mirror of https://github.com/ArduPilot/ardupilot
296 lines
11 KiB
C++
296 lines
11 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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// get_smoothing_gain - returns smoothing gain to be passed into attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth
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// result is a number from 2 to 12 with 2 being very sluggish and 12 being very crisp
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float Copter::get_smoothing_gain()
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{
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return (2.0f + (float)g.rc_feel_rp/10.0f);
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}
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// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
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// returns desired angle in centi-degrees
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void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out)
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{
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float angle_max = constrain_float(aparm.angle_max,1000,8000);
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float scaler = (float)angle_max/(float)ROLL_PITCH_INPUT_MAX;
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// scale roll_in, pitch_in to correct units
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roll_in *= scaler;
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pitch_in *= scaler;
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// do circular limit
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float total_in = pythagorous2((float)pitch_in, (float)roll_in);
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if (total_in > angle_max) {
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float ratio = angle_max / total_in;
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roll_in *= ratio;
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pitch_in *= ratio;
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}
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// do lateral tilt to euler roll conversion
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roll_in = (18000/M_PI_F) * atanf(cosf(pitch_in*(M_PI_F/18000))*tanf(roll_in*(M_PI_F/18000)));
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// return
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roll_out = roll_in;
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pitch_out = pitch_in;
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}
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// get_pilot_desired_heading - transform pilot's yaw input into a desired heading
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// returns desired angle in centi-degrees
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// To-Do: return heading as a float?
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float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
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{
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// convert pilot input to the desired yaw rate
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return stick_angle * g.acro_yaw_p;
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}
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/*************************************************************
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* yaw controllers
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*************************************************************/
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// get_roi_yaw - returns heading towards location held in roi_WP
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// should be called at 100hz
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float Copter::get_roi_yaw()
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{
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static uint8_t roi_yaw_counter = 0; // used to reduce update rate to 100hz
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roi_yaw_counter++;
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if (roi_yaw_counter >= 4) {
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roi_yaw_counter = 0;
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yaw_look_at_WP_bearing = pv_get_bearing_cd(inertial_nav.get_position(), roi_WP);
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}
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return yaw_look_at_WP_bearing;
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}
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float Copter::get_look_ahead_yaw()
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{
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const Vector3f& vel = inertial_nav.get_velocity();
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float speed = pythagorous2(vel.x,vel.y);
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// Commanded Yaw to automatically look ahead.
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if (position_ok() && (speed > YAW_LOOK_AHEAD_MIN_SPEED)) {
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yaw_look_ahead_bearing = degrees(atan2f(vel.y,vel.x))*100.0f;
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}
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return yaw_look_ahead_bearing;
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}
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/*************************************************************
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* throttle control
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****************************************************************/
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// update_thr_average - update estimated throttle required to hover (if necessary)
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// should be called at 100hz
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void Copter::update_thr_average()
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{
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// ensure throttle_average has been initialised
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if( is_zero(throttle_average) ) {
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throttle_average = g.throttle_mid;
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// update position controller
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pos_control.set_throttle_hover(throttle_average);
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}
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// if not armed or landed exit
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if (!motors.armed() || ap.land_complete) {
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return;
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}
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// get throttle output
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float throttle = motors.get_throttle();
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// calc average throttle if we are in a level hover
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if (throttle > g.throttle_min && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
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throttle_average = throttle_average * 0.99f + throttle * 0.01f;
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// update position controller
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pos_control.set_throttle_hover(throttle_average);
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}
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}
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// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
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void Copter::set_throttle_takeoff()
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{
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// tell position controller to reset alt target and reset I terms
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pos_control.init_takeoff();
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// tell motors to do a slow start
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motors.slow_start(true);
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}
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// get_pilot_desired_throttle - transform pilot's throttle input to make cruise throttle mid stick
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// used only for manual throttle modes
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// returns throttle output 0 to 1000
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int16_t Copter::get_pilot_desired_throttle(int16_t throttle_control)
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{
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int16_t throttle_out;
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int16_t mid_stick = channel_throttle->get_control_mid();
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// ensure reasonable throttle values
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throttle_control = constrain_int16(throttle_control,0,1000);
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g.throttle_mid = constrain_int16(g.throttle_mid,300,700);
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// check throttle is above, below or in the deadband
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if (throttle_control < mid_stick) {
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// below the deadband
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throttle_out = g.throttle_min + ((float)(throttle_control-g.throttle_min))*((float)(g.throttle_mid - g.throttle_min))/((float)(mid_stick-g.throttle_min));
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}else if(throttle_control > mid_stick) {
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// above the deadband
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throttle_out = g.throttle_mid + ((float)(throttle_control-mid_stick)) * (float)(1000-g.throttle_mid) / (float)(1000-mid_stick);
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}else{
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// must be in the deadband
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throttle_out = g.throttle_mid;
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}
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return throttle_out;
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}
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// get_pilot_desired_climb_rate - transform pilot's throttle input to
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// climb rate in cm/s. we use radio_in instead of control_in to get the full range
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// without any deadzone at the bottom
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float Copter::get_pilot_desired_climb_rate(float throttle_control)
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{
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// throttle failsafe check
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if( failsafe.radio ) {
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return 0.0f;
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}
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float desired_rate = 0.0f;
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float mid_stick = channel_throttle->get_control_mid();
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float deadband_top = mid_stick + g.throttle_deadzone;
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float deadband_bottom = mid_stick - g.throttle_deadzone;
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// ensure a reasonable throttle value
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throttle_control = constrain_float(throttle_control,g.throttle_min,1000.0f);
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// ensure a reasonable deadzone
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g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
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// check throttle is above, below or in the deadband
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if (throttle_control < deadband_bottom) {
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// below the deadband
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desired_rate = g.pilot_velocity_z_max * (throttle_control-deadband_bottom) / (deadband_bottom-g.throttle_min);
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}else if (throttle_control > deadband_top) {
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// above the deadband
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desired_rate = g.pilot_velocity_z_max * (throttle_control-deadband_top) / (1000.0f-deadband_top);
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}else{
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// must be in the deadband
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desired_rate = 0.0f;
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}
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// desired climb rate for logging
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desired_climb_rate = desired_rate;
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return desired_rate;
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}
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// get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
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float Copter::get_non_takeoff_throttle()
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{
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return (g.throttle_mid / 2.0f);
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}
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float Copter::get_takeoff_trigger_throttle()
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{
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return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
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}
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// get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output before take-off
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// used only for althold, loiter, hybrid flight modes
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// returns throttle output 0 to 1000
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float Copter::get_throttle_pre_takeoff(float input_thr)
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{
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// exit immediately if input_thr is zero
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if (input_thr <= 0.0f) {
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return 0.0f;
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}
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// TODO: does this parameter sanity check really belong here?
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g.throttle_mid = constrain_int16(g.throttle_mid,300,700);
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float in_min = g.throttle_min;
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float in_max = get_takeoff_trigger_throttle();
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float out_min = motors.get_throttle_warn();
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float out_max = get_non_takeoff_throttle();
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if ((g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0) {
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in_min = channel_throttle->get_control_mid();
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}
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float input_range = in_max-in_min;
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float output_range = out_max-out_min;
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// sanity check ranges
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if (input_range <= 0.0f || output_range <= 0.0f) {
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return 0.0f;
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}
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return constrain_float(out_min + (input_thr-in_min)*output_range/input_range, out_min, out_max);
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}
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// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
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// returns climb rate (in cm/s) which should be passed to the position controller
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float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
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{
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static uint32_t last_call_ms = 0;
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float distance_error;
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float velocity_correction;
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float current_alt = inertial_nav.get_altitude();
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uint32_t now = millis();
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// reset target altitude if this controller has just been engaged
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if (now - last_call_ms > SONAR_TIMEOUT_MS) {
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target_sonar_alt = sonar_alt + current_alt_target - current_alt;
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}
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last_call_ms = now;
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// adjust sonar target alt if motors have not hit their limits
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if ((target_rate<0 && !motors.limit.throttle_lower) || (target_rate>0 && !motors.limit.throttle_upper)) {
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target_sonar_alt += target_rate * dt;
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}
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// do not let target altitude get too far from current altitude above ground
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// Note: the 750cm limit is perhaps too wide but is consistent with the regular althold limits and helps ensure a smooth transition
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target_sonar_alt = constrain_float(target_sonar_alt,sonar_alt-pos_control.get_leash_down_z(),sonar_alt+pos_control.get_leash_up_z());
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// calc desired velocity correction from target sonar alt vs actual sonar alt (remove the error already passed to Altitude controller to avoid oscillations)
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distance_error = (target_sonar_alt - sonar_alt) - (current_alt_target - current_alt);
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velocity_correction = distance_error * g.sonar_gain;
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velocity_correction = constrain_float(velocity_correction, -THR_SURFACE_TRACKING_VELZ_MAX, THR_SURFACE_TRACKING_VELZ_MAX);
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// return combined pilot climb rate + rate to correct sonar alt error
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return (target_rate + velocity_correction);
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}
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// set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
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void Copter::set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
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{
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// shift difference between pilot's throttle and hover throttle into accelerometer I
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g.pid_accel_z.set_integrator(pilot_throttle-throttle_average);
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}
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// updates position controller's maximum altitude using fence and EKF limits
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void Copter::update_poscon_alt_max()
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{
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float alt_limit_cm = 0.0f; // interpreted as no limit if left as zero
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#if AC_FENCE == ENABLED
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// set fence altitude limit in position controller
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if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
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alt_limit_cm = pv_alt_above_origin(fence.get_safe_alt()*100.0f);
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}
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#endif
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// get alt limit from EKF (limited during optical flow flight)
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float ekf_limit_cm = 0.0f;
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if (inertial_nav.get_hgt_ctrl_limit(ekf_limit_cm)) {
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if ((alt_limit_cm <= 0.0f) || (ekf_limit_cm < alt_limit_cm)) {
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alt_limit_cm = ekf_limit_cm;
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}
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}
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// pass limit to pos controller
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pos_control.set_alt_max(alt_limit_cm);
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}
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