Adding sailboat controller.

ArduBoat/ArduBoat.pde

@@ -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

ArduBoat/ControllerBoat.h

@@ -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_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_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),
+               steeringI, steeringD, steeringIMax, steeringYMax)
-        pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
-                  throttleI, throttleD, throttleIMax, throttleYMax, throttleDFCut), _strCmd(0), _thrustCmd(0)
     {
         _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);
+        float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
-        _thrustCmd = pidThrust.update(
+        _strCmd = steering;
-                         _guide->getGroundSpeedCommand()
+
-                         - _nav->getGroundSpeed(), dt);
+        // insert sail command calculation based on sensor position here
+        _sailCmd = 0; 
     }
     void setMotors() {
-        // turn all motors off if below 0.1 throttle
+        _hal->rc[ch_str]->setPosition(_strCmd);
-        if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
+        _hal->rc[ch_sail]->setPosition(_sailCmd);
-            setAllRadioChannelsToNeutral();
-        } else {
-            _hal->rc[ch_thrust]->setPosition(_thrustCmd);
-            _hal->rc[ch_str]->setPosition(_strCmd);
-        }
     }
     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;
-    float _strCmd, _thrustCmd;
+    float _sailCmd;
 };
 
 } // namespace apo

ArduBoat/ControllerSailboat.h

@@ -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

ArduBoat/SailboatLaser.h

@@ -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