mirror of https://github.com/ArduPilot/ardupilot
100 lines
2.8 KiB
C++
100 lines
2.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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// Code by Jon Challinger
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//
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// This library is free software; you can redistribute it and / or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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#include <AP_Math.h>
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include "AP_PitchController.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
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AP_GROUPINFO("AP", 0, AP_PitchController, _kp_angle, 1.0),
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AP_GROUPINFO("FF", 1, AP_PitchController, _kp_ff, 0.4),
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AP_GROUPINFO("RP", 2, AP_PitchController, _kp_rate, 0.0),
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AP_GROUPINFO("RI", 3, AP_PitchController, _ki_rate, 0.0),
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AP_GROUPINFO("RMAX_U", 4, AP_PitchController, _max_rate_pos, 0.0),
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AP_GROUPINFO("RMAX_D", 5, AP_PitchController, _max_rate_neg, 0.0),
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AP_GROUPINFO("RLL_FF", 6, AP_PitchController, _roll_ff, 0.0),
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AP_GROUPINFO("STAB_GAIN", 7, AP_PitchController, _stabilize_gain, 1),
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AP_GROUPEND
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};
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int32_t AP_PitchController::get_servo_out(int32_t angle, float scaler, bool stabilize)
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{
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uint32_t tnow = hal.scheduler->millis();
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uint32_t dt = tnow - _last_t;
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if (_last_t == 0 || dt > 1000) {
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dt = 0;
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}
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_last_t = tnow;
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if(_ahrs == NULL) return 0;
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float delta_time = (float)dt / 1000.0f;
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int8_t inv = 1;
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if(abs(_ahrs->roll_sensor)>9000) inv = -1;
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int32_t angle_err = angle - _ahrs->pitch_sensor;
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angle_err *= inv;
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float rate = _ahrs->get_pitch_rate_earth();
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float RC = 1/(2*PI*_fCut);
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rate = _last_rate +
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(delta_time / (RC + delta_time)) * (rate - _last_rate);
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_last_rate = rate;
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float roll_scaler = 1/constrain(cosf(_ahrs->roll),0.33f,1);
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int32_t desired_rate = angle_err * _kp_angle;
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if (_max_rate_neg && desired_rate < -_max_rate_neg) {
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desired_rate = -_max_rate_neg;
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} else if (_max_rate_pos && desired_rate > _max_rate_pos) {
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desired_rate = _max_rate_pos;
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}
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desired_rate *= roll_scaler;
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if(stabilize) {
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desired_rate *= _stabilize_gain;
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}
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int32_t rate_error = desired_rate - ToDeg(rate)*100;
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float roll_ff = _roll_ff * 1000 * (roll_scaler-1.0f);
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if(roll_ff > 4500)
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roll_ff = 4500;
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else if(roll_ff < 0)
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roll_ff = 0;
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float out = constrain(((rate_error * _kp_rate) + (desired_rate * _kp_ff) + roll_ff) * scaler,-4500,4500);
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//rate integrator
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if (!stabilize) {
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if ((fabsf(_ki_rate) > 0) && (dt > 0))
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{
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_integrator += (rate_error * _ki_rate) * scaler * delta_time;
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if (_integrator < -4500-out) _integrator = -4500-out;
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else if (_integrator > 4500-out) _integrator = 4500-out;
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}
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} else {
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_integrator = 0;
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}
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return out + _integrator;
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}
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void AP_PitchController::reset_I()
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{
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_integrator = 0;
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}
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