_out + pitch_out;
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motor_out[BACK] = rc_3.radio_out - roll_out - pitch_out;
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*/
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// rear motors
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motor_out[BACK] = rc_3.radio_out - rc_2.pwm_out;
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// servo Yaw
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motor_out[FRONT] = rc_4.radio_out;
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}else{
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Serial.print("frame error");
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}
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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if((frame_type == PLUS_FRAME) || (frame_type == X_FRAME)){
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motor_out[RIGHT] += rc_4.pwm_out;
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motor_out[LEFT] += rc_4.pwm_out;
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motor_out[FRONT] -= rc_4.pwm_out;
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motor_out[BACK] -= rc_4.pwm_out;
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}
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[RIGHT], motor_out[LEFT], motor_out[FRONT], motor_out[BACK]);
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@ -229,15 +241,19 @@ void set_servos_4(void)
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// Send commands to motors
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if(rc_3.servo_out > 0){
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APM_RC.OutputCh(CH_1, motor_out[RIGHT]);
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APM_RC.OutputCh(CH_2, motor_out[LEFT]);
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APM_RC.OutputCh(CH_3, motor_out[FRONT]);
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APM_RC.OutputCh(CH_4, motor_out[BACK]);
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}else{
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APM_RC.OutputCh(CH_1, rc_3.radio_min);
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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}
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// InstantPWM
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@ -270,6 +270,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
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// stop here
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}
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}
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rc_1.radio_min = rc_1.radio_in;
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rc_2.radio_min = rc_2.radio_in;
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rc_3.radio_min = rc_3.radio_in;
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@ -346,9 +347,14 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
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if(frame_type == PLUS_FRAME){
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Serial.printf_P(PSTR("PLUS"));
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}else{
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}else if(frame_type == X_FRAME){
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Serial.printf_P(PSTR("X"));
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}else if(frame_type == TRI_FRAME){
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Serial.printf_P(PSTR("TRI"));
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}
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Serial.printf_P(PSTR(" Frame\n"));
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while(1){
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@ -380,7 +386,8 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
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Serial.println("2");
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}
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}else{
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}else if(frame_type == PLUS_FRAME){
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// lower right
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if((rc_1.control_in > 0) && (rc_2.control_in > 0)){
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motor_out[BACK] = out_min;
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@ -400,6 +407,29 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
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motor_out[RIGHT] = out_min;
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Serial.println("0");
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}
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}else if(frame_type == TRI_FRAME){
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if(rc_1.control_in > 0){
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motor_out[RIGHT] = out_min;
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}else if(rc_1.control_in < 0){
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motor_out[LEFT] = out_min;
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}
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if(rc_2.control_in > 0){
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motor_out[BACK] = out_min;
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}
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if(rc_4.control_in > 0){
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rc_4.servo_out = 2000;
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}else if(rc_4.control_in < 0){
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rc_4.servo_out = -2000;
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}
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rc_4.calc_pwm();
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motor_out[FRONT] = rc_4.radio_out;
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}
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if(rc_3.control_in > 0){
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@ -419,6 +449,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
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}
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}
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}
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static int8_t
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setup_accel(uint8_t argc, const Menu::arg *argv)
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{
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@ -620,7 +651,7 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
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}else if(argv[1].i == 3){
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Serial.printf_P(PSTR("Tri "));
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frame_type = X_FRAME;
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frame_type = TRI_FRAME;
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}
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Serial.printf_P(PSTR("frame\n\n"));
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save_EEPROM_frame();
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@ -94,7 +94,6 @@ void init_ardupilot()
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read_EEPROM_startup(); // Read critical config information to start
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init_pids();
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init_rc_in(); // sets up rc channels from radio
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init_rc_out(); // sets up the timer libs
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