ardupilot/libraries/AC_WPNav/AC_Loiter.h

91 lines
3.7 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/Location.h>
#include <AP_InertialNav/AP_InertialNav.h>
#include <AC_AttitudeControl/AC_PosControl.h>
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AC_Avoidance/AC_Avoid.h>
class AC_Loiter
{
public:
/// Constructor
AC_Loiter(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control);
/// init_target to a position in cm from ekf origin
void init_target(const Vector2f& position);
/// initialize's position and feed-forward velocity from current pos and velocity
void init_target();
/// reduce response for landing
void soften_for_landing();
/// set pilot desired acceleration in centi-degrees
// dt should be the time (in seconds) since the last call to this function
void set_pilot_desired_acceleration(float euler_roll_angle_cd, float euler_pitch_angle_cd);
/// gets pilot desired acceleration, body frame, [forward,right]
Vector2f get_pilot_desired_acceleration() const { return Vector2f{_desired_accel.x, _desired_accel.y}; }
/// clear pilot desired acceleration
void clear_pilot_desired_acceleration() { _desired_accel.zero(); }
/// get vector to stopping point based on a horizontal position and velocity
void get_stopping_point_xy(Vector2f& stopping_point) const;
/// get horizontal distance to loiter target in cm
float get_distance_to_target() const { return _pos_control.get_pos_error_xy_cm(); }
/// get bearing to target in centi-degrees
int32_t get_bearing_to_target() const { return _pos_control.get_bearing_to_target_cd(); }
/// get maximum lean angle when using loiter
float get_angle_max_cd() const;
/// run the loiter controller
void update(bool avoidance_on = true);
/// get desired roll, pitch which should be fed into stabilize controllers
float get_roll() const { return _pos_control.get_roll_cd(); }
float get_pitch() const { return _pos_control.get_pitch_cd(); }
Vector3f get_thrust_vector() const { return _pos_control.get_thrust_vector(); }
static const struct AP_Param::GroupInfo var_info[];
protected:
// sanity check parameters
void sanity_check_params();
/// updates desired velocity (i.e. feed forward) with pilot requested acceleration and fake wind resistance
/// updated velocity sent directly to position controller
void calc_desired_velocity(bool avoidance_on = true);
// references and pointers to external libraries
const AP_InertialNav& _inav;
const AP_AHRS_View& _ahrs;
AC_PosControl& _pos_control;
const AC_AttitudeControl& _attitude_control;
// parameters
AP_Float _angle_max; // maximum pilot commanded angle in degrees. Set to zero for 2/3 Angle Max
AP_Float _speed_cms; // maximum horizontal speed in cm/s while in loiter
AP_Float _accel_cmss; // loiter's max acceleration in cm/s/s
AP_Float _brake_accel_cmss; // loiter's acceleration during braking in cm/s/s
AP_Float _brake_jerk_max_cmsss;
AP_Float _brake_delay; // delay (in seconds) before loiter braking begins after sticks are released
// loiter controller internal variables
Vector2f _desired_accel; // slewed pilot's desired acceleration in lat/lon frame
Vector2f _predicted_accel;
Vector2f _predicted_euler_angle;
Vector2f _predicted_euler_rate;
uint32_t _brake_timer; // system time that brake was initiated
float _brake_accel; // acceleration due to braking from previous iteration (used for jerk limiting)
};