mirror of https://github.com/ArduPilot/ardupilot
135 lines
6.6 KiB
C++
135 lines
6.6 KiB
C++
#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Common/AP_Common.h>
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#include <AC_PID/AC_PID.h>
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#include <AC_PID/AC_P.h>
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// attitude control default definition
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#define AR_ATTCONTROL_STEER_ANG_P 2.50f
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#define AR_ATTCONTROL_STEER_RATE_FF 0.20f
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#define AR_ATTCONTROL_STEER_RATE_P 0.20f
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#define AR_ATTCONTROL_STEER_RATE_I 0.20f
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#define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f
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#define AR_ATTCONTROL_STEER_RATE_D 0.00f
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#define AR_ATTCONTROL_STEER_RATE_FILT 10.00f
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#define AR_ATTCONTROL_STEER_RATE_MAX 360.0f
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#define AR_ATTCONTROL_STEER_ACCEL_MAX 180.0f
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#define AR_ATTCONTROL_THR_SPEED_P 0.20f
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#define AR_ATTCONTROL_THR_SPEED_I 0.20f
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#define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f
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#define AR_ATTCONTROL_THR_SPEED_D 0.00f
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#define AR_ATTCONTROL_THR_SPEED_FILT 10.00f
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#define AR_ATTCONTROL_DT 0.02f
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#define AR_ATTCONTROL_TIMEOUT_MS 200
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// throttle/speed control maximum acceleration/deceleration (in m/s) (_ACCEL_MAX parameter default)
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#define AR_ATTCONTROL_THR_ACCEL_MAX 5.00f
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// minimum speed in m/s
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#define AR_ATTCONTROL_STEER_SPEED_MIN 1.0f
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// speed (in m/s) at or below which vehicle is considered stopped (_STOP_SPEED parameter default)
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#define AR_ATTCONTROL_STOP_SPEED_DEFAULT 0.1f
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class AR_AttitudeControl {
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public:
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// constructor
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AR_AttitudeControl(AP_AHRS &ahrs);
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//
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// steering controller
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//
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// return a steering servo output from -1.0 to +1.0 given a desired lateral acceleration rate in m/s/s.
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// positive lateral acceleration is to the right.
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float get_steering_out_lat_accel(float desired_accel, bool skid_steering, bool vect_thrust, bool motor_limit_left, bool motor_limit_right, bool reversed);
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// return a steering servo output from -1 to +1 given a heading in radians
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float get_steering_out_heading(float heading_rad, bool skid_steering, bool vect_thrust, bool motor_limit_left, bool motor_limit_right, bool reversed);
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// return a steering servo output from -1 to +1 given a
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// desired yaw rate in radians/sec. Positive yaw is to the right.
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float get_steering_out_rate(float desired_rate, bool skid_steering, bool vect_thrust, bool motor_limit_left, bool motor_limit_right, bool reversed);
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// get latest desired turn rate in rad/sec recorded during calls to get_steering_out_rate. For reporting purposes only
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float get_desired_turn_rate() const;
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// get latest desired lateral acceleration in m/s/s recorded during calls to get_steering_out_lat_accel. For reporting purposes only
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float get_desired_lat_accel() const;
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// get actual lateral acceleration in m/s/s. returns true on success. For reporting purposes only
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bool get_lat_accel(float &lat_accel) const;
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//
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// throttle / speed controller
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//
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// set limits used by throttle controller
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// forward/back acceleration max in m/s/s
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// forward/back deceleartion max in m/s/s
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void set_throttle_limits(float throttle_accel_max, float throttle_decel_max);
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// return a throttle output from -1 to +1 given a desired speed in m/s (use negative speeds to travel backwards)
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// desired_speed argument should already have been passed through get_desired_speed_accel_limited function
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// motor_limit should be true if motors have hit their upper or lower limits
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// cruise speed should be in m/s, cruise throttle should be a number from -1 to +1
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float get_throttle_out_speed(float desired_speed, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle);
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// return a throttle output from -1 to +1 to perform a controlled stop. stopped is set to true once stop has been completed
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float get_throttle_out_stop(bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, bool &stopped);
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// low level control accessors for reporting and logging
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AC_P& get_steering_angle_p() { return _steer_angle_p; }
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AC_PID& get_steering_rate_pid() { return _steer_rate_pid; }
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AC_PID& get_throttle_speed_pid() { return _throttle_speed_pid; }
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// get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success
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bool get_forward_speed(float &speed) const;
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// get throttle/speed controller maximum acceleration (also used for deceleration)
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float get_accel_max() const { return MAX(_throttle_accel_max, 0.0f); }
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// get latest desired speed recorded during call to get_throttle_out_speed. For reporting purposes only
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float get_desired_speed() const;
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// get acceleration limited desired speed
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float get_desired_speed_accel_limited(float desired_speed) const;
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// get minimum stopping distance (in meters) given a speed (in m/s)
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float get_stopping_distance(float speed);
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// external references
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const AP_AHRS &_ahrs;
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// parameters
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AC_P _steer_angle_p; // steering angle controller
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AC_PID _steer_rate_pid; // steering rate controller
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AC_PID _throttle_speed_pid; // throttle speed controller
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AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits
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AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle.
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AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value
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AP_Float _steer_accel_max; // steering angle acceleration max in deg/s/s
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AP_Float _steer_rate_max; // steering rate control maximum rate in deg/s
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// steering control
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uint32_t _steer_lat_accel_last_ms; // system time of last call to lateral acceleration controller (i.e. get_steering_out_lat_accel)
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uint32_t _steer_turn_last_ms; // system time of last call to steering rate controller
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float _desired_lat_accel; // desired lateral acceleration (in m/s/s) from latest call to get_steering_out_lat_accel (for reporting purposes)
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float _desired_turn_rate; // desired turn rate (in radians/sec) either from external caller or from lateral acceleration controller
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// throttle control
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uint32_t _speed_last_ms; // system time of last call to get_throttle_out_speed
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float _desired_speed; // last recorded desired speed
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uint32_t _stop_last_ms; // system time the vehicle was at a complete stop
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bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup)
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bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup)
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};
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