mirror of https://github.com/ArduPilot/ardupilot
280 lines
11 KiB
Plaintext
280 lines
11 KiB
Plaintext
/*
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www.ArduCopter.com - www.DIYDrones.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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File : Navigation.pde
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Version : v1.0, Aug 27, 2010
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Author(s): ArduCopter Team
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
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Jani Hirvinen, Ken McEwans, Roberto Navoni,
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Sandro Benigno, Chris Anderson
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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* ************************************************************** *
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ChangeLog:
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* ************************************************************** *
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TODO:
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- initial functions.
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* ************************************************************** */
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void read_GPS_data()
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{
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#ifdef IsGPS
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GPS_timer_old=GPS_timer; // Update GPS timer
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GPS_timer = millis();
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GPS_Dt = (GPS_timer-GPS_timer_old)*0.001; // GPS_Dt
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GPS.NewData=0; // We Reset the flag...
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// Write GPS data to DataFlash log
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Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
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//if (GPS.Fix >= 2)
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if (GPS.Fix)
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digitalWrite(LED_Red,HIGH); // GPS Fix => RED LED
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else
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digitalWrite(LED_Red,LOW);
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#endif
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}
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/* GPS based Position control */
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void Position_control(long lat_dest, long lon_dest)
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{
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#ifdef IsGPS
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long Lon_diff;
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long Lat_diff;
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Lon_diff = lon_dest - GPS.Longitude;
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Lat_diff = lat_dest - GPS.Lattitude;
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//If we have not calculated GEOG_CORRECTION_FACTOR we calculate it here as cos(lattitude)
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if (GEOG_CORRECTION_FACTOR==0)
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GEOG_CORRECTION_FACTOR = cos(ToRad(GPS.Lattitude/10000000.0));
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// ROLL
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//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0] [This simplification is valid for low roll angles]
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gps_err_roll = (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[0][0] - (float)Lat_diff * DCM_Matrix[1][0];
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gps_roll_D = (gps_err_roll-gps_err_roll_old) / GPS_Dt;
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gps_err_roll_old = gps_err_roll;
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gps_roll_I += gps_err_roll * GPS_Dt;
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gps_roll_I = constrain(gps_roll_I, -800, 800);
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command_gps_roll = KP_GPS_ROLL * gps_err_roll + KD_GPS_ROLL * gps_roll_D + KI_GPS_ROLL * gps_roll_I;
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command_gps_roll = constrain(command_gps_roll, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
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//Log_Write_PID(1,KP_GPS_ROLL*gps_err_roll*10,KI_GPS_ROLL*gps_roll_I*10,KD_GPS_ROLL*gps_roll_D*10,command_gps_roll*10);
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// PITCH
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gps_err_pitch = -(float)Lat_diff * DCM_Matrix[0][0] - (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[1][0];
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gps_pitch_D = (gps_err_pitch - gps_err_pitch_old) / GPS_Dt;
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gps_err_pitch_old = gps_err_pitch;
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gps_pitch_I += gps_err_pitch * GPS_Dt;
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gps_pitch_I = constrain(gps_pitch_I, -800, 800);
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command_gps_pitch = KP_GPS_PITCH * gps_err_pitch + KD_GPS_PITCH * gps_pitch_D + KI_GPS_PITCH * gps_pitch_I;
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command_gps_pitch = constrain(command_gps_pitch, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
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//Log_Write_PID(2,KP_GPS_PITCH*gps_err_pitch*10,KI_GPS_PITCH*gps_pitch_I*10,KD_GPS_PITCH*gps_pitch_D*10,command_gps_pitch*10);
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#endif
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}
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/* GPS based Position control Version 2 - builds up I and D term using lat/lon instead of roll/pitch*/
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void Position_control_v2(long lat_dest, long lon_dest)
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{
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#ifdef IsGPS
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//If we have not calculated GEOG_CORRECTION_FACTOR we calculate it here as cos(lattitude)
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if (GEOG_CORRECTION_FACTOR==0)
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GEOG_CORRECTION_FACTOR = cos(ToRad(GPS.Lattitude/10000000.0));
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// store old lat & lon diff for d term?
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gps_err_lon_old = gps_err_lon;
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gps_err_lat_old = gps_err_lat;
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// calculate distance from target - for P term
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gps_err_lon = (float)(lon_dest - GPS.Longitude) * GEOG_CORRECTION_FACTOR;
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gps_err_lat = lat_dest - GPS.Lattitude;
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// add distance to I term
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gps_lon_I += gps_err_lon;
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gps_lon_I = constrain(gps_lon_I,-1200,1200); // don't let I get too big
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gps_lat_I += gps_err_lat;
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gps_lat_I = constrain(gps_lat_I,-1200,1200);
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// calculate the ground speed - for D term
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gps_lon_D = (gps_err_lon - gps_err_lon_old) / GPS_Dt;
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gps_lat_D = (gps_err_lat - gps_err_lat_old) / GPS_Dt;
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// Now separate lat & lon PID terms into roll & pitch components
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// ROLL
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//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0] [This simplification is valid for low roll angles]
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gps_err_roll = (gps_err_lon * DCM_Matrix[0][0] - gps_err_lat * DCM_Matrix[1][0]);
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gps_roll_I = (gps_lon_I * DCM_Matrix[0][0] - gps_lat_I * DCM_Matrix[1][0]);
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gps_roll_D = (gps_lon_D * DCM_Matrix[0][0] - gps_lat_D * DCM_Matrix[1][0]);
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command_gps_roll = KP_GPS_ROLL * gps_err_roll + KD_GPS_ROLL * gps_roll_D + KI_GPS_ROLL * gps_roll_I;
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command_gps_roll = constrain(command_gps_roll, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
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Log_Write_PID(1,KP_GPS_ROLL*gps_err_roll,KI_GPS_ROLL*gps_roll_I,KD_GPS_ROLL*gps_roll_D,command_gps_roll);
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// PITCH
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gps_err_pitch = (-gps_err_lat * DCM_Matrix[0][0] - gps_err_lon * DCM_Matrix[1][0]);
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gps_pitch_I = (-gps_lat_I * DCM_Matrix[0][0] - gps_lon_I * DCM_Matrix[1][0]);
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gps_pitch_D = (-gps_lat_D * DCM_Matrix[0][0] - gps_lon_D * DCM_Matrix[1][0]);
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command_gps_pitch = KP_GPS_PITCH * gps_err_pitch + KD_GPS_PITCH * gps_pitch_D + KI_GPS_PITCH * gps_pitch_I;
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command_gps_pitch = constrain(command_gps_pitch, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
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Log_Write_PID(2,KP_GPS_PITCH*gps_err_pitch,KI_GPS_PITCH*gps_pitch_I,KD_GPS_PITCH*gps_pitch_D,command_gps_pitch);
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#endif
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}
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void Reset_I_terms_navigation()
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{
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gps_roll_I = 0;
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gps_pitch_I = 0;
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gps_lon_I = 0; // for position hold ver 2
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gps_lat_I = 0;
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}
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/* ************************************************************ */
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/* Altitude control... (based on barometer) */
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int Altitude_control_baro(int altitude, int target_altitude)
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{
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#define ALTITUDE_CONTROL_BARO_OUTPUT_MIN 40
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#define ALTITUDE_CONTROL_BARO_OUTPUT_MAX 80
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// !!!!! REMOVE THIS !!!!!!!
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#define KP_BARO_ALTITUDE 0.25 //0.3
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#define KD_BARO_ALTITUDE 0.09 //0.09
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#define KI_BARO_ALTITUDE 0.1
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int command_altitude;
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err_altitude_old = err_altitude;
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err_altitude = target_altitude - altitude;
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baro_altitude_I += (float)err_altitude*0.05;
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baro_altitude_I = constrain(baro_altitude_I,-140,140);
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baro_altitude_D = (float)(err_altitude-err_altitude_old)/0.05; // 20Hz
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command_altitude = KP_ALTITUDE*err_altitude + KD_ALTITUDE*baro_altitude_D + KI_ALTITUDE*baro_altitude_I;
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command_altitude = initial_throttle + constrain(command_altitude,-ALTITUDE_CONTROL_BARO_OUTPUT_MIN,ALTITUDE_CONTROL_BARO_OUTPUT_MAX);
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Log_Write_PID(5,KP_ALTITUDE*err_altitude,KI_ALTITUDE*baro_altitude_I,KD_ALTITUDE*baro_altitude_D,command_altitude);
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return command_altitude;
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}
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/* ************************************************************ */
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/* Altitude control... (based on sonar) */
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#define GdT_SONAR_ALTITUDE 0.05
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#define ALTITUDE_CONTROL_SONAR_OUTPUT_MIN 60
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#define ALTITUDE_CONTROL_SONAR_OUTPUT_MAX 80
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int Altitude_control_Sonar(int altitude, int target_altitude)
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{
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static int err_altitude = 0;
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int command_altitude;
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int err_altitude_old;
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err_altitude_old = err_altitude;
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err_altitude = target_altitude - altitude;
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sonar_altitude_I += (float)err_altitude*GdT_SONAR_ALTITUDE;
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sonar_altitude_I = constrain(sonar_altitude_I,-1000,1000);
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sonar_altitude_D = (float)(err_altitude-err_altitude_old)/GdT_SONAR_ALTITUDE;
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command_altitude = KP_SONAR_ALTITUDE*err_altitude + KI_SONAR_ALTITUDE*sonar_altitude_I + KD_SONAR_ALTITUDE*sonar_altitude_D ;
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command_altitude = initial_throttle + constrain(command_altitude,-ALTITUDE_CONTROL_SONAR_OUTPUT_MIN,ALTITUDE_CONTROL_SONAR_OUTPUT_MAX);
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Log_Write_PID(4,KP_SONAR_ALTITUDE*err_altitude,KI_SONAR_ALTITUDE*sonar_altitude_I,KD_SONAR_ALTITUDE*sonar_altitude_D,command_altitude);
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return command_altitude;
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}
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/* ************************************************************ */
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/* Obstacle avoidance routine */
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#ifdef IsRANGEFINDER
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void Obstacle_avoidance(int safeDistance)
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{
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int RF_err_roll = 0;
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int RF_err_pitch = 0;
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int RF_err_throttle = 0;
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float RF_roll_P;
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float RF_roll_D;
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float RF_pitch_P;
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float RF_pitch_D;
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float RF_throttle_P;
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float RF_throttle_D;
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static int RF_err_roll_old;
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static int RF_err_pitch_old;
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static int RF_err_throttle_old;
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int err_temp;
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// front right
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err_temp = max(safeDistance - AP_RangeFinder_frontRight.distance,0);
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RF_err_roll += err_temp * AP_RangeFinder_frontRight.orientation_x;
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RF_err_pitch += err_temp * AP_RangeFinder_frontRight.orientation_y;
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RF_err_throttle += err_temp * AP_RangeFinder_frontRight.orientation_z;
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// back right
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err_temp = max(safeDistance - AP_RangeFinder_backRight.distance,0);
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RF_err_roll += err_temp * AP_RangeFinder_backRight.orientation_x;
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RF_err_pitch += err_temp * AP_RangeFinder_backRight.orientation_y;
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RF_err_throttle += err_temp * AP_RangeFinder_backRight.orientation_z;
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// back left
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err_temp = max(safeDistance - AP_RangeFinder_backLeft.distance,0);
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RF_err_roll += err_temp * AP_RangeFinder_backLeft.orientation_x;
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RF_err_pitch += err_temp * AP_RangeFinder_backLeft.orientation_y;
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RF_err_throttle += err_temp * AP_RangeFinder_backLeft.orientation_z;
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// front left
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err_temp = max(safeDistance - AP_RangeFinder_frontLeft.distance,0);
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RF_err_roll += err_temp * AP_RangeFinder_frontLeft.orientation_x;
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RF_err_pitch += err_temp * AP_RangeFinder_frontLeft.orientation_y;
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RF_err_throttle += err_temp * AP_RangeFinder_frontLeft.orientation_z;
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// ROLL - P term
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RF_roll_P = RF_err_roll * KP_RF_ROLL;
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RF_roll_P = constrain(RF_roll_P,-RF_MAX_ANGLE,RF_MAX_ANGLE);
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// ROLL - I term
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RF_roll_I += RF_err_roll * 0.05 * KI_RF_ROLL;
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RF_roll_I = constrain(RF_roll_I,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
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// ROLL - D term
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RF_roll_D = (RF_err_roll-RF_err_roll_old) / 0.05 * KD_RF_ROLL; // RF_IR frequency is 20Hz (50ms)
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RF_roll_D = constrain(RF_roll_D,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
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RF_err_roll_old = RF_err_roll;
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// ROLL - full comand
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command_RF_roll = RF_roll_P + RF_roll_I + RF_roll_D;
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command_RF_roll = constrain(command_RF_roll,-RF_MAX_ANGLE,RF_MAX_ANGLE); // Limit max command
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// PITCH - P term
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RF_pitch_P = RF_err_pitch * KP_RF_PITCH;
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RF_pitch_P = constrain(RF_pitch_P,-RF_MAX_ANGLE,RF_MAX_ANGLE);
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// PITCH - I term
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RF_pitch_I += RF_err_pitch * 0.05 * KI_RF_PITCH;
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RF_pitch_I = constrain(RF_pitch_I,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
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// PITCH - D term
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RF_pitch_D = (RF_err_pitch-RF_err_pitch_old) / 0.05 * KD_RF_PITCH; // RF_IR frequency is 20Hz (50ms)
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RF_pitch_D = constrain(RF_pitch_D,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
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RF_err_pitch_old = RF_err_pitch;
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// PITCH - full comand
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command_RF_pitch = RF_pitch_P + RF_pitch_I + RF_pitch_D;
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command_RF_pitch = constrain(command_RF_pitch,-RF_MAX_ANGLE,RF_MAX_ANGLE); // Limit max command
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// THROTTLE - not yet implemented
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command_RF_throttle = 0;
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}
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#endif
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