mirror of https://github.com/ArduPilot/ardupilot
518 lines
21 KiB
C++
518 lines
21 KiB
C++
#include "AC_AttitudeControl_Multi.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AC_PID/AC_PID.h>
|
|
#include <AP_Scheduler/AP_Scheduler.h>
|
|
|
|
// table of user settable parameters
|
|
const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
|
|
// parameters from parent vehicle
|
|
AP_NESTEDGROUPINFO(AC_AttitudeControl, 0),
|
|
|
|
// @Param: RAT_RLL_P
|
|
// @DisplayName: Roll axis rate controller P gain
|
|
// @Description: Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
|
|
// @Range: 0.01 0.5
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_I
|
|
// @DisplayName: Roll axis rate controller I gain
|
|
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
|
|
// @Range: 0.01 2.0
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_IMAX
|
|
// @DisplayName: Roll axis rate controller I gain maximum
|
|
// @Description: Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_D
|
|
// @DisplayName: Roll axis rate controller D gain
|
|
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
|
|
// @Range: 0.0 0.05
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FF
|
|
// @DisplayName: Roll axis rate controller feed forward
|
|
// @Description: Roll axis rate controller feed forward
|
|
// @Range: 0 0.5
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FLTT
|
|
// @DisplayName: Roll axis rate controller target frequency in Hz
|
|
// @Description: Roll axis rate controller target frequency in Hz
|
|
// @Range: 5 100
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FLTE
|
|
// @DisplayName: Roll axis rate controller error frequency in Hz
|
|
// @Description: Roll axis rate controller error frequency in Hz
|
|
// @Range: 0 100
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FLTD
|
|
// @DisplayName: Roll axis rate controller derivative frequency in Hz
|
|
// @Description: Roll axis rate controller derivative frequency in Hz
|
|
// @Range: 5 100
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_SMAX
|
|
// @DisplayName: Roll slew rate limit
|
|
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
|
|
// @Range: 0 200
|
|
// @Increment: 0.5
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_PDMX
|
|
// @DisplayName: Roll axis rate controller PD sum maximum
|
|
// @Description: Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
|
|
// @Param: RAT_RLL_D_FF
|
|
// @DisplayName: Roll Derivative FeedForward Gain
|
|
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
|
|
// @Range: 0 0.02
|
|
// @Increment: 0.0001
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_NTF
|
|
// @DisplayName: Roll Target notch filter index
|
|
// @Description: Roll Target notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_NEF
|
|
// @DisplayName: Roll Error notch filter index
|
|
// @Description: Roll Error notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
|
|
|
|
// @Param: RAT_PIT_P
|
|
// @DisplayName: Pitch axis rate controller P gain
|
|
// @Description: Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output
|
|
// @Range: 0.01 0.50
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_I
|
|
// @DisplayName: Pitch axis rate controller I gain
|
|
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
|
|
// @Range: 0.01 2.0
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_IMAX
|
|
// @DisplayName: Pitch axis rate controller I gain maximum
|
|
// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_D
|
|
// @DisplayName: Pitch axis rate controller D gain
|
|
// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
|
|
// @Range: 0.0 0.05
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FF
|
|
// @DisplayName: Pitch axis rate controller feed forward
|
|
// @Description: Pitch axis rate controller feed forward
|
|
// @Range: 0 0.5
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FLTT
|
|
// @DisplayName: Pitch axis rate controller target frequency in Hz
|
|
// @Description: Pitch axis rate controller target frequency in Hz
|
|
// @Range: 5 100
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FLTE
|
|
// @DisplayName: Pitch axis rate controller error frequency in Hz
|
|
// @Description: Pitch axis rate controller error frequency in Hz
|
|
// @Range: 0 100
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FLTD
|
|
// @DisplayName: Pitch axis rate controller derivative frequency in Hz
|
|
// @Description: Pitch axis rate controller derivative frequency in Hz
|
|
// @Range: 5 100
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_SMAX
|
|
// @DisplayName: Pitch slew rate limit
|
|
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
|
|
// @Range: 0 200
|
|
// @Increment: 0.5
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_PDMX
|
|
// @DisplayName: Pitch axis rate controller PD sum maximum
|
|
// @Description: Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
|
|
// @Param: RAT_PIT_D_FF
|
|
// @DisplayName: Pitch Derivative FeedForward Gain
|
|
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
|
|
// @Range: 0 0.02
|
|
// @Increment: 0.0001
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_NTF
|
|
// @DisplayName: Pitch Target notch filter index
|
|
// @Description: Pitch Target notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_NEF
|
|
// @DisplayName: Pitch Error notch filter index
|
|
// @Description: Pitch Error notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
|
|
|
|
// @Param: RAT_YAW_P
|
|
// @DisplayName: Yaw axis rate controller P gain
|
|
// @Description: Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
|
|
// @Range: 0.10 2.50
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_I
|
|
// @DisplayName: Yaw axis rate controller I gain
|
|
// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
|
|
// @Range: 0.010 1.0
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_IMAX
|
|
// @DisplayName: Yaw axis rate controller I gain maximum
|
|
// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_D
|
|
// @DisplayName: Yaw axis rate controller D gain
|
|
// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
|
|
// @Range: 0.000 0.02
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FF
|
|
// @DisplayName: Yaw axis rate controller feed forward
|
|
// @Description: Yaw axis rate controller feed forward
|
|
// @Range: 0 0.5
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FLTT
|
|
// @DisplayName: Yaw axis rate controller target frequency in Hz
|
|
// @Description: Yaw axis rate controller target frequency in Hz
|
|
// @Range: 1 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FLTE
|
|
// @DisplayName: Yaw axis rate controller error frequency in Hz
|
|
// @Description: Yaw axis rate controller error frequency in Hz
|
|
// @Range: 0 20
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FLTD
|
|
// @DisplayName: Yaw axis rate controller derivative frequency in Hz
|
|
// @Description: Yaw axis rate controller derivative frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_SMAX
|
|
// @DisplayName: Yaw slew rate limit
|
|
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
|
|
// @Range: 0 200
|
|
// @Increment: 0.5
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_PDMX
|
|
// @DisplayName: Yaw axis rate controller PD sum maximum
|
|
// @Description: Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
|
|
// @Param: RAT_YAW_D_FF
|
|
// @DisplayName: Yaw Derivative FeedForward Gain
|
|
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
|
|
// @Range: 0 0.02
|
|
// @Increment: 0.0001
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_NTF
|
|
// @DisplayName: Yaw Target notch filter index
|
|
// @Description: Yaw Target notch filter index
|
|
// @Range: 1 8
|
|
// @Units: Hz
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_NEF
|
|
// @DisplayName: Yaw Error notch filter index
|
|
// @Description: Yaw Error notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
|
|
|
|
// @Param: THR_MIX_MIN
|
|
// @DisplayName: Throttle Mix Minimum
|
|
// @Description: Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
|
|
// @Range: 0.1 0.25
|
|
// @User: Advanced
|
|
AP_GROUPINFO("THR_MIX_MIN", 4, AC_AttitudeControl_Multi, _thr_mix_min, AC_ATTITUDE_CONTROL_MIN_DEFAULT),
|
|
|
|
// @Param: THR_MIX_MAX
|
|
// @DisplayName: Throttle Mix Maximum
|
|
// @Description: Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
|
|
// @Range: 0.5 0.9
|
|
// @User: Advanced
|
|
AP_GROUPINFO("THR_MIX_MAX", 5, AC_AttitudeControl_Multi, _thr_mix_max, AC_ATTITUDE_CONTROL_MAX_DEFAULT),
|
|
|
|
// @Param: THR_MIX_MAN
|
|
// @DisplayName: Throttle Mix Manual
|
|
// @Description: Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
|
|
// @Range: 0.1 0.9
|
|
// @User: Advanced
|
|
AP_GROUPINFO("THR_MIX_MAN", 6, AC_AttitudeControl_Multi, _thr_mix_man, AC_ATTITUDE_CONTROL_MAN_DEFAULT),
|
|
|
|
// @Param: THR_G_BOOST
|
|
// @DisplayName: Throttle-gain boost
|
|
// @Description: Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.
|
|
// @Range: 0 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("THR_G_BOOST", 7, AC_AttitudeControl_Multi, _throttle_gain_boost, 0.0f),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors) :
|
|
AC_AttitudeControl(ahrs, aparm, motors),
|
|
_motors_multi(motors)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
|
|
#if AP_FILTER_ENABLED
|
|
set_notch_sample_rate(AP::scheduler().get_loop_rate_hz());
|
|
#endif
|
|
}
|
|
|
|
// Update Alt_Hold angle maximum
|
|
void AC_AttitudeControl_Multi::update_althold_lean_angle_max(float throttle_in)
|
|
{
|
|
// calc maximum tilt angle based on throttle
|
|
float thr_max = _motors_multi.get_throttle_thrust_max();
|
|
|
|
// divide by zero check
|
|
if (is_zero(thr_max)) {
|
|
_althold_lean_angle_max = 0.0f;
|
|
return;
|
|
}
|
|
|
|
float althold_lean_angle_max = acosf(constrain_float(throttle_in / (AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f));
|
|
_althold_lean_angle_max = _althold_lean_angle_max + (_dt / (_dt + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max);
|
|
}
|
|
|
|
void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff)
|
|
{
|
|
_throttle_in = throttle_in;
|
|
update_althold_lean_angle_max(throttle_in);
|
|
_motors.set_throttle_filter_cutoff(filter_cutoff);
|
|
if (apply_angle_boost) {
|
|
// Apply angle boost
|
|
throttle_in = get_throttle_boosted(throttle_in);
|
|
} else {
|
|
// Clear angle_boost for logging purposes
|
|
_angle_boost = 0.0f;
|
|
}
|
|
_motors.set_throttle(throttle_in);
|
|
_motors.set_throttle_avg_max(get_throttle_avg_max(MAX(throttle_in, _throttle_in)));
|
|
}
|
|
|
|
void AC_AttitudeControl_Multi::set_throttle_mix_max(float ratio)
|
|
{
|
|
ratio = constrain_float(ratio, 0.0f, 1.0f);
|
|
_throttle_rpy_mix_desired = (1.0f - ratio) * _thr_mix_min + ratio * _thr_mix_max;
|
|
}
|
|
|
|
// returns a throttle including compensation for roll/pitch angle
|
|
// throttle value should be 0 ~ 1
|
|
float AC_AttitudeControl_Multi::get_throttle_boosted(float throttle_in)
|
|
{
|
|
if (!_angle_boost_enabled) {
|
|
_angle_boost = 0;
|
|
return throttle_in;
|
|
}
|
|
// inverted_factor is 1 for tilt angles below 60 degrees
|
|
// inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees
|
|
|
|
float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
|
|
float inverted_factor = constrain_float(10.0f * cos_tilt, 0.0f, 1.0f);
|
|
float cos_tilt_target = cosf(_thrust_angle);
|
|
float boost_factor = 1.0f / constrain_float(cos_tilt_target, 0.1f, 1.0f);
|
|
|
|
float throttle_out = throttle_in * inverted_factor * boost_factor;
|
|
_angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f);
|
|
return throttle_out;
|
|
}
|
|
|
|
// returns a throttle including compensation for roll/pitch angle
|
|
// throttle value should be 0 ~ 1
|
|
float AC_AttitudeControl_Multi::get_throttle_avg_max(float throttle_in)
|
|
{
|
|
throttle_in = constrain_float(throttle_in, 0.0f, 1.0f);
|
|
return MAX(throttle_in, throttle_in * MAX(0.0f, 1.0f - _throttle_rpy_mix) + _motors.get_throttle_hover() * _throttle_rpy_mix);
|
|
}
|
|
|
|
// update_throttle_gain_boost - boost angle_p/pd each cycle on high throttle slew
|
|
void AC_AttitudeControl_Multi::update_throttle_gain_boost()
|
|
{
|
|
// Boost PD and Angle P on very rapid throttle changes
|
|
if (_motors.get_throttle_slew_rate() > AC_ATTITUDE_CONTROL_THR_G_BOOST_THRESH) {
|
|
const float pd_boost = constrain_float(_throttle_gain_boost + 1.0f, 1.0, 2.0);
|
|
set_PD_scale_mult(Vector3f(pd_boost, pd_boost, 1.0f));
|
|
|
|
const float angle_p_boost = constrain_float((_throttle_gain_boost + 1.0f) * (_throttle_gain_boost + 1.0f), 1.0, 4.0);
|
|
set_angle_P_scale_mult(Vector3f(angle_p_boost, angle_p_boost, 1.0f));
|
|
}
|
|
}
|
|
|
|
// update_throttle_rpy_mix - slew set_throttle_rpy_mix to requested value
|
|
void AC_AttitudeControl_Multi::update_throttle_rpy_mix()
|
|
{
|
|
// slew _throttle_rpy_mix to _throttle_rpy_mix_desired
|
|
if (_throttle_rpy_mix < _throttle_rpy_mix_desired) {
|
|
// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds)
|
|
_throttle_rpy_mix += MIN(2.0f * _dt, _throttle_rpy_mix_desired - _throttle_rpy_mix);
|
|
} else if (_throttle_rpy_mix > _throttle_rpy_mix_desired) {
|
|
// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
|
|
_throttle_rpy_mix -= MIN(0.5f * _dt, _throttle_rpy_mix - _throttle_rpy_mix_desired);
|
|
|
|
// if the mix is still higher than that being used, reset immediately
|
|
const float throttle_hover = _motors.get_throttle_hover();
|
|
const float throttle_in = _motors.get_throttle();
|
|
const float throttle_out = MAX(_motors.get_throttle_out(), throttle_in);
|
|
float mix_used;
|
|
// since throttle_out >= throttle_in at this point we don't need to check throttle_in < throttle_hover
|
|
if (throttle_out < throttle_hover) {
|
|
mix_used = (throttle_out - throttle_in) / (throttle_hover - throttle_in);
|
|
} else {
|
|
mix_used = throttle_out / throttle_hover;
|
|
}
|
|
|
|
_throttle_rpy_mix = MIN(_throttle_rpy_mix, MAX(mix_used, _throttle_rpy_mix_desired));
|
|
}
|
|
_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX);
|
|
}
|
|
|
|
void AC_AttitudeControl_Multi::rate_controller_run_dt(const Vector3f& gyro, float dt)
|
|
{
|
|
// take a copy of the target so that it can't be changed from under us.
|
|
Vector3f ang_vel_body = _ang_vel_body;
|
|
|
|
// boost angle_p/pd each cycle on high throttle slew
|
|
update_throttle_gain_boost();
|
|
|
|
// move throttle vs attitude mixing towards desired (called from here because this is conveniently called on every iteration)
|
|
update_throttle_rpy_mix();
|
|
|
|
ang_vel_body += _sysid_ang_vel_body;
|
|
|
|
_rate_gyro = gyro;
|
|
_rate_gyro_time_us = AP_HAL::micros64();
|
|
|
|
_motors.set_roll(get_rate_roll_pid().update_all(ang_vel_body.x, gyro.x, dt, _motors.limit.roll, _pd_scale.x) + _actuator_sysid.x);
|
|
_motors.set_roll_ff(get_rate_roll_pid().get_ff());
|
|
|
|
_motors.set_pitch(get_rate_pitch_pid().update_all(ang_vel_body.y, gyro.y, dt, _motors.limit.pitch, _pd_scale.y) + _actuator_sysid.y);
|
|
_motors.set_pitch_ff(get_rate_pitch_pid().get_ff());
|
|
|
|
_motors.set_yaw(get_rate_yaw_pid().update_all(ang_vel_body.z, gyro.z, dt, _motors.limit.yaw, _pd_scale.z) + _actuator_sysid.z);
|
|
_motors.set_yaw_ff(get_rate_yaw_pid().get_ff()*_feedforward_scalar);
|
|
|
|
_pd_scale_used = _pd_scale;
|
|
|
|
control_monitor_update();
|
|
}
|
|
|
|
// reset the rate controller target loop updates
|
|
void AC_AttitudeControl_Multi::rate_controller_target_reset()
|
|
{
|
|
_sysid_ang_vel_body.zero();
|
|
_actuator_sysid.zero();
|
|
_pd_scale = VECTORF_111;
|
|
}
|
|
|
|
// run the rate controller using the configured _dt and latest gyro
|
|
void AC_AttitudeControl_Multi::rate_controller_run()
|
|
{
|
|
Vector3f gyro_latest = _ahrs.get_gyro_latest();
|
|
rate_controller_run_dt(gyro_latest, _dt);
|
|
}
|
|
|
|
// sanity check parameters. should be called once before takeoff
|
|
void AC_AttitudeControl_Multi::parameter_sanity_check()
|
|
{
|
|
// sanity check throttle mix parameters
|
|
if (_thr_mix_man < 0.1f || _thr_mix_man > AC_ATTITUDE_CONTROL_MAN_LIMIT) {
|
|
// parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0
|
|
// which can be useful for very high powered copters with very low hover throttle
|
|
_thr_mix_man.set_and_save(constrain_float(_thr_mix_man, 0.1, AC_ATTITUDE_CONTROL_MAN_LIMIT));
|
|
}
|
|
if (_thr_mix_min < 0.1f || _thr_mix_min > AC_ATTITUDE_CONTROL_MIN_LIMIT) {
|
|
_thr_mix_min.set_and_save(constrain_float(_thr_mix_min, 0.1, AC_ATTITUDE_CONTROL_MIN_LIMIT));
|
|
}
|
|
if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) {
|
|
// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0
|
|
// which can be useful for very high powered copters with very low hover throttle
|
|
_thr_mix_max.set_and_save(constrain_float(_thr_mix_max, 0.5, AC_ATTITUDE_CONTROL_MAX));
|
|
}
|
|
if (_thr_mix_min > _thr_mix_max) {
|
|
_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);
|
|
_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT);
|
|
}
|
|
}
|
|
|
|
void AC_AttitudeControl_Multi::set_notch_sample_rate(float sample_rate)
|
|
{
|
|
#if AP_FILTER_ENABLED
|
|
_pid_rate_roll.set_notch_sample_rate(sample_rate);
|
|
_pid_rate_pitch.set_notch_sample_rate(sample_rate);
|
|
_pid_rate_yaw.set_notch_sample_rate(sample_rate);
|
|
#endif
|
|
}
|