mirror of https://github.com/ArduPilot/ardupilot
824 lines
22 KiB
Plaintext
824 lines
22 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static int16_t
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get_stabilize_roll(int32_t target_angle)
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{
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// angle error
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target_angle = wrap_180(target_angle - ahrs.roll_sensor);
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#if FRAME_CONFIG == HELI_FRAME
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -4500, 4500);
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// convert to desired Rate:
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target_angle = g.pi_stabilize_roll.get_pi(target_angle, G_Dt);
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// output control:
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return constrain(target_angle, -4500, 4500);
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#else
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// convert to desired Rate:
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int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);
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int16_t i_stab;
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if(abs(ahrs.roll_sensor) < 500){
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target_angle = constrain(target_angle, -500, 500);
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i_stab = g.pi_stabilize_roll.get_i(target_angle, G_Dt);
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}else{
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i_stab = g.pi_stabilize_roll.get_integrator();
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}
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return get_rate_roll(target_rate) + i_stab;
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#endif
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}
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static int16_t
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get_stabilize_pitch(int32_t target_angle)
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{
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// angle error
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target_angle = wrap_180(target_angle - ahrs.pitch_sensor);
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#if FRAME_CONFIG == HELI_FRAME
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -4500, 4500);
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// convert to desired Rate:
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target_angle = g.pi_stabilize_pitch.get_pi(target_angle, G_Dt);
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// output control:
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return constrain(target_angle, -4500, 4500);
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#else
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// convert to desired Rate:
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int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle);
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int16_t i_stab;
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if(abs(ahrs.roll_sensor) < 500){
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target_angle = constrain(target_angle, -500, 500);
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i_stab = g.pi_stabilize_pitch.get_i(target_angle, G_Dt);
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}else{
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i_stab = g.pi_stabilize_pitch.get_integrator();
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}
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return get_rate_pitch(target_rate) + i_stab;
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#endif
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}
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static int16_t
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get_stabilize_yaw(int32_t target_angle)
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{
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int32_t target_rate,i_term;
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int32_t angle_error;
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int32_t output;
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// angle error
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angle_error = wrap_180(target_angle - ahrs.yaw_sensor);
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// limit the error we're feeding to the PID
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#if FRAME_CONFIG == HELI_FRAME
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angle_error = constrain(angle_error, -4500, 4500);
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#else
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angle_error = constrain(angle_error, -4000, 4000);
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#endif
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// convert angle error to desired Rate:
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target_rate = g.pi_stabilize_yaw.get_p(angle_error);
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i_term = g.pi_stabilize_yaw.get_i(angle_error, G_Dt);
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// do not use rate controllers for helicotpers with external gyros
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#if FRAME_CONFIG == HELI_FRAME
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if(!motors.ext_gyro_enabled){
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output = get_rate_yaw(target_rate) + i_term;
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}else{
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output = constrain((target_rate + i_term), -4500, 4500);
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}
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#else
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output = get_rate_yaw(target_rate) + i_term;
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#endif
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#if LOGGING_ENABLED == ENABLED
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static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
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// log output if PID logging is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
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log_counter++;
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if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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log_counter = 0;
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Log_Write_PID(CH6_YAW_KP, angle_error, target_rate, i_term, 0, output, tuning_value);
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}
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}
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#endif
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// ensure output does not go beyond barries of what an int16_t can hold
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return constrain(output,-32000,32000);
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}
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static int16_t
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get_acro_roll(int32_t target_rate)
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{
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target_rate = target_rate * g.acro_p;
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return get_rate_roll(target_rate);
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}
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static int16_t
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get_acro_pitch(int32_t target_rate)
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{
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target_rate = target_rate * g.acro_p;
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return get_rate_pitch(target_rate);
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}
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static int16_t
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get_acro_yaw(int32_t target_rate)
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{
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target_rate = g.pi_stabilize_yaw.get_p(target_rate);
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return get_rate_yaw(target_rate);
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}
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static int16_t
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get_rate_roll(int32_t target_rate)
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{
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static int32_t last_rate = 0; // previous iterations rate
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int32_t p,i,d; // used to capture pid values for logging
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int32_t current_rate; // this iteration's rate
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int32_t rate_error; // simply target_rate - current_rate
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int32_t rate_d; // roll's acceleration
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int32_t output; // output from pid controller
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int32_t rate_d_dampener; // value to dampen output based on acceleration
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// get current rate
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current_rate = (omega.x * DEGX100);
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// calculate and filter the acceleration
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rate_d = roll_rate_d_filter.apply(current_rate - last_rate);
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// store rate for next iteration
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last_rate = current_rate;
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// call pid controller
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rate_error = target_rate - current_rate;
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p = g.pid_rate_roll.get_p(rate_error);
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i = g.pid_rate_roll.get_i(rate_error, G_Dt);
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d = g.pid_rate_roll.get_d(rate_error, G_Dt);
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output = p + i + d;
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// Dampening output with D term
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rate_d_dampener = rate_d * roll_scale_d;
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rate_d_dampener = constrain(rate_d_dampener, -400, 400);
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output -= rate_d_dampener;
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// constrain output
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output = constrain(output, -5000, 5000);
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#if LOGGING_ENABLED == ENABLED
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static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
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// log output if PID logging is on and we are tuning the rate P, I or D gains
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
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log_counter++;
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if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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log_counter = 0;
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Log_Write_PID(CH6_RATE_KP, rate_error, p, i, d-rate_d_dampener, output, tuning_value);
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}
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}
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#endif
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// output control
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return output;
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}
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static int16_t
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get_rate_pitch(int32_t target_rate)
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{
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static int32_t last_rate = 0; // previous iterations rate
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int32_t p,i,d; // used to capture pid values for logging
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int32_t current_rate; // this iteration's rate
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int32_t rate_error; // simply target_rate - current_rate
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int32_t rate_d; // roll's acceleration
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int32_t output; // output from pid controller
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int32_t rate_d_dampener; // value to dampen output based on acceleration
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// get current rate
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current_rate = (omega.y * DEGX100);
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// calculate and filter the acceleration
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rate_d = pitch_rate_d_filter.apply(current_rate - last_rate);
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// store rate for next iteration
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last_rate = current_rate;
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// call pid controller
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rate_error = target_rate - current_rate;
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p = g.pid_rate_pitch.get_p(rate_error);
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i = g.pid_rate_pitch.get_i(rate_error, G_Dt);
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d = g.pid_rate_pitch.get_d(rate_error, G_Dt);
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output = p + i + d;
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// Dampening output with D term
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rate_d_dampener = rate_d * pitch_scale_d;
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rate_d_dampener = constrain(rate_d_dampener, -400, 400);
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output -= rate_d_dampener;
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// constrain output
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output = constrain(output, -5000, 5000);
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#if LOGGING_ENABLED == ENABLED
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static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
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// log output if PID logging is on and we are tuning the rate P, I or D gains
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
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log_counter++;
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if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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log_counter = 0;
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Log_Write_PID(CH6_RATE_KP+100, rate_error, p, i, d-rate_d_dampener, output, tuning_value);
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}
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}
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#endif
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// output control
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return output;
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}
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static int16_t
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get_rate_yaw(int32_t target_rate)
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{
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int32_t p,i,d; // used to capture pid values for logging
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int32_t rate_error;
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int32_t output;
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// rate control
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rate_error = target_rate - (omega.z * DEGX100);
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// separately calculate p, i, d values for logging
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p = g.pid_rate_yaw.get_p(rate_error);
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i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
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d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
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output = p+i+d;
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#if FRAME_CONFIG == HELI_FRAME
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output = constrain(output, -4500, 4500);
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#else
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// output control:
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int16_t yaw_limit = 1900 + abs(g.rc_4.control_in);
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// constrain output
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output = constrain(output, -yaw_limit, yaw_limit);
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#endif
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#if LOGGING_ENABLED == ENABLED
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static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
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// log output if PID loggins is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
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log_counter++;
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if( log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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log_counter = 0;
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Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
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}
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}
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#endif
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// constrain output
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return output;
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}
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static int16_t
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get_nav_throttle(int32_t z_error)
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{
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int16_t z_rate_error, z_target_speed, output;
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// a small boost for alt control to improve takeoff
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//int16_t boost_p = constrain(z_error >> 1, -10, 50);
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// convert to desired Rate:
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z_target_speed = g.pi_alt_hold.get_p(z_error);
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z_target_speed = constrain(z_target_speed, -250, 250);
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// limit error to prevent I term wind up
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z_error = constrain(z_error, -400, 400);
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// compensates throttle setpoint error for hovering
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int16_t i_hold = g.pi_alt_hold.get_i(z_error, .02);
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// calculate rate error
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#if INERTIAL_NAV == ENABLED
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z_rate_error = z_target_speed - accels_velocity.z; // calc the speed error
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#else
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z_rate_error = z_target_speed - climb_rate; // calc the speed error
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#endif
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// limit the rate
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output = constrain(g.pid_throttle.get_pid(z_rate_error, .02), -80, 120);
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// output control:
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return output + i_hold; //+ boost_p;
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}
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// Keeps old data out of our calculation / logs
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static void reset_nav_params(void)
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{
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nav_throttle = 0;
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// always start Circle mode at same angle
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circle_angle = 0;
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// We must be heading to a new WP, so XTrack must be 0
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crosstrack_error = 0;
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// Will be set by new command
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target_bearing = 0;
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// Will be set by new command
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wp_distance = 0;
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// Will be set by new command, used by loiter
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long_error = 0;
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lat_error = 0;
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// Will be set by new command, used by loiter
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next_WP.alt = 0;
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// We want to by default pass WPs
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slow_wp = false;
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}
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/*
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reset all I integrators
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*/
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static void reset_I_all(void)
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{
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reset_rate_I();
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reset_stability_I();
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reset_wind_I();
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reset_throttle_I();
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reset_optflow_I();
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// This is the only place we reset Yaw
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g.pi_stabilize_yaw.reset_I();
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}
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static void reset_rate_I()
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{
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g.pid_rate_roll.reset_I();
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g.pid_rate_pitch.reset_I();
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g.pid_rate_yaw.reset_I();
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}
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static void reset_optflow_I(void)
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{
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g.pid_optflow_roll.reset_I();
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g.pid_optflow_pitch.reset_I();
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of_roll = 0;
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of_pitch = 0;
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}
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static void reset_wind_I(void)
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{
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// Wind Compensation
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// this i is not currently being used, but we reset it anyway
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// because someone may modify it and not realize it, causing a bug
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g.pi_loiter_lat.reset_I();
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g.pi_loiter_lon.reset_I();
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g.pid_loiter_rate_lat.reset_I();
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g.pid_loiter_rate_lon.reset_I();
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g.pid_nav_lat.reset_I();
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g.pid_nav_lon.reset_I();
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}
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static void reset_throttle_I(void)
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{
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// For Altitude Hold
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g.pi_alt_hold.reset_I();
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g.pid_throttle.reset_I();
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}
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static void reset_stability_I(void)
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{
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// Used to balance a quad
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// This only needs to be reset during Auto-leveling in flight
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g.pi_stabilize_roll.reset_I();
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g.pi_stabilize_pitch.reset_I();
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}
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/*************************************************************
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throttle control
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****************************************************************/
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static long
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get_nav_yaw_offset(int yaw_input, int reset)
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{
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int32_t _yaw;
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if(reset == 0){
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// we are on the ground
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return ahrs.yaw_sensor;
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}else{
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// re-define nav_yaw if we have stick input
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if(yaw_input != 0){
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// set nav_yaw + or - the current location
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_yaw = yaw_input + ahrs.yaw_sensor;
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// we need to wrap our value so we can be 0 to 360 (*100)
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return wrap_360(_yaw);
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}else{
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// no stick input, lets not change nav_yaw
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return nav_yaw;
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}
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}
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}
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static int16_t get_angle_boost(int16_t value)
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{
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float temp = cos_pitch_x * cos_roll_x;
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temp = constrain(temp, .5, 1.0);
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return ((float)(g.throttle_cruise + 80) / temp) - (g.throttle_cruise + 80);
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}
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#if FRAME_CONFIG == HELI_FRAME
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// heli_angle_boost - adds a boost depending on roll/pitch values
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// equivalent of quad's angle_boost function
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// throttle value should be 0 ~ 1000
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static int16_t heli_get_angle_boost(int16_t throttle)
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{
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float angle_boost_factor = cos_pitch_x * cos_roll_x;
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angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
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int throttle_above_mid = max(throttle - motors.throttle_mid,0);
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return throttle + throttle_above_mid*angle_boost_factor;
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}
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#endif // HELI_FRAME
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#define NUM_G_SAMPLES 40
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#if ACCEL_ALT_HOLD == 2
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// z -14.4306 = going up
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// z -6.4306 = going down
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static int get_z_damping()
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{
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int output;
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Z_integrator += get_world_Z_accel() - Z_offset;
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output = Z_integrator * 3;
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Z_integrator = Z_integrator * .8;
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output = constrain(output, -100, 100);
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return output;
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}
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float get_world_Z_accel()
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{
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accels_rot = ahrs.get_dcm_matrix() * imu.get_accel();
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//Serial.printf("z %1.4f\n", accels_rot.z);
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return accels_rot.z;
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}
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static void init_z_damper()
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{
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Z_offset = 0;
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for (int i = 0; i < NUM_G_SAMPLES; i++){
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delay(5);
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read_AHRS();
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Z_offset += get_world_Z_accel();
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}
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Z_offset /= (float)NUM_G_SAMPLES;
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}
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// Accelerometer Z dampening by Aurelio R. Ramos
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// ---------------------------------------------
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#elif ACCEL_ALT_HOLD == 1
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// contains G and any other DC offset
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static float estimatedAccelOffset = 0;
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// state
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static float synVelo = 0;
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static float synPos = 0;
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static float synPosFiltered = 0;
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static float posError = 0;
|
|
static float prevSensedPos = 0;
|
|
|
|
// tuning for dead reckoning
|
|
static const float dt_50hz = 0.02;
|
|
static float synPosP = 10 * dt_50hz;
|
|
static float synPosI = 15 * dt_50hz;
|
|
static float synVeloP = 1.5 * dt_50hz;
|
|
static float maxVeloCorrection = 5 * dt_50hz;
|
|
static float maxSensedVelo = 1;
|
|
static float synPosFilter = 0.5;
|
|
|
|
|
|
// Z damping term.
|
|
static float fullDampP = 0.100;
|
|
|
|
float get_world_Z_accel()
|
|
{
|
|
accels_rot = ahrs.get_dcm_matrix() * imu.get_accel();
|
|
return accels_rot.z;
|
|
}
|
|
|
|
static void init_z_damper()
|
|
{
|
|
estimatedAccelOffset = 0;
|
|
for (int i = 0; i < NUM_G_SAMPLES; i++){
|
|
delay(5);
|
|
read_AHRS();
|
|
estimatedAccelOffset += get_world_Z_accel();
|
|
}
|
|
estimatedAccelOffset /= (float)NUM_G_SAMPLES;
|
|
}
|
|
|
|
float dead_reckon_Z(float sensedPos, float sensedAccel)
|
|
{
|
|
// the following algorithm synthesizes position and velocity from
|
|
// a noisy altitude and accelerometer data.
|
|
|
|
// synthesize uncorrected velocity by integrating acceleration
|
|
synVelo += (sensedAccel - estimatedAccelOffset) * dt_50hz;
|
|
|
|
// synthesize uncorrected position by integrating uncorrected velocity
|
|
synPos += synVelo * dt_50hz;
|
|
|
|
// filter synPos, the better this filter matches the filtering and dead time
|
|
// of the sensed position, the less the position estimate will lag.
|
|
synPosFiltered = synPosFiltered * (1 - synPosFilter) + synPos * synPosFilter;
|
|
|
|
// calculate error against sensor position
|
|
posError = sensedPos - synPosFiltered;
|
|
|
|
// correct altitude
|
|
synPos += synPosP * posError;
|
|
|
|
// correct integrated velocity by posError
|
|
synVelo = synVelo + constrain(posError, -maxVeloCorrection, maxVeloCorrection) * synPosI;
|
|
|
|
// correct integrated velocity by the sensed position delta in a small proportion
|
|
// (i.e., the low frequency of the delta)
|
|
float sensedVelo = (sensedPos - prevSensedPos) / dt_50hz;
|
|
synVelo += constrain(sensedVelo - synVelo, -maxSensedVelo, maxSensedVelo) * synVeloP;
|
|
|
|
prevSensedPos = sensedPos;
|
|
return synVelo;
|
|
}
|
|
|
|
static int get_z_damping()
|
|
{
|
|
float sensedAccel = get_world_Z_accel();
|
|
float sensedPos = current_loc.alt / 100.0;
|
|
|
|
float synVelo = dead_reckon_Z(sensedPos, sensedAccel);
|
|
return constrain(fullDampP * synVelo * (-1), -300, 300);
|
|
}
|
|
|
|
#else
|
|
|
|
static int get_z_damping()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
static void init_z_damper()
|
|
{
|
|
}
|
|
#endif
|
|
|
|
// calculate modified roll/pitch depending upon optical flow calculated position
|
|
static int32_t
|
|
get_of_roll(int32_t control_roll)
|
|
{
|
|
#ifdef OPTFLOW_ENABLED
|
|
static float tot_x_cm = 0; // total distance from target
|
|
static uint32_t last_of_roll_update = 0;
|
|
int32_t new_roll = 0;
|
|
int32_t p,i,d;
|
|
|
|
// check if new optflow data available
|
|
if( optflow.last_update != last_of_roll_update) {
|
|
last_of_roll_update = optflow.last_update;
|
|
|
|
// add new distance moved
|
|
tot_x_cm += optflow.x_cm;
|
|
|
|
// only stop roll if caller isn't modifying roll
|
|
if( control_roll == 0 && current_loc.alt < 1500) {
|
|
p = g.pid_optflow_roll.get_p(-tot_x_cm);
|
|
i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0); // we could use the last update time to calculate the time change
|
|
d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0);
|
|
new_roll = p+i+d;
|
|
}else{
|
|
g.pid_optflow_roll.reset_I();
|
|
tot_x_cm = 0;
|
|
p = 0; // for logging
|
|
i = 0;
|
|
d = 0;
|
|
}
|
|
// limit amount of change and maximum angle
|
|
of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
|
|
log_counter++;
|
|
if( log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
log_counter = 0;
|
|
Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value);
|
|
}
|
|
}
|
|
#endif // LOGGING_ENABLED == ENABLED
|
|
}
|
|
|
|
// limit max angle
|
|
of_roll = constrain(of_roll, -1000, 1000);
|
|
|
|
return control_roll+of_roll;
|
|
#else
|
|
return control_roll;
|
|
#endif
|
|
}
|
|
|
|
static int32_t
|
|
get_of_pitch(int32_t control_pitch)
|
|
{
|
|
#ifdef OPTFLOW_ENABLED
|
|
static float tot_y_cm = 0; // total distance from target
|
|
static uint32_t last_of_pitch_update = 0;
|
|
int32_t new_pitch = 0;
|
|
int32_t p,i,d;
|
|
|
|
// check if new optflow data available
|
|
if( optflow.last_update != last_of_pitch_update ) {
|
|
last_of_pitch_update = optflow.last_update;
|
|
|
|
// add new distance moved
|
|
tot_y_cm += optflow.y_cm;
|
|
|
|
// only stop roll if caller isn't modifying pitch
|
|
if( control_pitch == 0 && current_loc.alt < 1500 ) {
|
|
p = g.pid_optflow_pitch.get_p(tot_y_cm);
|
|
i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
|
|
d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0);
|
|
new_pitch = p + i + d;
|
|
}else{
|
|
tot_y_cm = 0;
|
|
g.pid_optflow_pitch.reset_I();
|
|
p = 0; // for logging
|
|
i = 0;
|
|
d = 0;
|
|
}
|
|
|
|
// limit amount of change
|
|
of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
|
|
log_counter++;
|
|
if( log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
log_counter = 0;
|
|
Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value);
|
|
}
|
|
}
|
|
#endif // LOGGING_ENABLED == ENABLED
|
|
}
|
|
|
|
// limit max angle
|
|
of_pitch = constrain(of_pitch, -1000, 1000);
|
|
|
|
return control_pitch+of_pitch;
|
|
#else
|
|
return control_pitch;
|
|
#endif
|
|
}
|
|
|
|
|
|
// THOR
|
|
// The function call for managing the flight mode Toy
|
|
void roll_pitch_toy()
|
|
{
|
|
bool manual_control = false;
|
|
|
|
if(g.rc_2.control_in != 0){ // pitch
|
|
manual_control = true;
|
|
|
|
}else if(g.rc_1.control_in != 0){ // Roll/Yaw combo
|
|
// we have some user input
|
|
if(wp_control == TOY_MODE){
|
|
// we are heading to Virtual WP
|
|
manual_control = true;
|
|
}else{
|
|
// we are in manual control
|
|
manual_control = false;
|
|
}
|
|
}
|
|
|
|
// Yaw control - Yaw is always available, and will NOT exit the
|
|
// user from Loiter mode
|
|
int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
|
|
nav_yaw += yaw_rate / 100;
|
|
nav_yaw = wrap_360(nav_yaw);
|
|
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
|
|
|
|
if(manual_control){
|
|
// user is in control: reset count-up timer
|
|
toy_input_timer = 0;
|
|
|
|
// roll_rate is the outcome of the linear equation or lookup table
|
|
// based on speed and Yaw rate
|
|
int16_t roll_rate;
|
|
|
|
// We manually set out modes based on the state of Toy mode:
|
|
// Handle throttle manually
|
|
throttle_mode = THROTTLE_MANUAL;
|
|
// Dont try to navigate or integrate a nav error
|
|
wp_control = NO_NAV_MODE;
|
|
|
|
#if TOY_LOOKUP == 1
|
|
uint8_t xx, yy;
|
|
// Lookup value
|
|
xx = g_gps->ground_speed / 200;
|
|
yy = abs(yaw_rate / 500);
|
|
|
|
// constrain to lookup Array range
|
|
xx = constrain(xx, 0, 3);
|
|
yy = constrain(yy, 0, 8);
|
|
|
|
roll_rate = toy_lookup[yy * 4 + xx];
|
|
|
|
if(yaw_rate == 0)
|
|
roll_rate = 0;
|
|
else if(yaw_rate < 0)
|
|
roll_rate = -roll_rate;
|
|
|
|
roll_rate = constrain(roll_rate, -(4500 / g.toy_yaw_rate.get()), (4500 / g.toy_yaw_rate.get()));
|
|
#else
|
|
// yaw_rate = roll angle
|
|
// Linear equation for Yaw:Speed to Roll
|
|
// default is 1000, lower for more roll action
|
|
roll_rate = (g_gps->ground_speed / 1000) * yaw_rate;
|
|
// limit roll rate to 15, 30, or 45 deg per second.
|
|
roll_rate = constrain(roll_rate, -(4500 / g.toy_yaw_rate.get()), (4500 / g.toy_yaw_rate.get()));
|
|
#endif
|
|
|
|
// Output the attitude
|
|
g.rc_1.servo_out = get_stabilize_roll(roll_rate);
|
|
g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);
|
|
|
|
}else{
|
|
//no user input
|
|
|
|
// Hold current Yaw
|
|
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
|
|
|
|
// Count-up to decision - Loiter or Virtual WP
|
|
toy_input_timer++;
|
|
|
|
if (toy_input_timer == TOY_DELAY){
|
|
|
|
// clear our I terms for Nav or we will carry over old values
|
|
reset_wind_I();
|
|
|
|
if (g_gps->ground_speed < 200) {
|
|
// loiter
|
|
wp_control = LOITER_MODE;
|
|
set_next_WP(¤t_loc);
|
|
|
|
}else{
|
|
// hold velocity and
|
|
// calc a new WP 10000cm ahead (Approximate)
|
|
struct Location tmp;
|
|
tmp.lng = current_loc.lng + (10000 * cos_yaw_x); // X or East/West
|
|
tmp.lat = current_loc.lat + (10000 * sin_yaw_y); // Y or North/South
|
|
tmp.alt = current_loc.alt;
|
|
set_next_WP(&tmp);
|
|
|
|
// A special navigation mode for Toy mode that maintains the entry speed
|
|
wp_control = TOY_MODE;
|
|
// Save our speed as we entered the mode
|
|
toy_speed = g_gps->ground_speed;
|
|
}
|
|
|
|
// Just level out until we hit 1.5s
|
|
g.rc_1.servo_out = get_stabilize_roll(0);
|
|
g.rc_2.servo_out = get_stabilize_pitch(0);
|
|
|
|
}else if (toy_input_timer > TOY_DELAY){
|
|
// we are in an alt hold throttle with manual override
|
|
throttle_mode = THROTTLE_HOLD;
|
|
// resets so we don't overflow the timer
|
|
toy_input_timer = TOY_DELAY;
|
|
|
|
// outputs the needed nav_control to maintain speed and direction
|
|
g.rc_1.servo_out = get_stabilize_roll(auto_roll);
|
|
g.rc_2.servo_out = get_stabilize_pitch(auto_pitch);
|
|
|
|
}else{
|
|
|
|
// outputs the needed nav_control to maintain speed and direction
|
|
g.rc_1.servo_out = get_stabilize_roll(0);
|
|
g.rc_2.servo_out = get_stabilize_pitch(0);
|
|
}
|
|
}
|
|
} |