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Adding sailboat controller.

This commit is contained in:
Jason Kemmerling 2011-12-05 12:26:10 -05:00
parent fbbf1aa4a2
commit f7499117e4
4 changed files with 231 additions and 30 deletions
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5
ArduBoat/ArduBoat.pde
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@ -1,4 +1,5 @@
// Libraries
#include <Wire.h>
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
@ -17,8 +18,8 @@
#include <AP_InertialSensor.h>
// Vehicle Configuration
#include "BoatGeneric.h"
//#include "BoatGeneric.h"
#include "SailboatLaser.h"
// ArduPilotOne Default Setup
#include "APO_DefaultSetup.h"
// vim:ts=4:sw=4:expandtab

52
ArduBoat/ControllerBoat.h
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@ -1,26 +1,24 @@
/*
* ControllerBoat.h
*
* Created on: Nov 1, 2011
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERBOAT_H_
#define CONTROLLERBOAT_H_
#include "../APO/APO.h"
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerBoat: public AP_Controller {
public:
ControllerBoat(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
AP_HardwareAbstractionLayer * hal) :
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),
pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax, throttleDFCut), _strCmd(0), _thrustCmd(0)
steeringI, steeringD, steeringIMax, steeringYMax)
{
_hal->debug->println_P(PSTR("initializing boat controller"));
@ -31,51 +29,49 @@ 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_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
new AP_RcChannel(k_chSail, PSTR("SAIL_"), hal->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
}
private:
// methdos
// methods
void manualLoop(const float dt) {
setAllRadioChannelsManually();
_strCmd = _hal->rc[ch_str]->getRadioPosition();
_thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
_sailCmd = _hal->rc[ch_sail]->getRadioPosition();
}
void autoLoop(const float dt) {
// insert tacking logic here
// neglects heading command derivative
_strCmd = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
_thrustCmd = pidThrust.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt);
float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
_strCmd = steering;
// insert sail command calculation based on sensor position here
_sailCmd = 0;
}
void setMotors() {
// turn all motors off if below 0.1 throttle
if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
setAllRadioChannelsToNeutral();
} else {
_hal->rc[ch_thrust]->setPosition(_thrustCmd);
_hal->rc[ch_str]->setPosition(_strCmd);
}
_hal->rc[ch_str]->setPosition(_strCmd);
_hal->rc[ch_sail]->setPosition(_sailCmd);
}
void handleFailsafe() {
// failsafe is to turn off
// turn off
setMode(MAV_MODE_LOCKED);
}
// attributes
enum {
ch_mode = 0, ch_str, ch_thrust
ch_mode = 0, ch_str, ch_sail
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThrust
k_chMode = k_radioChannelsStart, k_chStr, k_chSail
};
enum {
k_pidStr = k_controllersStart, k_pidThrust
k_pidStr = k_controllersStart
};
BlockPIDDfb pidStr;
BlockPID pidThrust;
float _strCmd, _thrustCmd;
float _strCmd;
float _sailCmd;
};
} // namespace apo

117
ArduBoat/ControllerSailboat.h Normal file
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@ -0,0 +1,117 @@
/*
* ControllerSailboat.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERSAILBOAT_H_
#define CONTROLLERSAILBOAT_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerSailboat: public AP_Controller {
public:
ControllerSailboat(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_thrust,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),
pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _thrustCmd(0),
_rangeFinderFront()
{
_hal->debug->println_P(PSTR("initializing sailboat controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), hal->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
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_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), hal->radio, 4, 1100, 1500,
1900, RC_MODE_IN, false));
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
RangeFinder * rF = _hal->rangeFinders[i];
if (rF == NULL)
continue;
if (rF->orientation_x == 1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderFront = rF;
}
}
private:
// methods
void manualLoop(const float dt) {
_strCmd = _hal->rc[ch_str]->getRadioPosition();
_thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
if (useForwardReverseSwitch && _hal->rc[ch_FwdRev]->getRadioPosition() < 0.0)
_thrustCmd = -_thrustCmd;
}
void autoLoop(const float dt) {
//_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_thrust]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
// neglects heading command derivative
float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
float thrust = pidThrust.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt);
// obstacle avoidance overrides
// try to drive around the obstacle in front. if this fails, stop
if (_rangeFinderFront) {
_rangeFinderFront->read();
int distanceToObstacle = _rangeFinderFront->distance;
if (distanceToObstacle < 100) {
thrust = 0; // Avoidance didn't work out. Stopping
}
else if (distanceToObstacle < 650) {
// Deviating from the course. Deviation angle is inverse proportional
// to the distance to the obstacle, with 15 degrees min angle, 180 - max
steering += (15 + 165 *
(1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad;
}
}
_strCmd = steering;
_thrustCmd = thrust;
}
void setMotors() {
_hal->rc[ch_str]->setPosition(_strCmd);
_hal->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
}
void handleFailsafe() {
// turn off
setMode(MAV_MODE_LOCKED);
}
// attributes
enum {
ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
};
enum {
k_pidStr = k_controllersStart, k_pidThrust
};
BlockPIDDfb pidStr;
BlockPID pidThrust;
float _strCmd, _thrustCmd;
RangeFinder * _rangeFinderFront;
};
} // namespace apo
#endif /* CONTROLLERSAILBOAT_H_ */
// vim:ts=4:sw=4:expandtab

87
ArduBoat/SailboatLaser.h Normal file
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@ -0,0 +1,87 @@
/*
* SailboatLaser.h
*
* Created on: May 1, 2011
* Author: jgoppert
*
*/
#ifndef SAILBOATLASER_H_
#define SAILBOATLASER_H_
// vehicle options
static const MAV_TYPE vehicle = UGV_SURFACE_SHIP;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;
// algorithm selection
#define CONTROLLER_CLASS ControllerSailboat
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm
// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
// baud rates
static const uint32_t debugBaud = 57600;
static const uint32_t telemBaud = 57600;
static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 115200;
// optional sensors
static const bool gpsEnabled = false;
static const bool baroEnabled = false;
static const bool compassEnabled = true;
static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
// compass orientation: See AP_Compass_HMC5843.h for possible values
// battery monitoring
static const bool batteryMonitorEnabled = true;
static const uint8_t batteryPin = 0;
static const float batteryVoltageDivRatio = 6;
static const float batteryMinVolt = 10.0;
static const float batteryMaxVolt = 12.4;
static const bool rangeFinderFrontEnabled = false;
static const bool rangeFinderBackEnabled = false;
static const bool rangeFinderLeftEnabled = false;
static const bool rangeFinderRightEnabled = false;
static const bool rangeFinderUpEnabled = false;
static const bool rangeFinderDownEnabled = false;
// loop rates
static const float loopRate = 150; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
// gains
static const float steeringP = 0.1;
static const float steeringI = 0.0;
static const float steeringD = 0.1;
static const float steeringIMax = 0.0;
static const float steeringYMax = 1;
static const float steeringDFCut = 25.0;
static const float throttleP = 0.1;
static const float throttleI = 0.0;
static const float throttleD = 0.0;
static const float throttleIMax = 0.0;
static const float throttleYMax = 1;
static const float throttleDFCut = 0.0;
// guidance
static const float velCmd = 5;
static const float xt = 10;
static const float xtLim = 90;
#include "ControllerSailboat.h"
#endif /* SAILBOATLASER_H_ */
// vim:ts=4:sw=4:expandtab