// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #include "Plane.h" const AP_Param::GroupInfo QuadPlane::var_info[] = { // @Param: ENABLE // @DisplayName: Enable QuadPlane // @Description: This enables QuadPlane functionality, assuming quad motors on outputs 5 to 8 // @Values: 0:Disable,1:Enable // @User: Standard AP_GROUPINFO_FLAGS("ENABLE", 1, QuadPlane, enable, 0, AP_PARAM_FLAG_ENABLE), // @Group: M_ // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsMulticopter), // 3 ~ 8 were used by quadplane attitude control PIDs // @Param: ANGLE_MAX // @DisplayName: Angle Max // @Description: Maximum lean angle in all flight modes // @Units: Centi-degrees // @Range: 1000 8000 // @User: Advanced AP_GROUPINFO("ANGLE_MAX", 10, QuadPlane, aparm.angle_max, 4500), // @Param: TRANSITION_MS // @DisplayName: Transition time // @Description: Transition time in milliseconds after minimum airspeed is reached // @Units: milli-seconds // @Range: 0 30000 // @User: Advanced AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000), // @Param: PZ_P // @DisplayName: Position (vertical) controller P gain // @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller // @Range: 1.000 3.000 // @User: Standard AP_SUBGROUPINFO(p_alt_hold, "PZ_", 12, QuadPlane, AC_P), // @Param: PXY_P // @DisplayName: Position (horizonal) controller P gain // @Description: Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller // @Range: 0.500 2.000 // @User: Standard AP_SUBGROUPINFO(p_pos_xy, "PXY_", 13, QuadPlane, AC_P), // @Param: VXY_P // @DisplayName: Velocity (horizontal) P gain // @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration // @Range: 0.1 6.0 // @Increment: 0.1 // @User: Advanced // @Param: VXY_I // @DisplayName: Velocity (horizontal) I gain // @Description: Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration // @Range: 0.02 1.00 // @Increment: 0.01 // @User: Advanced // @Param: VXY_IMAX // @DisplayName: Velocity (horizontal) integrator maximum // @Description: Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output // @Range: 0 4500 // @Increment: 10 // @Units: cm/s/s // @User: Advanced AP_SUBGROUPINFO(pi_vel_xy, "VXY_", 14, QuadPlane, AC_PI_2D), // @Param: VZ_P // @DisplayName: Velocity (vertical) P gain // @Description: Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller // @Range: 1.000 8.000 // @User: Standard AP_SUBGROUPINFO(p_vel_z, "VZ_", 15, QuadPlane, AC_P), // @Param: AZ_P // @DisplayName: Throttle acceleration controller P gain // @Description: Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output // @Range: 0.500 1.500 // @User: Standard // @Param: AZ_I // @DisplayName: Throttle acceleration controller I gain // @Description: Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration // @Range: 0.000 3.000 // @User: Standard // @Param: AZ_IMAX // @DisplayName: Throttle acceleration controller I gain maximum // @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate // @Range: 0 1000 // @Units: Percent*10 // @User: Standard // @Param: AZ_D // @DisplayName: Throttle acceleration controller D gain // @Description: Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration // @Range: 0.000 0.400 // @User: Standard // @Param: AZ_FILT_HZ // @DisplayName: Throttle acceleration filter // @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay. // @Range: 1.000 100.000 // @Units: Hz // @User: Standard AP_SUBGROUPINFO(pid_accel_z, "AZ_", 16, QuadPlane, AC_PID), // @Group: P_ // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp AP_SUBGROUPPTR(pos_control, "P", 17, QuadPlane, AC_PosControl), // @Param: VELZ_MAX // @DisplayName: Pilot maximum vertical speed // @Description: The maximum vertical velocity the pilot may request in cm/s // @Units: Centimeters/Second // @Range: 50 500 // @Increment: 10 // @User: Standard AP_GROUPINFO("VELZ_MAX", 18, QuadPlane, pilot_velocity_z_max, 250), // @Param: ACCEL_Z // @DisplayName: Pilot vertical acceleration // @Description: The vertical acceleration used when pilot is controlling the altitude // @Units: cm/s/s // @Range: 50 500 // @Increment: 10 // @User: Standard AP_GROUPINFO("ACCEL_Z", 19, QuadPlane, pilot_accel_z, 250), // @Group: WP_ // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp AP_SUBGROUPPTR(wp_nav, "WP_", 20, QuadPlane, AC_WPNav), // @Param: RC_SPEED // @DisplayName: RC output speed in Hz // @Description: This is the PWM refresh rate in Hz for QuadPlane quad motors // @Units: Hz // @Range: 50 500 // @Increment: 10 // @User: Standard AP_GROUPINFO("RC_SPEED", 21, QuadPlane, rc_speed, 490), // @Param: THR_MIN_PWM // @DisplayName: Minimum PWM output // @Description: This is the minimum PWM output for the quad motors // @Units: Hz // @Range: 800 2200 // @Increment: 1 // @User: Standard AP_GROUPINFO("THR_MIN_PWM", 22, QuadPlane, thr_min_pwm, 1000), // @Param: THR_MAX_PWM // @DisplayName: Maximum PWM output // @Description: This is the maximum PWM output for the quad motors // @Units: Hz // @Range: 800 2200 // @Increment: 1 // @User: Standard AP_GROUPINFO("THR_MAX_PWM", 23, QuadPlane, thr_max_pwm, 2000), // @Param: ASSIST_SPEED // @DisplayName: Quadplane assistance speed // @Description: This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition // @Units: m/s // @Range: 0 100 // @Increment: 0.1 // @User: Standard AP_GROUPINFO("ASSIST_SPEED", 24, QuadPlane, assist_speed, 0), // @Param: YAW_RATE_MAX // @DisplayName: Maximum yaw rate // @Description: This is the maximum yaw rate in degrees/second // @Units: degrees/second // @Range: 50 500 // @Increment: 1 // @User: Standard AP_GROUPINFO("YAW_RATE_MAX", 25, QuadPlane, yaw_rate_max, 100), // @Param: LAND_SPEED // @DisplayName: Land speed // @Description: The descent speed for the final stage of landing in cm/s // @Units: cm/s // @Range: 30 200 // @Increment: 10 // @User: Standard AP_GROUPINFO("LAND_SPEED", 26, QuadPlane, land_speed_cms, 50), // @Param: LAND_FINAL_ALT // @DisplayName: Land final altitude // @Description: The altitude at which we should switch to Q_LAND_SPEED descent rate // @Units: m // @Range: 0.5 50 // @Increment: 0.1 // @User: Standard AP_GROUPINFO("LAND_FINAL_ALT", 27, QuadPlane, land_final_alt, 6), // @Param: THR_MID // @DisplayName: Throttle Mid Position // @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover // @User: Standard // @Range: 300 700 // @Units: Percent*10 // @Increment: 10 AP_GROUPINFO("THR_MID", 28, QuadPlane, throttle_mid, 500), // @Param: TRAN_PIT_MAX // @DisplayName: Transition max pitch // @Description: Maximum pitch during transition to auto fixed wing flight // @User: Standard // @Range: 0 30 // @Units: Degrees // @Increment: 1 AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3), // @Param: FRAME_CLASS // @DisplayName: Frame Class // @Description: Controls major frame class for multicopter component // @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad, 4:Y6 // @User: Standard AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0), // @Param: FRAME_TYPE // @DisplayName: Frame Type (+, X or V) // @Description: Controls motor mixing for multicopter component // @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B // @User: Standard AP_GROUPINFO("FRAME_TYPE", 31, QuadPlane, frame_type, 1), // @Param: VFWD_GAIN // @DisplayName: Forward velocity hold gain // @Description: Controls use of forward motor in vtol modes. If this is zero then the forward motor will not be used for position control in VTOL modes. A value of 0.1 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use QLOITER for position hold with the forward motor. // @Range: 0 0.5 // @Increment: 0.01 // @User: Standard AP_GROUPINFO("VFWD_GAIN", 32, QuadPlane, vel_forward.gain, 0), // @Param: WVANE_GAIN // @DisplayName: Weathervaning gain // @Description: This controls the tendency to yaw to face into the wind. A value of 0.4 is good for reasonably quick wind direction correction. The weathervaning works by turning into the direction of roll. // @Range: 0 1 // @Increment: 0.01 // @User: Standard AP_GROUPINFO("WVANE_GAIN", 33, QuadPlane, weathervane.gain, 0), // @Param: WVANE_MINROLL // @DisplayName: Weathervaning min roll // @Description: This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim. // @Range: 0 10 // @Increment: 0.1 // @User: Standard AP_GROUPINFO("WVANE_MINROLL", 34, QuadPlane, weathervane.min_roll, 1), AP_GROUPEND }; static const struct { const char *name; float value; } defaults_table[] = { { "Q_A_RAT_RLL_P", 0.25 }, { "Q_A_RAT_RLL_I", 0.25 }, { "Q_A_RAT_RLL_FILT", 10.0 }, { "Q_A_RAT_PIT_P", 0.25 }, { "Q_A_RAT_PIT_I", 0.25 }, { "Q_A_RAT_PIT_FILT", 10.0 }, }; QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) : ahrs(_ahrs) { AP_Param::setup_object_defaults(this, var_info); } // setup default motors for the frame class void QuadPlane::setup_default_channels(uint8_t num_motors) { for (uint8_t i=0; iget_soft_armed()) { return false; } float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz(); if (hal.util->available_memory() < 4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) { GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Not enough memory for quadplane"); goto failed; } /* dynamically allocate the key objects for quadplane. This ensures that the objects don't affect the vehicle unless enabled and also saves memory when not in use */ switch ((enum frame_class)frame_class.get()) { case FRAME_CLASS_QUAD: setup_default_channels(4); motors = new AP_MotorsQuad(plane.scheduler.get_loop_rate_hz()); break; case FRAME_CLASS_HEXA: setup_default_channels(6); motors = new AP_MotorsHexa(plane.scheduler.get_loop_rate_hz()); break; case FRAME_CLASS_OCTA: setup_default_channels(8); motors = new AP_MotorsOcta(plane.scheduler.get_loop_rate_hz()); break; case FRAME_CLASS_OCTAQUAD: setup_default_channels(8); motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz()); break; case FRAME_CLASS_Y6: setup_default_channels(7); motors = new AP_MotorsY6(plane.scheduler.get_loop_rate_hz()); break; default: hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get()); goto failed; } if (!motors) { hal.console->printf("Unable to allocate motors\n"); goto failed; } AP_Param::load_object_from_eeprom(motors, motors->var_info); attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors, loop_delta_t); if (!attitude_control) { hal.console->printf("Unable to allocate attitude_control\n"); goto failed; } AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info); pos_control = new AC_PosControl(ahrs, inertial_nav, *motors, *attitude_control, p_alt_hold, p_vel_z, pid_accel_z, p_pos_xy, pi_vel_xy); if (!pos_control) { hal.console->printf("Unable to allocate pos_control\n"); goto failed; } AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info); wp_nav = new AC_WPNav(inertial_nav, ahrs, *pos_control, *attitude_control); if (!pos_control) { hal.console->printf("Unable to allocate wp_nav\n"); goto failed; } AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info); motors->set_frame_orientation(frame_type); motors->Init(); motors->set_throttle_range(100, thr_min_pwm, thr_max_pwm); motors->set_hover_throttle(throttle_mid); motors->set_update_rate(rc_speed); motors->set_interlock(true); pid_accel_z.set_dt(loop_delta_t); pos_control->set_dt(loop_delta_t); // setup the trim of any motors used by AP_Motors so px4io // failsafe will disable motors mask = motors->get_motor_mask(); for (uint8_t i=0; i<16; i++) { if (mask & 1U<radio_trim = thr_min_pwm; } } } #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 // redo failsafe mixing on px4 plane.setup_failsafe_mixing(); #endif transition_state = TRANSITION_DONE; setup_defaults(); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane initialised"); initialised = true; return true; failed: initialised = false; enable.set(0); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane setup failed"); return false; } /* setup default parameters from defaults_table */ void QuadPlane::setup_defaults(void) { for (uint8_t i=0; iinput_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd, plane.nav_pitch_cd, get_desired_yaw_rate_cds(), smoothing_gain); if (throttle_in <= 0) { motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control->set_throttle_out_unstabilized(0, true, 0); } else { motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); attitude_control->set_throttle_out(throttle_in, true, 0); } } // quadplane stabilize mode void QuadPlane::control_stabilize(void) { float pilot_throttle_scaled = plane.channel_throttle->control_in / 100.0f; hold_stabilize(pilot_throttle_scaled); } // init quadplane hover mode void QuadPlane::init_hover(void) { // initialize vertical speeds and leash lengths pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_accel_z(pilot_accel_z); // initialise position and desired velocity pos_control->set_alt_target(inertial_nav.get_altitude()); pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); init_throttle_wait(); } /* hold hover with target climb rate */ void QuadPlane::hold_hover(float target_climb_rate) { // motors use full range motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // initialize vertical speeds and acceleration pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_accel_z(pilot_accel_z); // call attitude controller attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd, plane.nav_pitch_cd, get_desired_yaw_rate_cds(), smoothing_gain); // call position controller pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, plane.G_Dt, false); pos_control->update_z_controller(); } /* control QHOVER mode */ void QuadPlane::control_hover(void) { if (throttle_wait) { motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control->set_throttle_out_unstabilized(0, true, 0); pos_control->relax_alt_hold_controllers(0); } else { hold_hover(get_pilot_desired_climb_rate_cms()); } } void QuadPlane::init_loiter(void) { // set target to current position wp_nav->init_loiter_target(); // initialize vertical speed and acceleration pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_accel_z(pilot_accel_z); // initialise position and desired velocity pos_control->set_alt_target(inertial_nav.get_altitude()); pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); init_throttle_wait(); } void QuadPlane::init_land(void) { init_loiter(); throttle_wait = false; land_state = QLAND_DESCEND; motors_lower_limit_start_ms = 0; } // helper for is_flying() bool QuadPlane::is_flying(void) { if (!available()) { return false; } if (motors->get_throttle() > 0.2 && !motors->limit.throttle_lower) { return true; } return false; } // crude landing detector to prevent tipover bool QuadPlane::should_relax(void) { bool motor_at_lower_limit = motors->limit.throttle_lower && motors->is_throttle_mix_min(); if (motors->get_throttle() < 0.01) { motor_at_lower_limit = true; } if (!motor_at_lower_limit) { motors_lower_limit_start_ms = 0; } if (motor_at_lower_limit && motors_lower_limit_start_ms == 0) { motors_lower_limit_start_ms = millis(); } bool relax_loiter = motors_lower_limit_start_ms != 0 && (millis() - motors_lower_limit_start_ms) > 1000; return relax_loiter; } /* smooth out descent rate for landing to prevent a jerk as we get to land_final_alt. */ float QuadPlane::landing_descent_rate_cms(float height_above_ground) { float ret = linear_interpolate(land_speed_cms, wp_nav->get_speed_down(), height_above_ground, land_final_alt, land_final_alt+3); return ret; } // run quadplane loiter controller void QuadPlane::control_loiter() { if (throttle_wait) { motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); attitude_control->set_throttle_out_unstabilized(0, true, 0); pos_control->relax_alt_hold_controllers(0); wp_nav->init_loiter_target(); return; } if (should_relax()) { wp_nav->loiter_soften_for_landing(); } if (millis() - last_loiter_ms > 500) { wp_nav->init_loiter_target(); } last_loiter_ms = millis(); // motors use full range motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // initialize vertical speed and acceleration pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_accel_z(pilot_accel_z); // process pilot's roll and pitch input wp_nav->set_pilot_desired_acceleration(plane.channel_roll->control_in, plane.channel_pitch->control_in); // Update EKF speed limit - used to limit speed when we are using optical flow float ekfGndSpdLimit, ekfNavVelGainScaler; ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); // run loiter controller wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); // call attitude controller attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), get_desired_yaw_rate_cds()); // nav roll and pitch are controller by loiter controller plane.nav_roll_cd = wp_nav->get_roll(); plane.nav_pitch_cd = wp_nav->get_pitch(); if (plane.control_mode == QLAND) { float height_above_ground; if (plane.g.rangefinder_landing && plane.rangefinder_state.in_range) { height_above_ground = plane.rangefinder_state.height_estimate; } else { height_above_ground = plane.adjusted_relative_altitude_cm() * 0.01; } if (height_above_ground < land_final_alt && land_state < QLAND_FINAL) { land_state = QLAND_FINAL; } float descent_rate = (land_state == QLAND_FINAL)? land_speed_cms:landing_descent_rate_cms(height_above_ground); pos_control->set_alt_target_from_climb_rate(-descent_rate, plane.G_Dt, true); check_land_complete(); } else { // update altitude target and call position controller pos_control->set_alt_target_from_climb_rate_ff(get_pilot_desired_climb_rate_cms(), plane.G_Dt, false); } pos_control->update_z_controller(); } /* get pilot input yaw rate in cd/s */ float QuadPlane::get_pilot_input_yaw_rate_cds(void) { if (plane.channel_throttle->control_in <= 0 && !plane.auto_throttle_mode) { // the user may be trying to disarm return 0; } // add in rudder input return plane.channel_rudder->norm_input() * 100 * yaw_rate_max; } /* get overall desired yaw rate in cd/s */ float QuadPlane::get_desired_yaw_rate_cds(void) { float yaw_cds = 0; if (assisted_flight) { // use bank angle to get desired yaw rate yaw_cds += desired_auto_yaw_rate_cds(); } if (plane.channel_throttle->control_in <= 0 && !plane.auto_throttle_mode) { // the user may be trying to disarm return 0; } // add in pilot input yaw_cds += get_pilot_input_yaw_rate_cds(); // add in weathervaning yaw_cds += get_weathervane_yaw_rate_cds(); return yaw_cds; } // get pilot desired climb rate in cm/s float QuadPlane::get_pilot_desired_climb_rate_cms(void) { if (plane.failsafe.ch3_failsafe || plane.failsafe.ch3_counter > 0) { // descend at 0.5m/s for now return -50; } uint16_t dead_zone = plane.channel_throttle->get_dead_zone(); uint16_t trim = (plane.channel_throttle->radio_max + plane.channel_throttle->radio_min)/2; return pilot_velocity_z_max * plane.channel_throttle->pwm_to_angle_dz_trim(dead_zone, trim) / 100.0f; } /* initialise throttle_wait based on throttle and is_flying() */ void QuadPlane::init_throttle_wait(void) { if (plane.channel_throttle->control_in >= 10 || plane.is_flying()) { throttle_wait = false; } else { throttle_wait = true; } } // set motor arming void QuadPlane::set_armed(bool armed) { if (!initialised) { return; } motors->armed(armed); if (armed) { motors->enable(); } } /* estimate desired climb rate for assistance (in cm/s) */ float QuadPlane::assist_climb_rate_cms(void) { float climb_rate; if (plane.auto_throttle_mode) { // use altitude_error_cm, spread over 10s interval climb_rate = plane.altitude_error_cm / 10; } else { // otherwise estimate from pilot input climb_rate = plane.g.flybywire_climb_rate * (plane.nav_pitch_cd/(float)plane.aparm.pitch_limit_max_cd); climb_rate *= plane.channel_throttle->control_in; } climb_rate = constrain_float(climb_rate, -wp_nav->get_speed_down(), wp_nav->get_speed_up()); return climb_rate; } /* calculate desired yaw rate for assistance */ float QuadPlane::desired_auto_yaw_rate_cds(void) { float aspeed; if (!ahrs.airspeed_estimate(&aspeed) || aspeed < plane.aparm.airspeed_min) { aspeed = plane.aparm.airspeed_min; } if (aspeed < 1) { aspeed = 1; } float yaw_rate = degrees(GRAVITY_MSS * tanf(radians(plane.nav_roll_cd*0.01f))/aspeed) * 100; return yaw_rate; } /* update for transition from quadplane to fixed wing mode */ void QuadPlane::update_transition(void) { if (plane.control_mode == MANUAL || plane.control_mode == ACRO || plane.control_mode == TRAINING) { // in manual modes quad motors are always off motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN); motors->output(); transition_state = TRANSITION_DONE; return; } float aspeed; bool have_airspeed = ahrs.airspeed_estimate(&aspeed); /* see if we should provide some assistance */ if (have_airspeed && aspeed < assist_speed && (plane.auto_throttle_mode || plane.channel_throttle->control_in>0 || plane.is_flying())) { // the quad should provide some assistance to the plane transition_state = TRANSITION_AIRSPEED_WAIT; transition_start_ms = millis(); assisted_flight = true; } else { assisted_flight = false; } if (transition_state < TRANSITION_TIMER) { // set a single loop pitch limit in TECS plane.TECS_controller.set_pitch_max_limit(transition_pitch_max); } else if (transition_state < TRANSITION_DONE) { plane.TECS_controller.set_pitch_max_limit((transition_pitch_max+1)*2); } switch (transition_state) { case TRANSITION_AIRSPEED_WAIT: { motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // we hold in hover until the required airspeed is reached if (transition_start_ms == 0) { GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed wait"); transition_start_ms = millis(); } if (have_airspeed && aspeed > plane.aparm.airspeed_min && !assisted_flight) { transition_start_ms = millis(); transition_state = TRANSITION_TIMER; GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", (double)aspeed); } assisted_flight = true; hold_hover(assist_climb_rate_cms()); attitude_control->rate_controller_run(); motors_output(); last_throttle = motors->get_throttle(); break; } case TRANSITION_TIMER: { motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); // after airspeed is reached we degrade throttle over the // transition time, but continue to stabilize if (millis() - transition_start_ms > (unsigned)transition_time_ms) { transition_state = TRANSITION_DONE; GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done"); } float throttle_scaled = last_throttle * (transition_time_ms - (millis() - transition_start_ms)) / (float)transition_time_ms; if (throttle_scaled < 0) { throttle_scaled = 0; } assisted_flight = true; hold_stabilize(throttle_scaled); attitude_control->rate_controller_run(); motors_output(); break; } case TRANSITION_DONE: motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN); motors->output(); break; } } /* update motor output for quadplane */ void QuadPlane::update(void) { if (!setup()) { return; } if (motor_test.running) { motor_test_output(); return; } if (!in_vtol_mode()) { update_transition(); } else { assisted_flight = false; // run low level rate controllers attitude_control->rate_controller_run(); // output to motors motors_output(); transition_start_ms = 0; if (throttle_wait && !plane.is_flying()) { transition_state = TRANSITION_DONE; } else { transition_state = TRANSITION_AIRSPEED_WAIT; } last_throttle = motors->get_throttle(); } // disable throttle_wait when throttle rises above 10% if (throttle_wait && (plane.channel_throttle->control_in > 10 || plane.failsafe.ch3_failsafe || plane.failsafe.ch3_counter>0)) { throttle_wait = false; } } /* output motors and do any copter needed */ void QuadPlane::motors_output(void) { motors->output(); if (motors->armed()) { plane.DataFlash.Log_Write_Rate(plane.ahrs, *motors, *attitude_control, *pos_control); Log_Write_QControl_Tuning(); } } /* update control mode for quadplane modes */ void QuadPlane::control_run(void) { if (!initialised) { return; } switch (plane.control_mode) { case QSTABILIZE: control_stabilize(); break; case QHOVER: control_hover(); break; case QLOITER: case QLAND: control_loiter(); default: break; } // we also stabilize using fixed wing surfaces float speed_scaler = plane.get_speed_scaler(); plane.stabilize_roll(speed_scaler); plane.stabilize_pitch(speed_scaler); } /* enter a quadplane mode */ bool QuadPlane::init_mode(void) { if (!setup()) { return false; } if (!initialised) { GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "QuadPlane mode refused"); return false; } switch (plane.control_mode) { case QSTABILIZE: init_stabilize(); break; case QHOVER: init_hover(); break; case QLOITER: init_loiter(); break; case QLAND: init_land(); break; default: break; } return true; } /* handle a MAVLink DO_VTOL_TRANSITION */ bool QuadPlane::handle_do_vtol_transition(const mavlink_command_long_t &packet) { if (!available()) { plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL not available"); return MAV_RESULT_FAILED; } if (plane.control_mode != AUTO) { plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL transition only in AUTO"); return MAV_RESULT_FAILED; } switch ((uint8_t)packet.param1) { case MAV_VTOL_STATE_MC: if (!plane.auto_state.vtol_mode) { plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Entered VTOL mode"); } plane.auto_state.vtol_mode = true; return MAV_RESULT_ACCEPTED; case MAV_VTOL_STATE_FW: if (plane.auto_state.vtol_mode) { plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Exited VTOL mode"); } plane.auto_state.vtol_mode = false; return MAV_RESULT_ACCEPTED; } plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Invalid VTOL mode"); return MAV_RESULT_FAILED; } /* are we in a VTOL auto state? */ bool QuadPlane::in_vtol_auto(void) { if (!enable || plane.control_mode != AUTO) { return false; } if (plane.auto_state.vtol_mode) { return true; } switch (plane.mission.get_current_nav_cmd().id) { case MAV_CMD_NAV_VTOL_LAND: case MAV_CMD_NAV_VTOL_TAKEOFF: return true; default: return false; } } /* are we in a VTOL mode? */ bool QuadPlane::in_vtol_mode(void) { if (!enable) { return false; } return (plane.control_mode == QSTABILIZE || plane.control_mode == QHOVER || plane.control_mode == QLOITER || plane.control_mode == QLAND || in_vtol_auto()); } /* handle auto-mode when auto_state.vtol_mode is true */ void QuadPlane::control_auto(const Location &loc) { if (!setup()) { return; } motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); Location origin = inertial_nav.get_origin(); Vector2f diff2d; Vector3f target; diff2d = location_diff(origin, loc); target.x = diff2d.x * 100; target.y = diff2d.y * 100; target.z = loc.alt - origin.alt; if (!locations_are_same(loc, last_auto_target) || loc.alt != last_auto_target.alt || millis() - last_loiter_ms > 500) { wp_nav->set_wp_destination(target); last_auto_target = loc; } last_loiter_ms = millis(); // initialize vertical speed and acceleration pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_accel_z(pilot_accel_z); if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_TAKEOFF) { /* for takeoff we need to use the loiter controller wpnav controller takes over the descent rate control */ float ekfGndSpdLimit, ekfNavVelGainScaler; ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); // run loiter controller wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd, plane.nav_pitch_cd, get_pilot_input_yaw_rate_cds(), smoothing_gain); // nav roll and pitch are controller by position controller plane.nav_roll_cd = pos_control->get_roll(); plane.nav_pitch_cd = pos_control->get_pitch(); } else if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND && land_state >= QLAND_FINAL) { /* for land-final we use the loiter controller */ float ekfGndSpdLimit, ekfNavVelGainScaler; ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); // run loiter controller wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd, plane.nav_pitch_cd, get_pilot_input_yaw_rate_cds(), smoothing_gain); // nav roll and pitch are controller by position controller plane.nav_roll_cd = pos_control->get_roll(); plane.nav_pitch_cd = pos_control->get_pitch(); } else if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND && land_state == QLAND_POSITION1) { Vector2f diff_wp = location_diff(plane.current_loc, loc); if (land.speed_scale <= 0) { // initialise scaling so we start off targeting our // current linear speed towards the target. If this is // less than the wpnav speed then the wpnav speed is used // land_speed_scale is then used to linearly change // velocity as we approach the waypoint, aiming for zero // speed at the waypoint Vector2f groundspeed = ahrs.groundspeed_vector(); float speed_towards_target = diff_wp.normalized() * groundspeed; // setup land_speed_scale so at current distance we maintain speed towards target, and slow down as // we approach float distance = diff_wp.length(); // max_speed will control how fast we will fly. It will always decrease land.max_speed = MAX(speed_towards_target, wp_nav->get_speed_xy() * 0.01); land.speed_scale = land.max_speed / MAX(distance, 1); } // run fixed wing navigation plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc); /* calculate target velocity, not dropping it below 2m/s */ const float final_speed = 2.0f; Vector2f target_speed_xy = diff_wp * land.speed_scale; float target_speed = target_speed_xy.length(); if (target_speed < final_speed) { // until we enter the loiter we always aim for at least 2m/s target_speed_xy = target_speed_xy.normalized() * final_speed; land.max_speed = final_speed; } else if (target_speed > land.max_speed) { // we never speed up during landing approaches target_speed_xy = target_speed_xy.normalized() * land.max_speed; } else { land.max_speed = target_speed; } pos_control->set_desired_velocity_xy(target_speed_xy.x*100, target_speed_xy.y*100); float ekfGndSpdLimit, ekfNavVelGainScaler; ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); pos_control->update_vel_controller_xyz(ekfNavVelGainScaler); const Vector3f& curr_pos = inertial_nav.get_position(); pos_control->set_xy_target(curr_pos.x, curr_pos.y); pos_control->freeze_ff_xy(); // nav roll and pitch are controller by position controller plane.nav_roll_cd = pos_control->get_roll(); plane.nav_pitch_cd = pos_control->get_pitch(); /* limit the pitch down with an expanding envelope. This prevents the velocity controller demanding nose down during the initial slowdown if the target velocity curve is higher than the actual velocity curve (for a high drag aircraft). Nose down will cause a lot of downforce on the wings which will draw a lot of current and also cause the aircraft to lose altitude rapidly. */ float pitch_limit_cd = linear_interpolate(-300, plane.aparm.pitch_limit_min_cd, plane.auto_state.wp_proportion, 0, 1); if (plane.nav_pitch_cd < pitch_limit_cd) { plane.nav_pitch_cd = pitch_limit_cd; // tell the pos controller we have limited the pitch to // stop integrator buildup pos_control->set_limit_accel_xy(); } // call attitude controller attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd, plane.nav_pitch_cd, desired_auto_yaw_rate_cds() + get_weathervane_yaw_rate_cds(), smoothing_gain); if (plane.auto_state.wp_proportion >= 1 || plane.auto_state.wp_distance < 5) { land_state = QLAND_POSITION2; wp_nav->init_loiter_target(); plane.gcs_send_text_fmt(MAV_SEVERITY_INFO,"Land position2 started v=%.1f d=%.1f", (double)ahrs.groundspeed(), (double)plane.auto_state.wp_distance); } } else if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND) { /* for final land repositioning and descent we run the loiter controller */ // also run fixed wing navigation plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc); pos_control->set_xy_target(target.x, target.y); float ekfGndSpdLimit, ekfNavVelGainScaler; ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); // run loiter controller wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); // nav roll and pitch are controller by position controller plane.nav_roll_cd = wp_nav->get_roll(); plane.nav_pitch_cd = wp_nav->get_pitch(); // call attitude controller attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd, plane.nav_pitch_cd, get_pilot_input_yaw_rate_cds(), smoothing_gain); } else { /* this is full copter control of auto flight */ // run wpnav controller wp_nav->update_wpnav(); // call attitude controller attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), wp_nav->get_yaw(), true); // nav roll and pitch are controller by loiter controller plane.nav_roll_cd = wp_nav->get_roll(); plane.nav_pitch_cd = wp_nav->get_pitch(); } switch (plane.mission.get_current_nav_cmd().id) { case MAV_CMD_NAV_VTOL_LAND: if (land_state <= QLAND_POSITION2) { pos_control->set_alt_target_from_climb_rate(0, plane.G_Dt, false); } else if (land_state > QLAND_POSITION2 && land_state < QLAND_FINAL) { float height_above_ground = (plane.current_loc.alt - plane.next_WP_loc.alt)*0.01; pos_control->set_alt_target_from_climb_rate(-landing_descent_rate_cms(height_above_ground), plane.G_Dt, true); } else { pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true); } break; case MAV_CMD_NAV_VTOL_TAKEOFF: pos_control->set_alt_target_from_climb_rate(100, plane.G_Dt, true); break; default: pos_control->set_alt_target_from_climb_rate_ff(assist_climb_rate_cms(), plane.G_Dt, false); break; } pos_control->update_z_controller(); } /* start a VTOL takeoff */ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd) { if (!setup()) { return false; } plane.set_next_WP(cmd.content.location); plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt; throttle_wait = false; // set target to current position wp_nav->init_loiter_target(); // initialize vertical speed and acceleration pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_accel_z(pilot_accel_z); // initialise position and desired velocity pos_control->set_alt_target(inertial_nav.get_altitude()); pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); // also update nav_controller for status output plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc); return true; } /* start a VTOL landing */ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd) { if (!setup()) { return false; } attitude_control->get_rate_roll_pid().reset_I(); attitude_control->get_rate_pitch_pid().reset_I(); attitude_control->get_rate_yaw_pid().reset_I(); pid_accel_z.reset_I(); pi_vel_xy.reset_I(); plane.set_next_WP(cmd.content.location); // initially aim for current altitude plane.next_WP_loc.alt = plane.current_loc.alt; land_state = QLAND_POSITION1; land.speed_scale = 0; wp_nav->init_loiter_target(); throttle_wait = false; land.yaw_cd = get_bearing_cd(plane.prev_WP_loc, plane.next_WP_loc); motors_lower_limit_start_ms = 0; Location origin = inertial_nav.get_origin(); Vector2f diff2d; Vector3f target; diff2d = location_diff(origin, plane.next_WP_loc); target.x = diff2d.x * 100; target.y = diff2d.y * 100; target.z = plane.next_WP_loc.alt - origin.alt; pos_control->set_alt_target(inertial_nav.get_altitude()); // also update nav_controller for status output plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc); return true; } /* check if a VTOL takeoff has completed */ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd) { if (!available()) { return true; } if (plane.current_loc.alt < plane.next_WP_loc.alt) { return false; } transition_state = TRANSITION_AIRSPEED_WAIT; plane.TECS_controller.set_pitch_max_limit(transition_pitch_max); return true; } void QuadPlane::check_land_complete(void) { if (land_state == QLAND_FINAL && (motors_lower_limit_start_ms != 0 && millis() - motors_lower_limit_start_ms > 5000)) { plane.disarm_motors(); land_state = QLAND_COMPLETE; plane.gcs_send_text(MAV_SEVERITY_INFO,"Land complete"); } } /* check if a VTOL landing has completed */ bool QuadPlane::verify_vtol_land(const AP_Mission::Mission_Command &cmd) { if (!available()) { return true; } if (land_state == QLAND_POSITION2 && plane.auto_state.wp_distance < 2) { land_state = QLAND_DESCEND; plane.gcs_send_text(MAV_SEVERITY_INFO,"Land descend started"); plane.set_next_WP(cmd.content.location); } if (should_relax()) { wp_nav->loiter_soften_for_landing(); } // at land_final_alt begin final landing if (land_state == QLAND_DESCEND && plane.current_loc.alt < plane.next_WP_loc.alt+land_final_alt*100) { land_state = QLAND_FINAL; pos_control->set_alt_target(inertial_nav.get_altitude()); plane.gcs_send_text(MAV_SEVERITY_INFO,"Land final started"); } check_land_complete(); return false; } // Write a control tuning packet void QuadPlane::Log_Write_QControl_Tuning() { const Vector3f &desired_velocity = pos_control->get_desired_velocity(); const Vector3f &accel_target = pos_control->get_accel_target(); struct log_QControl_Tuning pkt = { LOG_PACKET_HEADER_INIT(LOG_QTUN_MSG), time_us : AP_HAL::micros64(), angle_boost : attitude_control->angle_boost(), throttle_out : motors->get_throttle(), desired_alt : pos_control->get_alt_target() / 100.0f, inav_alt : inertial_nav.get_altitude() / 100.0f, baro_alt : (int32_t)plane.barometer.get_altitude() * 100, desired_climb_rate : (int16_t)pos_control->get_vel_target_z(), climb_rate : (int16_t)inertial_nav.get_velocity_z(), dvx : desired_velocity.x*0.01f, dvy : desired_velocity.y*0.01f, dax : accel_target.x*0.01f, day : accel_target.y*0.01f, }; plane.DataFlash.WriteBlock(&pkt, sizeof(pkt)); } /* calculate the forward throttle percentage. The forward throttle can be used to assist with position hold and with landing approach. It reduces the need for down pitch which reduces load on the vertical lift motors. */ int8_t QuadPlane::forward_throttle_pct(void) { /* in non-VTOL modes or modes without a velocity controller. We don't use it in QHOVER or QSTABILIZE as they are the primary recovery modes for a quadplane and need to be as simple as possible. They will drift with the wind */ if (!in_vtol_mode() || !motors->armed() || vel_forward.gain <= 0 || plane.control_mode == QSTABILIZE || plane.control_mode == QHOVER) { return 0; } float deltat = (AP_HAL::millis() - vel_forward.lastt_ms) * 0.001f; if (deltat > 1 || deltat < 0) { vel_forward.integrator = 0; deltat = 0.1; } if (deltat < 0.1) { // run at 10Hz return vel_forward.last_pct; } vel_forward.lastt_ms = AP_HAL::millis(); // work out the desired speed in forward direction const Vector3f &desired_velocity_cms = pos_control->get_desired_velocity(); Vector3f vel_ned; if (!plane.ahrs.get_velocity_NED(vel_ned)) { // we don't know our velocity? EKF must be pretty sick vel_forward.last_pct = 0; return 0; } Vector3f vel_error_body = ahrs.get_rotation_body_to_ned().transposed() * ((desired_velocity_cms*0.01f) - vel_ned); // find component of velocity error in fwd body frame direction float fwd_vel_error = vel_error_body * Vector3f(1,0,0); // scale forward velocity error by maximum airspeed fwd_vel_error /= MAX(plane.aparm.airspeed_max, 5); // add in a component from our current pitch demand. This tends to // move us to zero pitch. Assume that LIM_PITCH would give us the // WP nav speed. fwd_vel_error -= (wp_nav->get_speed_xy() * 0.01f) * plane.nav_pitch_cd / (float)plane.aparm.pitch_limit_max_cd; if (should_relax() && vel_ned.length() < 1) { // we may be landed fwd_vel_error = 0; vel_forward.integrator *= 0.95f; } // integrator as throttle percentage (-100 to 100) vel_forward.integrator += fwd_vel_error * deltat * vel_forward.gain * 100; // constrain to throttle range. This allows for reverse throttle if configured vel_forward.integrator = constrain_float(vel_forward.integrator, plane.aparm.throttle_min, plane.aparm.throttle_max); vel_forward.last_pct = vel_forward.integrator; return vel_forward.last_pct; } /* get weathervaning yaw rate in cd/s */ float QuadPlane::get_weathervane_yaw_rate_cds(void) { /* we only do weathervaning in modes where we are doing VTOL position control. We also don't do it if the pilot has given any yaw input in the last 3 seconds. */ if (!in_vtol_mode() || !motors->armed() || weathervane.gain <= 0 || plane.control_mode == QSTABILIZE || plane.control_mode == QHOVER) { weathervane.last_output = 0; return 0; } if (plane.channel_rudder->control_in != 0) { weathervane.last_pilot_input_ms = AP_HAL::millis(); weathervane.last_output = 0; return 0; } if (AP_HAL::millis() - weathervane.last_pilot_input_ms < 3000) { weathervane.last_output = 0; return 0; } float roll = wp_nav->get_roll() / 100.0f; if (fabsf(roll) < weathervane.min_roll) { weathervane.last_output = 0; return 0; } if (roll > 0) { roll -= weathervane.min_roll; } else { roll += weathervane.min_roll; } float output = constrain_float((roll/45.0f) * weathervane.gain, -1, 1); if (should_relax()) { output = 0; } weathervane.last_output = 0.98f * weathervane.last_output + 0.02f * output; // scale over half of yaw_rate_max. This gives the pilot twice the // authority of the weathervane controller return weathervane.last_output * (yaw_rate_max/2) * 100; }