mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.9 KiB
Plaintext
74 lines
2.9 KiB
Plaintext
/*
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ArduCopter v1.3 - August 2010
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www.ArduCopter.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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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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/* ************************************************************ */
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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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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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// ROLL
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//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0]
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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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}
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/* ************************************************************ */
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/* Altitude control... (based on sonar) // NOT TESTED!!*/
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void Altitude_control(int target_sonar_altitude)
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{
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err_altitude_old = err_altitude;
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err_altitude = target_sonar_altitude - Sonar_value;
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altitude_D = (float)(err_altitude - err_altitude_old) / G_Dt;
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altitude_I += (float)err_altitude * G_Dt;
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altitude_I = constrain(altitude_I, -100, 100);
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command_altitude = Initial_Throttle + KP_ALTITUDE * err_altitude + KD_ALTITUDE * altitude_D + KI_ALTITUDE * altitude_I;
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}
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