ardupilot/libraries/AC_Autorotation/AC_Autorotation.h

100 lines
4.8 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Motors/AP_Motors.h>
#include <AP_Motors/AP_MotorsHeli_RSC.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter.h>
#include <AC_PID/AC_P.h>
class AC_Autorotation
{
public:
//Constructor
AC_Autorotation();
//--------Functions--------
void init_hs_controller(void); // Initialise head speed controller
void init_fwd_spd_controller(void); // Initialise forward speed controller
bool update_hs_glide_controller(float dt); // Update head speed controller
float get_rpm(void) const { return _current_rpm; } // Function just returns the rpm as last read in this library
float get_rpm(bool update_counter); // Function fetches fresh rpm update and continues sensor health monitoring
void set_target_head_speed(float ths) { _target_head_speed = ths; } // Sets the normalised target head speed
void set_col_cutoff_freq(float freq) { _col_cutoff_freq = freq; } // Sets the collective low pass filter cut off frequency
int16_t get_hs_set_point(void) { return _param_head_speed_set_point; }
float get_col_entry_freq(void) { return _param_col_entry_cutoff_freq; }
float get_col_glide_freq(void) { return _param_col_glide_cutoff_freq; }
float get_bail_time(void) { return _param_bail_time; }
float get_last_collective() const { return _collective_out; }
bool is_enable(void) { return _param_enable; }
void Log_Write_Autorotation(void) const;
void update_forward_speed_controller(void); // Update forward speed controller
void set_desired_fwd_speed(void) { _vel_target = _param_target_speed; } // Overloaded: Set desired speed for forward controller to parameter value
void set_desired_fwd_speed(float speed) { _vel_target = speed; } // Overloaded: Set desired speed to argument value
int32_t get_pitch(void) const { return _pitch_target; } // Get pitch target
float calc_speed_forward(void); // Calculates the forward speed in the horizontal plane
void set_dt(float delta_sec);
// User Settable Parameters
static const struct AP_Param::GroupInfo var_info[];
private:
//--------Internal Variables--------
float _current_rpm;
float _collective_out;
float _head_speed_error; // Error between target head speed and current head speed. Normalised by head speed set point RPM.
float _col_cutoff_freq; // Lowpass filter cutoff frequency (Hz) for collective.
uint8_t _unhealthy_rpm_counter; // Counter used to track RPM sensor unhealthy signal.
uint8_t _healthy_rpm_counter; // Counter used to track RPM sensor healthy signal.
float _target_head_speed; // Normalised target head speed. Normalised by head speed set point RPM.
float _p_term_hs; // Proportional contribution to collective setting.
float _ff_term_hs; // Following trim feed forward contribution to collective setting.
float _vel_target; // Forward velocity target.
float _pitch_target; // Pitch angle target.
float _accel_max; // Maximum acceleration limit.
int16_t _speed_forward_last; // The forward speed calculated in the previous cycle.
bool _flag_limit_accel; // Maximum acceleration limit reached flag.
float _accel_out_last; // Acceleration value used to calculate pitch target in previous cycle.
float _cmd_vel; // Command velocity, used to get PID values for acceleration calculation.
float _accel_target; // Acceleration target, calculated from PID.
float _delta_speed_fwd; // Change in forward speed between computation cycles.
float _dt; // Time step.
int16_t _speed_forward; // Measured forward speed.
float _vel_p; // Forward velocity P term.
float _vel_ff; // Forward velocity Feed Forward term.
float _accel_out; // Acceleration value used to calculate pitch target.
LowPassFilterFloat _accel_target_filter; // acceleration target filter
//--------Parameter Values--------
AP_Int8 _param_enable;
AC_P _p_hs;
AC_P _p_fw_vel;
AP_Int16 _param_head_speed_set_point;
AP_Int16 _param_target_speed;
AP_Float _param_col_entry_cutoff_freq;
AP_Float _param_col_glide_cutoff_freq;
AP_Int16 _param_accel_max;
AP_Float _param_bail_time;
AP_Int8 _param_rpm_instance;
AP_Float _param_fwd_k_ff;
//--------Internal Flags--------
struct controller_flags {
bool bad_rpm : 1;
bool bad_rpm_warning : 1;
} _flags;
//--------Internal Functions--------
void set_collective(float _collective_filter_cutoff) const;
// low pass filter for collective trim
LowPassFilterFloat col_trim_lpf;
};