mirror of https://github.com/ArduPilot/ardupilot
126 lines
4.6 KiB
C++
126 lines
4.6 KiB
C++
#include "Copter.h"
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#if MODE_DRIFT_ENABLED == ENABLED
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/*
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* Init and run calls for drift flight mode
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*/
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#ifndef DRIFT_SPEEDGAIN
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# define DRIFT_SPEEDGAIN 8.0f
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#endif
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#ifndef DRIFT_SPEEDLIMIT
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# define DRIFT_SPEEDLIMIT 560.0f
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#endif
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#ifndef DRIFT_THR_ASSIST_GAIN
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# define DRIFT_THR_ASSIST_GAIN 0.0018f // gain controlling amount of throttle assistance
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#endif
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#ifndef DRIFT_THR_ASSIST_MAX
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# define DRIFT_THR_ASSIST_MAX 0.3f // maximum assistance throttle assist will provide
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#endif
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#ifndef DRIFT_THR_MIN
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# define DRIFT_THR_MIN 0.213f // throttle assist will be active when pilot's throttle is above this value
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#endif
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#ifndef DRIFT_THR_MAX
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# define DRIFT_THR_MAX 0.787f // throttle assist will be active when pilot's throttle is below this value
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#endif
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// drift_init - initialise drift controller
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bool Copter::ModeDrift::init(bool ignore_checks)
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{
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return true;
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}
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// drift_run - runs the drift controller
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// should be called at 100hz or more
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void Copter::ModeDrift::run()
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{
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static float braker = 0.0f;
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static float roll_input = 0.0f;
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float target_roll, target_pitch;
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float target_yaw_rate;
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float pilot_throttle_scaled;
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// if landed and throttle at zero, set throttle to zero and exit immediately
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if (!motors->armed() || !motors->get_interlock() || (ap.land_complete && ap.throttle_zero)) {
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zero_throttle_and_relax_ac(copter.is_tradheli() && motors->get_interlock());
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return;
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}
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// clear landing flag above zero throttle
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if (!ap.throttle_zero) {
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set_land_complete(false);
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}
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// convert pilot input to lean angles
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get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired throttle
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pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in());
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// Grab inertial velocity
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const Vector3f& vel = inertial_nav.get_velocity();
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// rotate roll, pitch input from north facing to vehicle's perspective
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float roll_vel = vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
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float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
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// gain sceduling for Yaw
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float pitch_vel2 = MIN(fabsf(pitch_vel), 2000);
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target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
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roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
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pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
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roll_input = roll_input * .96f + (float)channel_yaw->get_control_in() * .04f;
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//convert user input into desired roll velocity
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float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
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// Roll velocity is feed into roll acceleration to minimize slip
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target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
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target_roll = constrain_float(target_roll, -4500.0f, 4500.0f);
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// If we let go of sticks, bring us to a stop
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if(is_zero(target_pitch)){
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// .14/ (.03 * 100) = 4.6 seconds till full braking
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braker += .03f;
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braker = MIN(braker, DRIFT_SPEEDGAIN);
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target_pitch = pitch_vel * braker;
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}else{
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braker = 0.0f;
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}
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// set motors to full range
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// output pilot's throttle with angle boost
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attitude_control->set_throttle_out(get_throttle_assist(vel.z, pilot_throttle_scaled), true, g.throttle_filt);
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}
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// get_throttle_assist - return throttle output (range 0 ~ 1) based on pilot input and z-axis velocity
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float Copter::ModeDrift::get_throttle_assist(float velz, float pilot_throttle_scaled)
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{
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// throttle assist - adjusts throttle to slow the vehicle's vertical velocity
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// Only active when pilot's throttle is between 213 ~ 787
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// Assistance is strongest when throttle is at mid, drops linearly to no assistance at 213 and 787
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float thr_assist = 0.0f;
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if (pilot_throttle_scaled > DRIFT_THR_MIN && pilot_throttle_scaled < DRIFT_THR_MAX) {
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// calculate throttle assist gain
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thr_assist = 1.2f - ((float)fabsf(pilot_throttle_scaled - 0.5f) / 0.24f);
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thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_ASSIST_GAIN * velz;
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// ensure throttle assist never adjusts the throttle by more than 300 pwm
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thr_assist = constrain_float(thr_assist, -DRIFT_THR_ASSIST_MAX, DRIFT_THR_ASSIST_MAX);
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}
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return constrain_float(pilot_throttle_scaled + thr_assist, 0.0f, 1.0f);
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}
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#endif
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