mirror of https://github.com/ArduPilot/ardupilot
95 lines
4.3 KiB
C++
95 lines
4.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
|
|
/// @file AC_AttitudeControl_Heli.h
|
|
/// @brief ArduCopter attitude control library for traditional helicopters
|
|
|
|
#ifndef AC_ATTITUDECONTROL_HELI_H
|
|
#define AC_ATTITUDECONTROL_HELI_H
|
|
|
|
#include <AC_AttitudeControl.h>
|
|
#include <AC_HELI_PID.h>
|
|
#include <Filter.h>
|
|
|
|
#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f
|
|
#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 5.0f
|
|
#define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f
|
|
#define AC_ATTITUDE_HELI_RATE_Y_AFF_FILTER 10.0f
|
|
|
|
class AC_AttitudeControl_Heli : public AC_AttitudeControl {
|
|
public:
|
|
AC_AttitudeControl_Heli( AP_AHRS &ahrs,
|
|
const AP_Vehicle::MultiCopter &aparm,
|
|
AP_MotorsHeli& motors,
|
|
AC_P& p_angle_roll, AC_P& p_angle_pitch, AC_P& p_angle_yaw,
|
|
AC_HELI_PID& pid_rate_roll, AC_HELI_PID& pid_rate_pitch, AC_HELI_PID& pid_rate_yaw
|
|
) :
|
|
AC_AttitudeControl(ahrs, aparm, motors,
|
|
p_angle_roll, p_angle_pitch, p_angle_yaw,
|
|
pid_rate_roll, pid_rate_pitch, pid_rate_yaw),
|
|
_passthrough_roll(0), _passthrough_pitch(0),
|
|
pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
|
|
roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
|
|
yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER),
|
|
yaw_acceleration_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_AFF_FILTER)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
|
|
void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf);
|
|
|
|
// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
|
|
// should be called at 100hz or more
|
|
virtual void rate_controller_run();
|
|
|
|
// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage
|
|
void use_leaky_i(bool leaky_i) { _flags_heli.leaky_i = leaky_i; }
|
|
|
|
// use_flybar_passthrough - controls whether we pass-through control inputs to swash-plate
|
|
void use_flybar_passthrough(bool passthrough) { _flags_heli.flybar_passthrough = passthrough; }
|
|
|
|
// user settable parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
|
|
// To-Do: move these limits flags into the heli motors class
|
|
struct AttControlHeliFlags {
|
|
uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move
|
|
uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move
|
|
uint8_t limit_yaw : 1; // 1 if we have requested larger yaw angle than tail servo can physically move
|
|
uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage
|
|
uint8_t flybar_passthrough : 1; // 1 if we should pass through pilots roll & pitch input directly to swash-plate
|
|
} _flags_heli;
|
|
|
|
//
|
|
// body-frame rate controller
|
|
//
|
|
// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in centi-degrees/sec) for roll, pitch and yaw
|
|
// outputs are sent directly to motor class
|
|
void rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds);
|
|
virtual float rate_bf_to_motor_yaw(float rate_yaw_cds);
|
|
|
|
//
|
|
// throttle methods
|
|
//
|
|
|
|
// calculate total body frame throttle required to produce the given earth frame throttle
|
|
float get_boosted_throttle(float throttle_in);
|
|
|
|
// pass through for roll and pitch
|
|
int16_t _passthrough_roll;
|
|
int16_t _passthrough_pitch;
|
|
|
|
// LPF filters to act on Rate Feedforward terms to linearize output.
|
|
// Due to complicated aerodynamic effects, feedforwards acting too fast can lead
|
|
// to jerks on rate change requests.
|
|
LowPassFilterFloat pitch_feedforward_filter;
|
|
LowPassFilterFloat roll_feedforward_filter;
|
|
LowPassFilterFloat yaw_velocity_feedforward_filter;
|
|
LowPassFilterFloat yaw_acceleration_feedforward_filter;
|
|
|
|
};
|
|
|
|
#endif //AC_ATTITUDECONTROL_HELI_H
|