mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.3 KiB
C++
116 lines
4.3 KiB
C++
/*
|
|
APM_AHRS.cpp
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU Lesser General Public License
|
|
as published by the Free Software Foundation; either version 2.1
|
|
of the License, or (at your option) any later version.
|
|
*/
|
|
#include <FastSerial.h>
|
|
#include <AP_AHRS.h>
|
|
|
|
|
|
// table of user settable parameters
|
|
const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
|
|
// index 0 and 1 are for old parameters that are no longer used
|
|
|
|
// @Param: GPS_GAIN
|
|
// @DisplayName: AHRS GPS gain
|
|
// @Description: This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
|
|
// @Range: 0.0 1.0
|
|
// @Increment: .01
|
|
AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0),
|
|
|
|
// @Param: GPS_USE
|
|
// @DisplayName: AHRS use GPS for navigation
|
|
// @Description: This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.
|
|
// @User: Advanced
|
|
AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1),
|
|
|
|
// @Param: YAW_P
|
|
// @DisplayName: Yaw P
|
|
// @Description: This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
|
|
// @Range: 0.1 0.4
|
|
// @Increment: .01
|
|
AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4),
|
|
|
|
// @Param: RP_P
|
|
// @DisplayName: AHRS RP_P
|
|
// @Description: This controls how fast the accelerometers correct the attitude
|
|
// @Range: 0.1 0.4
|
|
// @Increment: .01
|
|
AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4),
|
|
|
|
// @Param: WIND_MAX
|
|
// @DisplayName: Maximum wind
|
|
// @Description: This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.
|
|
// @Range: 0 127
|
|
// QUnits: m/s
|
|
// @Increment: 1
|
|
AP_GROUPINFO("WIND_MAX", 6, AP_AHRS, _wind_max, 0.0),
|
|
|
|
// @Param: BARO_USE
|
|
// @DisplayName: AHRS Use Barometer
|
|
// @Description: This controls the use of the barometer for vertical acceleration compensation in AHRS. It is currently recommended that you set this value to zero unless you are a developer experimenting with the AHRS system.
|
|
// @Values: 0:Disabled,1:Enabled
|
|
// @User: Advanced
|
|
AP_GROUPINFO("BARO_USE", 7, AP_AHRS, _baro_use, 0),
|
|
|
|
// @Param: TRIM
|
|
// @DisplayName: AHRS Trim
|
|
// @Description: Compensates for the difference between the control board and the frame
|
|
// @User: Advanced
|
|
AP_GROUPINFO("TRIM", 8, AP_AHRS, _trim, 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
// get pitch rate in earth frame, in radians/s
|
|
float AP_AHRS::get_pitch_rate_earth(void)
|
|
{
|
|
Vector3f omega = get_gyro();
|
|
return cos(roll) * omega.y - sin(roll) * omega.z;
|
|
}
|
|
|
|
// get roll rate in earth frame, in radians/s
|
|
float AP_AHRS::get_roll_rate_earth(void) {
|
|
Vector3f omega = get_gyro();
|
|
return omega.x + tan(pitch)*(omega.y*sin(roll) + omega.z*cos(roll));
|
|
}
|
|
|
|
// return airspeed estimate if available
|
|
bool AP_AHRS::airspeed_estimate(float *airspeed_ret)
|
|
{
|
|
if (_airspeed && _airspeed->use()) {
|
|
*airspeed_ret = _airspeed->get_airspeed();
|
|
if (_wind_max > 0 && _gps && _gps->status() == GPS::GPS_OK) {
|
|
// constrain the airspeed by the ground speed
|
|
// and AHRS_WIND_MAX
|
|
*airspeed_ret = constrain(*airspeed_ret,
|
|
_gps->ground_speed*0.01 - _wind_max,
|
|
_gps->ground_speed*0.01 + _wind_max);
|
|
}
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// add_trim - adjust the roll and pitch trim up to a total of 10 degrees
|
|
void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians)
|
|
{
|
|
Vector3f trim = _trim.get();
|
|
|
|
// debug -- remove me!
|
|
Serial.printf_P(PSTR("\nadd_trim before R:%4.2f P:%4.2f\n"),ToDeg(trim.x),ToDeg(trim.y));
|
|
|
|
// add new trim
|
|
trim.x = constrain(trim.x + roll_in_radians, ToRad(-10.0), ToRad(10.0));
|
|
trim.y = constrain(trim.y + pitch_in_radians, ToRad(-10.0), ToRad(10.0));
|
|
|
|
// set and save new trim values
|
|
_trim.set_and_save(trim);
|
|
|
|
// debug -- remove me!
|
|
Serial.printf_P(PSTR("add_trim after R:%4.2f P:%4.2f\n"),ToDeg(trim.x),ToDeg(trim.y));
|
|
}
|