mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.3 KiB
C++
113 lines
3.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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/// @file AP_L1_Control.h
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/// @brief L1 Control algorithm. This is a instance of an
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/// AP_Navigation class
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/*
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* Originally written by Brandon Jones 2013
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*
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* Modified by Paul Riseborough 2013 to provide:
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* - Explicit control over frequency and damping
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* - Explicit control over track capture angle
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* - Ability to use loiter radius smaller than L1 length
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*/
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#include <AP_Math/AP_Math.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Navigation/AP_Navigation.h>
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class AP_L1_Control : public AP_Navigation {
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public:
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AP_L1_Control(AP_AHRS &ahrs) :
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_ahrs(ahrs)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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/* see AP_Navigation.h for the definitions and units of these
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* functions */
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int32_t nav_roll_cd(void) const;
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float lateral_acceleration(void) const;
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// return the desired track heading angle(centi-degrees)
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int32_t nav_bearing_cd(void) const;
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// return the heading error angle (centi-degrees) +ve to left of track
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int32_t bearing_error_cd(void) const;
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float crosstrack_error(void) const { return _crosstrack_error; }
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float crosstrack_error_integrator(void) const { return _L1_xtrack_i; }
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int32_t target_bearing_cd(void) const;
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float turn_distance(float wp_radius) const;
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float turn_distance(float wp_radius, float turn_angle) const;
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void update_waypoint(const struct Location &prev_WP, const struct Location &next_WP);
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void update_loiter(const struct Location ¢er_WP, float radius, int8_t loiter_direction);
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void update_heading_hold(int32_t navigation_heading_cd);
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void update_level_flight(void);
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bool reached_loiter_target(void);
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// set the default NAVL1_PERIOD
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void set_default_period(float period) {
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_L1_period.set_default(period);
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}
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void set_data_is_stale(void) {
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_data_is_stale = true;
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}
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bool data_is_stale(void) const {
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return _data_is_stale;
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}
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// this supports the NAVl1_* user settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// reference to the AHRS object
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AP_AHRS &_ahrs;
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// lateral acceration in m/s required to fly to the
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// L1 reference point (+ve to right)
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float _latAccDem;
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// L1 tracking distance in meters which is dynamically updated
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float _L1_dist;
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// Status which is true when the vehicle has started circling the WP
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bool _WPcircle;
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// bearing angle (radians) to L1 point
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float _nav_bearing;
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// bearing error angle (radians) +ve to left of track
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float _bearing_error;
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// crosstrack error in meters
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float _crosstrack_error;
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// target bearing in centi-degrees from last update
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int32_t _target_bearing_cd;
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// L1 tracking loop period (sec)
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AP_Float _L1_period;
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// L1 tracking loop damping ratio
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AP_Float _L1_damping;
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// previous value of cross-track velocity
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float _last_Nu;
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// prevent indecision in waypoint tracking
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void _prevent_indecision(float &Nu);
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// integral feedback to correct crosstrack error. Used to ensure xtrack converges to zero.
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// For tuning purposes it's helpful to clear the integrator when it changes so a _prev is used
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float _L1_xtrack_i = 0;
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AP_Float _L1_xtrack_i_gain;
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float _L1_xtrack_i_gain_prev = 0;
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uint32_t _last_update_waypoint_us;
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bool _data_is_stale = true;
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};
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