mirror of https://github.com/ArduPilot/ardupilot
334 lines
13 KiB
C++
334 lines
13 KiB
C++
#include "Copter.h"
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#if MODE_SYSTEMID_ENABLED == ENABLED
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/*
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* Init and run calls for systemId, flight mode
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*/
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const AP_Param::GroupInfo ModeSystemId::var_info[] = {
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// @Param: _AXIS
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// @DisplayName: System identification axis
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// @Description: Controls which axis are being excited. Set to non-zero to see more parameters
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// @User: Standard
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// @Values: 0:None, 1:Input Roll Angle, 2:Input Pitch Angle, 3:Input Yaw Angle, 4:Recovery Roll Angle, 5:Recovery Pitch Angle, 6:Recovery Yaw Angle, 7:Rate Roll, 8:Rate Pitch, 9:Rate Yaw, 10:Mixer Roll, 11:Mixer Pitch, 12:Mixer Yaw, 13:Mixer Thrust
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AP_GROUPINFO_FLAGS("_AXIS", 1, ModeSystemId, axis, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: _MAGNITUDE
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// @DisplayName: System identification Chirp Magnitude
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// @Description: Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.
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// @User: Standard
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AP_GROUPINFO("_MAGNITUDE", 2, ModeSystemId, waveform_magnitude, 15),
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// @Param: _F_START_HZ
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// @DisplayName: System identification Start Frequency
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// @Description: Frequency at the start of the sweep
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// @Range: 0.01 100
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// @Units: Hz
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// @User: Standard
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AP_GROUPINFO("_F_START_HZ", 3, ModeSystemId, frequency_start, 0.5f),
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// @Param: _F_STOP_HZ
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// @DisplayName: System identification Stop Frequency
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// @Description: Frequency at the end of the sweep
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// @Range: 0.01 100
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// @Units: Hz
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// @User: Standard
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AP_GROUPINFO("_F_STOP_HZ", 4, ModeSystemId, frequency_stop, 40),
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// @Param: _T_FADE_IN
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// @DisplayName: System identification Fade in time
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// @Description: Time to reach maximum amplitude of sweep
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// @Range: 0 20
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// @Units: s
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// @User: Standard
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AP_GROUPINFO("_T_FADE_IN", 5, ModeSystemId, time_fade_in, 15),
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// @Param: _T_REC
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// @DisplayName: System identification Total Sweep length
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// @Description: Time taken to complete the sweep
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// @Range: 0 255
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// @Units: s
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// @User: Standard
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AP_GROUPINFO("_T_REC", 6, ModeSystemId, time_record, 70),
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// @Param: _T_FADE_OUT
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// @DisplayName: System identification Fade out time
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// @Description: Time to reach zero amplitude at the end of the sweep
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// @Range: 0 5
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// @Units: s
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// @User: Standard
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AP_GROUPINFO("_T_FADE_OUT", 7, ModeSystemId, time_fade_out, 2),
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AP_GROUPEND
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};
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ModeSystemId::ModeSystemId(void) : Mode()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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#define SYSTEM_ID_DELAY 1.0f // time in seconds waited after system id mode change for frequency sweep injection
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// systemId_init - initialise systemId controller
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bool ModeSystemId::init(bool ignore_checks)
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{
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// check if enabled
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if (axis == 0) {
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gcs().send_text(MAV_SEVERITY_WARNING, "No axis selected, SID_AXIS = 0");
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return false;
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}
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// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
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if (motors->armed() && copter.ap.land_complete && !copter.flightmode->has_manual_throttle()) {
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return false;
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}
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#if FRAME_CONFIG == HELI_FRAME
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copter.input_manager.set_use_stab_col(true);
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#endif
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att_bf_feedforward = attitude_control->get_bf_feedforward();
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waveform_time = 0.0f;
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time_const_freq = 2.0f / frequency_start; // Two full cycles at the starting frequency
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systemid_state = SystemIDModeState::SYSTEMID_STATE_TESTING;
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log_subsample = 0;
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gcs().send_text(MAV_SEVERITY_INFO, "SystemID Starting: axis=%d", (unsigned)axis);
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copter.Log_Write_SysID_Setup(axis, waveform_magnitude, frequency_start, frequency_stop, time_fade_in, time_const_freq, time_record, time_fade_out);
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return true;
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}
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// systemId_run - runs the systemId controller
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// should be called at 100hz or more
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void ModeSystemId::run()
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{
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// apply simple mode transform to pilot inputs
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update_simple_mode();
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// convert pilot input to lean angles
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float target_roll, target_pitch;
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get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
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// Tradheli doesn't set spool state to ground idle when throttle stick is zero. Ground idle only set when
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// motor interlock is disabled.
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} else if (copter.ap.throttle_zero && !copter.is_tradheli()) {
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// Attempting to Land
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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} else {
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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switch (motors->get_spool_state()) {
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case AP_Motors::SpoolState::SHUT_DOWN:
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// Motors Stopped
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attitude_control->reset_yaw_target_and_rate();
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attitude_control->reset_rate_controller_I_terms();
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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// Landed
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// Tradheli initializes targets when going from disarmed to armed state.
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// init_targets_on_arming is always set true for multicopter.
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if (motors->init_targets_on_arming()) {
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attitude_control->reset_yaw_target_and_rate();
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attitude_control->reset_rate_controller_I_terms_smoothly();
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}
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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// clear landing flag above zero throttle
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if (!motors->limit.throttle_lower) {
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set_land_complete(false);
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}
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break;
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case AP_Motors::SpoolState::SPOOLING_UP:
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case AP_Motors::SpoolState::SPOOLING_DOWN:
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// do nothing
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break;
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}
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// get pilot's desired throttle
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#if FRAME_CONFIG == HELI_FRAME
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float pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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#else
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float pilot_throttle_scaled = get_pilot_desired_throttle();
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#endif
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if ((systemid_state == SystemIDModeState::SYSTEMID_STATE_TESTING) &&
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(!is_positive(frequency_start) || !is_positive(frequency_stop) || is_negative(time_fade_in) || !is_positive(time_record) || is_negative(time_fade_out) || (time_record <= time_const_freq))) {
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systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
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gcs().send_text(MAV_SEVERITY_INFO, "SystemID Parameter Error");
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}
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waveform_time += G_Dt;
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waveform_sample = waveform(waveform_time - SYSTEM_ID_DELAY);
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switch (systemid_state) {
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case SystemIDModeState::SYSTEMID_STATE_STOPPED:
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break;
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case SystemIDModeState::SYSTEMID_STATE_TESTING:
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attitude_control->bf_feedforward(att_bf_feedforward);
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if (copter.ap.land_complete) {
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systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
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gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: Landed");
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break;
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}
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if (attitude_control->lean_angle_deg()*100 > attitude_control->lean_angle_max_cd()) {
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systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
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gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: lean=%f max=%f", (double)attitude_control->lean_angle_deg(), (double)attitude_control->lean_angle_max_cd());
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break;
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}
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if (waveform_time > SYSTEM_ID_DELAY + time_fade_in + time_const_freq + time_record + time_fade_out) {
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systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
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gcs().send_text(MAV_SEVERITY_INFO, "SystemID Finished");
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break;
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}
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switch ((AxisType)axis.get()) {
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case AxisType::NONE:
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systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
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gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: axis = 0");
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break;
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case AxisType::INPUT_ROLL:
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target_roll += waveform_sample*100.0f;
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break;
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case AxisType::INPUT_PITCH:
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target_pitch += waveform_sample*100.0f;
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break;
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case AxisType::INPUT_YAW:
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target_yaw_rate += waveform_sample*100.0f;
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break;
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case AxisType::RECOVER_ROLL:
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target_roll += waveform_sample*100.0f;
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attitude_control->bf_feedforward(false);
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break;
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case AxisType::RECOVER_PITCH:
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target_pitch += waveform_sample*100.0f;
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attitude_control->bf_feedforward(false);
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break;
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case AxisType::RECOVER_YAW:
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target_yaw_rate += waveform_sample*100.0f;
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attitude_control->bf_feedforward(false);
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break;
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case AxisType::RATE_ROLL:
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attitude_control->rate_bf_roll_sysid(radians(waveform_sample));
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break;
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case AxisType::RATE_PITCH:
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attitude_control->rate_bf_pitch_sysid(radians(waveform_sample));
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break;
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case AxisType::RATE_YAW:
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attitude_control->rate_bf_yaw_sysid(radians(waveform_sample));
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break;
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case AxisType::MIX_ROLL:
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attitude_control->actuator_roll_sysid(waveform_sample);
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break;
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case AxisType::MIX_PITCH:
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attitude_control->actuator_pitch_sysid(waveform_sample);
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break;
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case AxisType::MIX_YAW:
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attitude_control->actuator_yaw_sysid(waveform_sample);
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break;
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case AxisType::MIX_THROTTLE:
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pilot_throttle_scaled += waveform_sample;
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break;
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}
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break;
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}
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// output pilot's throttle
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if (copter.is_tradheli()) {
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attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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} else {
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attitude_control->set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
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}
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if (log_subsample <= 0) {
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log_data();
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if (copter.should_log(MASK_LOG_ATTITUDE_FAST) && copter.should_log(MASK_LOG_ATTITUDE_MED)) {
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log_subsample = 1;
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} else if (copter.should_log(MASK_LOG_ATTITUDE_FAST)) {
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log_subsample = 2;
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} else if (copter.should_log(MASK_LOG_ATTITUDE_MED)) {
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log_subsample = 4;
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} else {
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log_subsample = 8;
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}
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}
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log_subsample -= 1;
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}
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// log system id and attitude
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void ModeSystemId::log_data() const
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{
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Vector3f delta_angle;
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float delta_angle_dt;
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copter.ins.get_delta_angle(delta_angle, delta_angle_dt);
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Vector3f delta_velocity;
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float delta_velocity_dt;
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copter.ins.get_delta_velocity(delta_velocity, delta_velocity_dt);
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if (is_positive(delta_angle_dt) && is_positive(delta_velocity_dt)) {
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copter.Log_Write_SysID_Data(waveform_time, waveform_sample, waveform_freq_rads / (2 * M_PI), degrees(delta_angle.x / delta_angle_dt), degrees(delta_angle.y / delta_angle_dt), degrees(delta_angle.z / delta_angle_dt), delta_velocity.x / delta_velocity_dt, delta_velocity.y / delta_velocity_dt, delta_velocity.z / delta_velocity_dt);
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}
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// Full rate logging of attitude, rate and pid loops
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copter.Log_Write_Attitude();
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}
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// init_test - initialises the test
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float ModeSystemId::waveform(float time)
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{
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float wMin = 2 * M_PI * frequency_start;
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float wMax = 2 * M_PI * frequency_stop;
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float window;
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float output;
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float B = logf(wMax / wMin);
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if (time <= 0.0f) {
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window = 0.0f;
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} else if (time <= time_fade_in) {
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window = 0.5 - 0.5 * cosf(M_PI * time / time_fade_in);
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} else if (time <= time_record - time_fade_out) {
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window = 1.0;
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} else if (time <= time_record) {
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window = 0.5 - 0.5 * cosf(M_PI * (time - (time_record - time_fade_out)) / time_fade_out + M_PI);
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} else {
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window = 0.0;
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}
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if (time <= 0.0f) {
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waveform_freq_rads = wMin;
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output = 0.0f;
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} else if (time <= time_const_freq) {
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waveform_freq_rads = wMin;
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output = window * waveform_magnitude * sinf(wMin * time - wMin * time_const_freq);
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} else if (time <= time_record) {
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waveform_freq_rads = wMin * expf(B * (time - time_const_freq) / (time_record - time_const_freq));
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output = window * waveform_magnitude * sinf((wMin * (time_record - time_const_freq) / B) * (expf(B * (time - time_const_freq) / (time_record - time_const_freq)) - 1));
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} else {
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waveform_freq_rads = wMax;
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output = 0.0f;
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}
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return output;
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}
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#endif
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