mirror of https://github.com/ArduPilot/ardupilot
184 lines
9.0 KiB
C++
184 lines
9.0 KiB
C++
#pragma once
|
|
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AC_PID/AC_PID.h>
|
|
#include <AC_PID/AC_P.h>
|
|
|
|
// attitude control default definition
|
|
#define AR_ATTCONTROL_STEER_ANG_P 2.50f
|
|
#define AR_ATTCONTROL_STEER_RATE_FF 0.20f
|
|
#define AR_ATTCONTROL_STEER_RATE_P 0.20f
|
|
#define AR_ATTCONTROL_STEER_RATE_I 0.20f
|
|
#define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_D 0.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_FILT 10.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_MAX 360.0f
|
|
#define AR_ATTCONTROL_STEER_ACCEL_MAX 180.0f
|
|
#define AR_ATTCONTROL_THR_SPEED_P 0.20f
|
|
#define AR_ATTCONTROL_THR_SPEED_I 0.20f
|
|
#define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f
|
|
#define AR_ATTCONTROL_THR_SPEED_D 0.00f
|
|
#define AR_ATTCONTROL_THR_SPEED_FILT 10.00f
|
|
#define AR_ATTCONTROL_PITCH_THR_P 1.80f
|
|
#define AR_ATTCONTROL_PITCH_THR_I 1.50f
|
|
#define AR_ATTCONTROL_PITCH_THR_D 0.03f
|
|
#define AR_ATTCONTROL_PITCH_THR_IMAX 1.0f
|
|
#define AR_ATTCONTROL_PITCH_THR_FILT 10.0f
|
|
#define AR_ATTCONTROL_BAL_SPEED_FF 1.0f
|
|
#define AR_ATTCONTROL_DT 0.02f
|
|
#define AR_ATTCONTROL_TIMEOUT_MS 200
|
|
#define AR_ATTCONTROL_HEEL_SAIL_P 1.0f
|
|
#define AR_ATTCONTROL_HEEL_SAIL_I 0.1f
|
|
#define AR_ATTCONTROL_HEEL_SAIL_D 0.0f
|
|
#define AR_ATTCONTROL_HEEL_SAIL_IMAX 1.0f
|
|
#define AR_ATTCONTROL_HEEL_SAIL_FILT 10.0f
|
|
#define AR_ATTCONTROL_DT 0.02f
|
|
|
|
// throttle/speed control maximum acceleration/deceleration (in m/s) (_ACCEL_MAX parameter default)
|
|
#define AR_ATTCONTROL_THR_ACCEL_MAX 2.00f
|
|
|
|
// minimum speed in m/s
|
|
#define AR_ATTCONTROL_STEER_SPEED_MIN 1.0f
|
|
|
|
// speed (in m/s) at or below which vehicle is considered stopped (_STOP_SPEED parameter default)
|
|
#define AR_ATTCONTROL_STOP_SPEED_DEFAULT 0.1f
|
|
|
|
|
|
class AR_AttitudeControl {
|
|
public:
|
|
|
|
// constructor
|
|
AR_AttitudeControl(AP_AHRS &ahrs);
|
|
|
|
//
|
|
// steering controller
|
|
//
|
|
|
|
// return a steering servo output given a desired lateral acceleration rate in m/s/s.
|
|
// positive lateral acceleration is to the right. dt should normally be the main loop rate.
|
|
// return value is normally in range -1.0 to +1.0 but can be higher or lower
|
|
float get_steering_out_lat_accel(float desired_accel, bool motor_limit_left, bool motor_limit_right, float dt);
|
|
|
|
// return a steering servo output given a heading in radians
|
|
// set rate_max_rads to a non-zero number to apply a limit on the desired turn rate
|
|
// return value is normally in range -1.0 to +1.0 but can be higher or lower
|
|
float get_steering_out_heading(float heading_rad, float rate_max_rads, bool motor_limit_left, bool motor_limit_right, float dt);
|
|
|
|
// return a steering servo output given a desired yaw rate in radians/sec.
|
|
// positive yaw is to the right
|
|
// return value is normally in range -1.0 to +1.0 but can be higher or lower
|
|
float get_steering_out_rate(float desired_rate, bool motor_limit_left, bool motor_limit_right, float dt);
|
|
|
|
// get latest desired turn rate in rad/sec recorded during calls to get_steering_out_rate. For reporting purposes only
|
|
float get_desired_turn_rate() const;
|
|
|
|
// get latest desired lateral acceleration in m/s/s recorded during calls to get_steering_out_lat_accel. For reporting purposes only
|
|
float get_desired_lat_accel() const;
|
|
|
|
// get actual lateral acceleration in m/s/s. returns true on success. For reporting purposes only
|
|
bool get_lat_accel(float &lat_accel) const;
|
|
|
|
//
|
|
// throttle / speed controller
|
|
//
|
|
|
|
// set limits used by throttle controller
|
|
// forward/back acceleration max in m/s/s
|
|
// forward/back deceleartion max in m/s/s
|
|
void set_throttle_limits(float throttle_accel_max, float throttle_decel_max);
|
|
|
|
// return a throttle output from -1 to +1 given a desired speed in m/s (use negative speeds to travel backwards)
|
|
// desired_speed argument should already have been passed through get_desired_speed_accel_limited function
|
|
// motor_limit should be true if motors have hit their upper or lower limits
|
|
// cruise speed should be in m/s, cruise throttle should be a number from -1 to +1
|
|
float get_throttle_out_speed(float desired_speed, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, float dt);
|
|
|
|
// return a throttle output from -1 to +1 to perform a controlled stop. stopped is set to true once stop has been completed
|
|
float get_throttle_out_stop(bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, float dt, bool &stopped);
|
|
|
|
// balancebot pitch to throttle controller
|
|
// returns a throttle output from -100 to +100 given a desired pitch angle and vehicle's current speed (from wheel encoders)
|
|
// desired_pitch is in radians, veh_speed_pct is supplied as a percentage (-100 to +100) of vehicle's top speed
|
|
float get_throttle_out_from_pitch(float desired_pitch, float veh_speed_pct, bool motor_limit_low, bool motor_limit_high, float dt);
|
|
|
|
// get latest desired pitch in radians for reporting purposes
|
|
float get_desired_pitch() const;
|
|
|
|
// Sailboat heel(roll) angle contorller, release sail to keep at maximum heel angle
|
|
float get_sail_out_from_heel(float desired_heel, float dt);
|
|
|
|
// low level control accessors for reporting and logging
|
|
AC_P& get_steering_angle_p() { return _steer_angle_p; }
|
|
AC_PID& get_steering_rate_pid() { return _steer_rate_pid; }
|
|
AC_PID& get_throttle_speed_pid() { return _throttle_speed_pid; }
|
|
AC_PID& get_pitch_to_throttle_pid() { return _pitch_to_throttle_pid; }
|
|
AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; }
|
|
|
|
// get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success
|
|
bool get_forward_speed(float &speed) const;
|
|
|
|
// get throttle/speed controller maximum acceleration (also used for deceleration)
|
|
float get_accel_max() const { return MAX(_throttle_accel_max, 0.0f); }
|
|
|
|
// get throttle/speed controller maximum deceleration
|
|
float get_decel_max() const;
|
|
|
|
// check if speed controller active
|
|
bool speed_control_active() const;
|
|
|
|
// get latest desired speed recorded during call to get_throttle_out_speed. For reporting purposes only
|
|
float get_desired_speed() const;
|
|
|
|
// get acceleration limited desired speed
|
|
float get_desired_speed_accel_limited(float desired_speed, float dt) const;
|
|
|
|
// get minimum stopping distance (in meters) given a speed (in m/s)
|
|
float get_stopping_distance(float speed) const;
|
|
|
|
// parameter var table
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
// relax I terms of throttle and steering controllers
|
|
void relax_I();
|
|
|
|
private:
|
|
|
|
// external references
|
|
const AP_AHRS &_ahrs;
|
|
|
|
// parameters
|
|
AC_P _steer_angle_p; // steering angle controller
|
|
AC_PID _steer_rate_pid; // steering rate controller
|
|
AC_PID _throttle_speed_pid; // throttle speed controller
|
|
AC_PID _pitch_to_throttle_pid;// balancebot pitch controller
|
|
AP_Float _pitch_to_throttle_speed_ff; // balancebot feed forward from speed
|
|
|
|
AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits
|
|
AP_Float _throttle_decel_max; // speed/throttle control deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration
|
|
AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle.
|
|
AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value
|
|
AP_Float _steer_accel_max; // steering angle acceleration max in deg/s/s
|
|
AP_Float _steer_rate_max; // steering rate control maximum rate in deg/s
|
|
|
|
// steering control
|
|
uint32_t _steer_lat_accel_last_ms; // system time of last call to lateral acceleration controller (i.e. get_steering_out_lat_accel)
|
|
uint32_t _steer_turn_last_ms; // system time of last call to steering rate controller
|
|
float _desired_lat_accel; // desired lateral acceleration (in m/s/s) from latest call to get_steering_out_lat_accel (for reporting purposes)
|
|
float _desired_turn_rate; // desired turn rate (in radians/sec) either from external caller or from lateral acceleration controller
|
|
|
|
// throttle control
|
|
uint32_t _speed_last_ms; // system time of last call to get_throttle_out_speed
|
|
float _desired_speed; // last recorded desired speed
|
|
uint32_t _stop_last_ms; // system time the vehicle was at a complete stop
|
|
bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup)
|
|
bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup)
|
|
|
|
// balancebot pitch control
|
|
uint32_t _balance_last_ms = 0;
|
|
|
|
// Sailboat heel control
|
|
AC_PID _sailboat_heel_pid; // Sailboat heel angle pid controller
|
|
uint32_t _heel_controller_last_ms = 0;
|
|
};
|