ardupilot/apo/ControllerPlane.h

196 lines
6.8 KiB
C++

/*
* ControllerPlane.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERPLANE_H_
#define CONTROLLERPLANE_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerPlane: public AP_Controller {
public:
enum {
ch_mode = 0, ch_roll, ch_pitch, ch_thrust, ch_yaw
};
enum {
k_chMode = k_radioChannelsStart,
k_chRoll,
k_chPitch,
k_chYaw,
k_chThr,
k_pidBnkRll = k_controllersStart,
k_pidSpdPit,
k_pidPitPit,
k_pidYwrYaw,
k_pidHdgBnk,
k_pidAltThr,
k_trim = k_customStart
};
ControllerPlane(AP_Navigator * nav, AP_Guide * guide,
AP_HardwareAbstractionLayer * hal) :
AP_Controller(nav, guide, hal, new AP_ArmingMechanism(hal,ch_thrust,ch_yaw,0.1,-0.9,0.9),ch_mode),
_trimGroup(k_trim, PSTR("trim_")),
_rdrAilMix(&_group, 2, rdrAilMix, PSTR("rdrAilMix")),
_needsTrim(false),
_ailTrim(&_trimGroup, 1, ailTrim, PSTR("ail")),
_elvTrim(&_trimGroup, 2, elvTrim, PSTR("elv")),
_rdrTrim(&_trimGroup, 3, rdrTrim, PSTR("rdr")),
_thrTrim(&_trimGroup, 4, thrTrim, PSTR("thr")),
pidBnkRll(new AP_Var_group(k_pidBnkRll, PSTR("bnkRll_")), 1,
pidBnkRllP, pidBnkRllI, pidBnkRllD, pidBnkRllAwu,
pidBnkRllLim, pidBnkRllDFCut),
pidPitPit(new AP_Var_group(k_pidPitPit, PSTR("pitPit_")), 1,
pidPitPitP, pidPitPitI, pidPitPitD, pidPitPitAwu,
pidPitPitLim, pidPitPitDFCut),
pidSpdPit(new AP_Var_group(k_pidSpdPit, PSTR("spdPit_")), 1,
pidSpdPitP, pidSpdPitI, pidSpdPitD, pidSpdPitAwu,
pidSpdPitLim, pidSpdPitDFCut),
pidYwrYaw(new AP_Var_group(k_pidYwrYaw, PSTR("ywrYaw_")), 1,
pidYwrYawP, pidYwrYawI, pidYwrYawD, pidYwrYawAwu,
pidYwrYawLim, pidYwrYawDFCut),
pidHdgBnk(new AP_Var_group(k_pidHdgBnk, PSTR("hdgBnk_")), 1,
pidHdgBnkP, pidHdgBnkI, pidHdgBnkD, pidHdgBnkAwu,
pidHdgBnkLim, pidHdgBnkDFCut),
pidAltThr(new AP_Var_group(k_pidAltThr, PSTR("altThr_")), 1,
pidAltThrP, pidAltThrI, pidAltThrD, pidAltThrAwu,
pidAltThrLim, pidAltThrDFCut),
requireRadio(false), _aileron(0), _elevator(0), _rudder(0), _throttle(0) {
_hal->debug->println_P(PSTR("initializing plane controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("mode_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("roll_"), APM_RC, 0, 1200,
1500, 1800, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("pitch_"), APM_RC, 1, 1200,
1500, 1800, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("thr_"), APM_RC, 2, 1100, 1100,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("yaw_"), APM_RC, 3, 1200, 1500,
1800, RC_MODE_INOUT, false));
}
void manualLoop(const float dt) {
setAllRadioChannelsManually();
// force auto to read new manual trim
if (_needsTrim == false)
_needsTrim = true;
//_hal->debug->println("manual");
}
void autoLoop(const float dt) {
float headingError = _guide->getHeadingCommand()
- _nav->getYaw();
if (headingError > 180 * deg2Rad)
headingError -= 360 * deg2Rad;
if (headingError < -180 * deg2Rad)
headingError += 360 * deg2Rad;
_aileron = pidBnkRll.update(
pidHdgBnk.update(headingError, dt) - _nav->getRoll(), dt);
_elevator = pidPitPit.update(
-pidSpdPit.update(
_guide->getAirSpeedCommand() - _nav->getAirSpeed(),
dt) - _nav->getPitch(), dt);
_rudder = pidYwrYaw.update(-_nav->getYawRate(), dt);
// desired yaw rate is zero, needs washout
_throttle = pidAltThr.update(
_guide->getAltitudeCommand() - _nav->getAlt(), dt);
// if needs trim
if (_needsTrim) {
// need to subtract current controller deflections so control
// surfaces are actually at the same position as manual flight
_ailTrim = _hal->rc[ch_roll]->getRadioPosition() - _aileron;
_elvTrim = _hal->rc[ch_pitch]->getRadioPosition() - _elevator;
_rdrTrim = _hal->rc[ch_yaw]->getRadioPosition() - _rudder;
_thrTrim = _hal->rc[ch_thrust]->getRadioPosition() - _throttle;
_needsTrim = false;
}
// actuator mixing/ output
_aileron += _rdrAilMix * _rudder + _ailTrim;
_elevator += _elvTrim;
_rudder += _rdrTrim;
_throttle += _thrTrim;
//_hal->debug->println("automode");
}
void setMotors() {
switch (_hal->getState()) {
case MAV_STATE_ACTIVE: {
digitalWrite(_hal->aLedPin, HIGH);
// turn all motors off if below 0.1 throttle
if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
setAllRadioChannelsToNeutral();
} else {
// actuator mixing/ output
_hal->rc[ch_roll]->setPosition(_aileron);
_hal->rc[ch_yaw]->setPosition(_rudder);
_hal->rc[ch_pitch]->setPosition(_elevator);
_hal->rc[ch_thrust]->setPosition(_throttle);
}
break;
}
case MAV_STATE_EMERGENCY: {
digitalWrite(_hal->aLedPin, LOW);
setAllRadioChannelsToNeutral();
break;
}
case MAV_STATE_STANDBY: {
digitalWrite(_hal->aLedPin,LOW);
setAllRadioChannelsToNeutral();
break;
}
default: {
digitalWrite(_hal->aLedPin, LOW);
setAllRadioChannelsToNeutral();
}
}
}
private:
AP_Var_group _trimGroup;
AP_Uint8 _rdrAilMix;
bool _needsTrim;
AP_Float _ailTrim;
AP_Float _elvTrim;
AP_Float _rdrTrim;
AP_Float _thrTrim;
BlockPID pidBnkRll; // bank error to roll servo deflection
BlockPID pidSpdPit; // speed error to pitch command
BlockPID pidPitPit; // pitch error to pitch servo deflection
BlockPID pidYwrYaw; // yaw rate error to yaw servo deflection
BlockPID pidHdgBnk; // heading error to bank command
BlockPID pidAltThr; // altitude error to throttle deflection
bool requireRadio;
float _aileron;
float _elevator;
float _rudder;
float _throttle;
};
} // namespace apo
#endif /* CONTROLLERPLANE_H_ */