#pragma once /// @file AC_AttitudeControl_Heli.h /// @brief ArduCopter attitude control library for traditional helicopters #include "AC_AttitudeControl.h" #include #include #include // default rate controller PID gains #define AC_ATC_HELI_RATE_RP_P 0.024f #define AC_ATC_HELI_RATE_RP_I 0.6f #define AC_ATC_HELI_RATE_RP_D 0.001f #define AC_ATC_HELI_RATE_RP_IMAX 1.0f #define AC_ATC_HELI_RATE_RP_FF 0.060f #define AC_ATC_HELI_RATE_RP_FILT_HZ 20.0f #define AC_ATC_HELI_RATE_YAW_P 0.18f #define AC_ATC_HELI_RATE_YAW_I 0.12f #define AC_ATC_HELI_RATE_YAW_D 0.003f #define AC_ATC_HELI_RATE_YAW_IMAX 1.0f #define AC_ATC_HELI_RATE_YAW_FF 0.024f #define AC_ATC_HELI_RATE_YAW_FILT_HZ 20.0f #define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX 0.95f // Heli's use 95% of max collective before limiting frame angle #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f #define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f #define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f #define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT 300 #define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD ToRad(30.0f) class AC_AttitudeControl_Heli : public AC_AttitudeControl { public: AC_AttitudeControl_Heli( AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsHeli& motors, float dt) : AC_AttitudeControl(ahrs, aparm, motors, dt), _passthrough_roll(0), _passthrough_pitch(0), _passthrough_yaw(0), _pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF), _pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF), _pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATC_HELI_RATE_YAW_FILT_HZ, dt, AC_ATC_HELI_RATE_YAW_FF), pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER), roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER), yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER) { AP_Param::setup_object_defaults(this, var_info); // initialise flags _flags_heli.limit_roll = false; _flags_heli.limit_pitch = false; _flags_heli.limit_yaw = false; _flags_heli.leaky_i = true; _flags_heli.flybar_passthrough = false; _flags_heli.tail_passthrough = false; _flags_heli.do_piro_comp = false; } // pid accessors AC_PID& get_rate_roll_pid() { return _pid_rate_roll; } AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; } AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; } // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds) override; // Integrate vehicle rate into _att_error_rot_vec_rad void integrate_bf_rate_error_to_angle_errors(); // subclass non-passthrough too, for external gyro, no flybar void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) override; // rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors // should be called at 100hz or more virtual void rate_controller_run(); // Update Alt_Hold angle maximum void update_althold_lean_angle_max(float throttle_in) override; // use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage void use_leaky_i(bool leaky_i) override { _flags_heli.leaky_i = leaky_i; } // use_flybar_passthrough - controls whether we pass-through // control inputs to swash-plate and tail void use_flybar_passthrough(bool passthrough, bool tail_passthrough) override { _flags_heli.flybar_passthrough = passthrough; _flags_heli.tail_passthrough = tail_passthrough; } // do_piro_comp - controls whether piro-comp is active or not void do_piro_comp(bool piro_comp) { _flags_heli.do_piro_comp = piro_comp; } // set_hover_roll_scalar - scales Hover Roll Trim parameter. To be used by vehicle code according to vehicle condition. void set_hover_roll_trim_scalar(float scalar) override {_hover_roll_trim_scalar = constrain_float(scalar, 0.0f, 1.0f);} // Set output throttle void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override; // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain) override; // Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw, float smoothing_gain) override; // enable/disable inverted flight void set_inverted_flight(bool inverted) override { _inverted_flight = inverted; } // user settable parameters static const struct AP_Param::GroupInfo var_info[]; private: // To-Do: move these limits flags into the heli motors class struct AttControlHeliFlags { uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move uint8_t limit_yaw : 1; // 1 if we have requested larger yaw angle than tail servo can physically move uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage uint8_t flybar_passthrough : 1; // 1 if we should pass through pilots roll & pitch input directly to swash-plate uint8_t tail_passthrough : 1; // 1 if we should pass through pilots yaw input to tail uint8_t do_piro_comp : 1; // 1 if we should do pirouette compensation on roll/pitch } _flags_heli; // // body-frame rate controller // // rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in radians/sec) for roll, pitch and yaw // outputs are sent directly to motor class void rate_bf_to_motor_roll_pitch(const Vector3f &rate_rads, float rate_roll_target_rads, float rate_pitch_target_rads); float rate_target_to_motor_yaw(float rate_yaw_actual_rads, float rate_yaw_rads) override; // // throttle methods // // pass through for roll and pitch int16_t _passthrough_roll; int16_t _passthrough_pitch; // pass through for yaw if tail_passthrough is set int16_t _passthrough_yaw; // get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover float get_roll_trim_rad() { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));} // internal variables float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim // This represents an euler axis-angle rotation vector from the vehicles // estimated attitude to the reference (setpoint) attitude used in the attitude // controller, in radians in the vehicle body frame of reference. Vector3f _att_error_rot_vec_rad; // parameters AP_Int8 _piro_comp_enabled; // Flybar present or not. Affects attitude controller used during ACRO flight mode AP_Int16 _hover_roll_trim; // Angle in centi-degrees used to counter tail rotor thrust in hover AC_HELI_PID _pid_rate_roll; AC_HELI_PID _pid_rate_pitch; AC_HELI_PID _pid_rate_yaw; // LPF filters to act on Rate Feedforward terms to linearize output. // Due to complicated aerodynamic effects, feedforwards acting too fast can lead // to jerks on rate change requests. LowPassFilterFloat pitch_feedforward_filter; LowPassFilterFloat roll_feedforward_filter; LowPassFilterFloat yaw_velocity_feedforward_filter; LowPassFilterFloat yaw_acceleration_feedforward_filter; };