mirror of https://github.com/ArduPilot/ardupilot
265 lines
8.2 KiB
Plaintext
265 lines
8.2 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************
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* Throttle slew limit
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*****************************************/
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static void throttle_slew_limit(int16_t last_throttle)
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{
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// if slew limit rate is set to zero then do not slew limit
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if (g.throttle_slewrate) {
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// limit throttle change by the given percentage per second
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float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min);
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// allow a minimum change of 1 PWM per cycle
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if (temp < 1) {
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temp = 1;
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}
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channel_throttle->radio_out = constrain_int16(channel_throttle->radio_out, last_throttle - temp, last_throttle + temp);
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}
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}
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/*
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check for triggering of start of auto mode
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*/
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static bool auto_check_trigger(void)
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{
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// only applies to AUTO mode
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if (control_mode != AUTO) {
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return true;
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}
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// check for user pressing the auto trigger to off
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if (auto_triggered && g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 1) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("AUTO triggered off"));
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auto_triggered = false;
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return false;
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}
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// if already triggered, then return true, so you don't
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// need to hold the switch down
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if (auto_triggered) {
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return true;
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}
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if (g.auto_trigger_pin == -1 && g.auto_kickstart == 0.0f) {
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// no trigger configured - let's go!
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auto_triggered = true;
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return true;
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}
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if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
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auto_triggered = true;
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return true;
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}
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if (g.auto_kickstart != 0.0f) {
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float xaccel = ins.get_accel().x;
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if (xaccel >= g.auto_kickstart) {
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gcs_send_text_fmt(PSTR("Triggered AUTO xaccel=%.1f"), xaccel);
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auto_triggered = true;
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return true;
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}
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}
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return false;
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}
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/*
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calculate the throtte for auto-throttle modes
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*/
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static void calc_throttle(float target_speed)
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{
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if (!auto_check_trigger()) {
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channel_throttle->servo_out = g.throttle_min.get();
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return;
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}
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if (target_speed <= 0) {
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// cope with zero requested speed
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channel_throttle->servo_out = g.throttle_min.get();
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return;
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}
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int throttle_target = g.throttle_cruise + throttle_nudge;
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/*
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reduce target speed in proportion to turning rate, up to the
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SPEED_TURN_GAIN percentage.
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*/
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float steer_rate = fabsf(lateral_acceleration / (g.turn_max_g*GRAVITY_MSS));
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steer_rate = constrain_float(steer_rate, 0.0, 1.0);
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float reduction = 1.0 - steer_rate*(100 - g.speed_turn_gain)*0.01;
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if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
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// in auto-modes we reduce speed when approaching waypoints
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float reduction2 = 1.0 - (100-g.speed_turn_gain)*0.01*((g.speed_turn_dist - wp_distance)/g.speed_turn_dist);
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if (reduction2 < reduction) {
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reduction = reduction2;
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}
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}
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// reduce the target speed by the reduction factor
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target_speed *= reduction;
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groundspeed_error = target_speed - ground_speed;
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throttle = throttle_target + (g.pidSpeedThrottle.get_pid(groundspeed_error * 100) / 100);
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// also reduce the throttle by the reduction factor. This gives a
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// much faster response in turns
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throttle *= reduction;
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channel_throttle->servo_out = constrain_int16(throttle, g.throttle_min.get(), g.throttle_max.get());
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}
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/*****************************************
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* Calculate desired turn angles (in medium freq loop)
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*****************************************/
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static void calc_lateral_acceleration()
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{
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switch (control_mode) {
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case AUTO:
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nav_controller->update_waypoint(prev_WP, next_WP);
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break;
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case RTL:
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case GUIDED:
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case STEERING:
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nav_controller->update_waypoint(current_loc, next_WP);
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break;
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default:
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return;
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}
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// Calculate the required turn of the wheels
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// negative error = left turn
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// positive error = right turn
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lateral_acceleration = nav_controller->lateral_acceleration();
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}
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/*
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calculate steering angle given lateral_acceleration
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*/
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static void calc_nav_steer()
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{
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float speed = g_gps->ground_speed_cm * 0.01f;
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if (speed < 1.0f) {
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// gps speed isn't very accurate at low speed
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speed = 1.0f;
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}
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// add in obstacle avoidance
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lateral_acceleration += (obstacle.turn_angle/45.0f) * g.turn_max_g;
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// constrain to max G force
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lateral_acceleration = constrain_float(lateral_acceleration, -g.turn_max_g*GRAVITY_MSS, g.turn_max_g*GRAVITY_MSS);
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channel_steer->servo_out = steerController.get_steering_out_lat_accel(lateral_acceleration);
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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static void set_servos(void)
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{
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int16_t last_throttle = channel_throttle->radio_out;
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if ((control_mode == MANUAL || control_mode == LEARNING) &&
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(g.skid_steer_out == g.skid_steer_in)) {
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// do a direct pass through of radio values
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channel_steer->radio_out = channel_steer->read();
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channel_throttle->radio_out = channel_throttle->read();
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if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
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// suppress throttle if in failsafe and manual
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channel_throttle->radio_out = channel_throttle->radio_trim;
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}
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} else {
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channel_steer->calc_pwm();
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channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
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g.throttle_min.get(),
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g.throttle_max.get());
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if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
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// suppress throttle if in failsafe
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channel_throttle->servo_out = 0;
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}
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// convert 0 to 100% into PWM
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channel_throttle->calc_pwm();
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// limit throttle movement speed
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throttle_slew_limit(last_throttle);
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if (g.skid_steer_out) {
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// convert the two radio_out values to skid steering values
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/*
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mixing rule:
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steering = motor1 - motor2
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throttle = 0.5*(motor1 + motor2)
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motor1 = throttle + 0.5*steering
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motor2 = throttle - 0.5*steering
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*/
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float steering_scaled = channel_steer->norm_output();
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float throttle_scaled = channel_throttle->norm_output();
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float motor1 = throttle_scaled + 0.5*steering_scaled;
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float motor2 = throttle_scaled - 0.5*steering_scaled;
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channel_steer->servo_out = 4500*motor1;
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channel_throttle->servo_out = 100*motor2;
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channel_steer->calc_pwm();
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channel_throttle->calc_pwm();
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}
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}
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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// send values to the PWM timers for output
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// ----------------------------------------
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channel_steer->output();
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channel_throttle->output();
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// Route configurable aux. functions to their respective servos
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g.rc_2.output_ch(CH_2);
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g.rc_4.output_ch(CH_4);
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g.rc_5.output_ch(CH_5);
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g.rc_6.output_ch(CH_6);
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g.rc_7.output_ch(CH_7);
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g.rc_8.output_ch(CH_8);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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g.rc_9.output_ch(CH_9);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
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g.rc_10.output_ch(CH_10);
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g.rc_11.output_ch(CH_11);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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g.rc_12.output_ch(CH_12);
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#endif
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#endif
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}
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static bool demoing_servos;
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static void demo_servos(uint8_t i) {
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while(i > 0) {
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gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
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demoing_servos = true;
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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hal.rcout->write(1, 1400);
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mavlink_delay(400);
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hal.rcout->write(1, 1600);
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mavlink_delay(200);
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hal.rcout->write(1, 1500);
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#endif
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demoing_servos = false;
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mavlink_delay(400);
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i--;
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}
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}
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