mirror of https://github.com/ArduPilot/ardupilot
118 lines
4.1 KiB
C++
118 lines
4.1 KiB
C++
/*
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* ControllerCar.h
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*
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* Created on: Jun 30, 2011
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* Author: jgoppert
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*/
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#ifndef CONTROLLERCAR_H_
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#define CONTROLLERCAR_H_
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#include "../APO/AP_Controller.h"
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namespace apo {
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class ControllerCar: public AP_Controller {
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public:
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ControllerCar(AP_Navigator * nav, AP_Guide * guide,
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AP_Board * board) :
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AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
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pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
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steeringI, steeringD, steeringIMax, steeringYMax),
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pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
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throttleI, throttleD, throttleIMax, throttleYMax,
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throttleDFCut), _strCmd(0), _thrustCmd(0),
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_rangeFinderFront()
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{
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_board->debug->println_P(PSTR("initializing car controller"));
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_board->rc.push_back(
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new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100,
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1500, 1900, RC_MODE_IN, false));
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_board->rc.push_back(
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new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500,
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1900, RC_MODE_INOUT, false));
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_board->rc.push_back(
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new AP_RcChannel(k_chThrust, PSTR("THR_"), board->radio, 2, 1100, 1500,
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1900, RC_MODE_INOUT, false));
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_board->rc.push_back(
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new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), board->radio, 4, 1100, 1500,
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1900, RC_MODE_IN, false));
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for (uint8_t i = 0; i < _board->rangeFinders.getSize(); i++) {
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RangeFinder * rF = _board->rangeFinders[i];
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if (rF == NULL)
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continue;
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if (rF->orientation_x == 1 && rF->orientation_y == 0
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&& rF->orientation_z == 0)
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_rangeFinderFront = rF;
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}
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}
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private:
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// methods
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void manualLoop(const float dt) {
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_strCmd = _board->rc[ch_str]->getRadioPosition();
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_thrustCmd = _board->rc[ch_thrust]->getRadioPosition();
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if (useForwardReverseSwitch && _board->rc[ch_FwdRev]->getRadioPosition() < 0.0)
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_thrustCmd = -_thrustCmd;
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}
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void autoLoop(const float dt) {
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//_board->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_board->rc[ch_thrust]->getRadioPosition(), _board->rc[ch_str]->getRadioPosition());
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// neglects heading command derivative
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float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
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float thrust = pidThrust.update(
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_guide->getGroundSpeedCommand()
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- _nav->getGroundSpeed(), dt);
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// obstacle avoidance overrides
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// try to drive around the obstacle in front. if this fails, stop
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if (_rangeFinderFront) {
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_rangeFinderFront->read();
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int distanceToObstacle = _rangeFinderFront->distance;
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if (distanceToObstacle < 100) {
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thrust = 0; // Avoidance didn't work out. Stopping
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}
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else if (distanceToObstacle < 650) {
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// Deviating from the course. Deviation angle is inverse proportional
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// to the distance to the obstacle, with 15 degrees min angle, 180 - max
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steering += (15 + 165 *
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(1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad;
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}
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}
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_strCmd = steering;
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_thrustCmd = thrust;
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}
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void setMotors() {
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_board->rc[ch_str]->setPosition(_strCmd);
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_board->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
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}
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void handleFailsafe() {
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// turn off
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setMode(MAV_MODE_LOCKED);
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}
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// attributes
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enum {
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ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
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};
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enum {
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k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
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};
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enum {
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k_pidStr = k_controllersStart, k_pidThrust
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};
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BlockPIDDfb pidStr;
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BlockPID pidThrust;
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float _strCmd, _thrustCmd;
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RangeFinder * _rangeFinderFront;
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};
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} // namespace apo
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#endif /* CONTROLLERCAR_H_ */
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// vim:ts=4:sw=4:expandtab
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