mirror of https://github.com/ArduPilot/ardupilot
101 lines
4.1 KiB
C++
101 lines
4.1 KiB
C++
#pragma once
|
|
|
|
/// @file AC_AttitudeControl_Multi.h
|
|
/// @brief ArduCopter attitude control library
|
|
|
|
#include "AC_AttitudeControl.h"
|
|
#include <AP_Motors/AP_MotorsMulticopter.h>
|
|
|
|
// default rate controller PID gains
|
|
#ifndef AC_ATC_MULTI_RATE_RP_P
|
|
# define AC_ATC_MULTI_RATE_RP_P 0.135f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_I
|
|
# define AC_ATC_MULTI_RATE_RP_I 0.090f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_D
|
|
# define AC_ATC_MULTI_RATE_RP_D 0.0036f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_IMAX
|
|
# define AC_ATC_MULTI_RATE_RP_IMAX 0.5f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
|
|
# define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_P
|
|
# define AC_ATC_MULTI_RATE_YAW_P 0.180f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_I
|
|
# define AC_ATC_MULTI_RATE_YAW_I 0.018f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_D
|
|
# define AC_ATC_MULTI_RATE_YAW_D 0.0f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_IMAX
|
|
# define AC_ATC_MULTI_RATE_YAW_IMAX 0.5f
|
|
#endif
|
|
#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ
|
|
# define AC_ATC_MULTI_RATE_YAW_FILT_HZ 2.5f
|
|
#endif
|
|
|
|
|
|
class AC_AttitudeControl_Multi : public AC_AttitudeControl {
|
|
public:
|
|
AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
|
|
|
|
// empty destructor to suppress compiler warning
|
|
virtual ~AC_AttitudeControl_Multi() {}
|
|
|
|
// pid accessors
|
|
AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; }
|
|
AC_PID& get_rate_pitch_pid() override { return _pid_rate_pitch; }
|
|
AC_PID& get_rate_yaw_pid() override { return _pid_rate_yaw; }
|
|
|
|
// Update Alt_Hold angle maximum
|
|
void update_althold_lean_angle_max(float throttle_in) override;
|
|
|
|
// Set output throttle
|
|
void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override;
|
|
|
|
// calculate total body frame throttle required to produce the given earth frame throttle
|
|
float get_throttle_boosted(float throttle_in);
|
|
|
|
// set desired throttle vs attitude mixing (actual mix is slewed towards this value over 1~2 seconds)
|
|
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
|
|
// has no effect when throttle is above hover throttle
|
|
void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; }
|
|
void set_throttle_mix_man() override { _throttle_rpy_mix_desired = _thr_mix_man; }
|
|
void set_throttle_mix_max() override { _throttle_rpy_mix_desired = _thr_mix_max; }
|
|
void set_throttle_mix_value(float value) override { _throttle_rpy_mix_desired = _throttle_rpy_mix = value; }
|
|
float get_throttle_mix(void) const override { return _throttle_rpy_mix; }
|
|
|
|
// are we producing min throttle?
|
|
bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
|
|
|
|
// run lowest level body-frame rate controller and send outputs to the motors
|
|
void rate_controller_run() override;
|
|
|
|
// sanity check parameters. should be called once before take-off
|
|
void parameter_sanity_check() override;
|
|
|
|
// user settable parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
|
|
// update_throttle_rpy_mix - updates thr_low_comp value towards the target
|
|
void update_throttle_rpy_mix();
|
|
|
|
// get maximum value throttle can be raised to based on throttle vs attitude prioritisation
|
|
float get_throttle_avg_max(float throttle_in);
|
|
|
|
AP_MotorsMulticopter& _motors_multi;
|
|
AC_PID _pid_rate_roll;
|
|
AC_PID _pid_rate_pitch;
|
|
AC_PID _pid_rate_yaw;
|
|
|
|
AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle)
|
|
AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
|
|
AP_Float _thr_mix_max; // throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
|
|
};
|