mirror of https://github.com/ArduPilot/ardupilot
218 lines
6.3 KiB
C++
218 lines
6.3 KiB
C++
/*
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* ControllerQuad.h
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*
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* Created on: Jun 30, 2011
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* Author: jgoppert
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*/
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#ifndef CONTROLLERQUAD_H_
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#define CONTROLLERQUAD_H_
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#include "../APO/AP_Controller.h"
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#include "../APO/AP_BatteryMonitor.h"
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#include "../APO/AP_ArmingMechanism.h"
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namespace apo {
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class ControllerQuad: public AP_Controller {
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public:
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/**
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* note that these are not the controller radio channel numbers, they are just
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* unique keys so they can be reaccessed from the hal rc vector
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*/
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enum {
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ch_mode = 0, // note scicoslab channels set mode, left, right, front, back order
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ch_right,
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ch_left,
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ch_front,
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ch_back,
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ch_roll,
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ch_pitch,
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ch_thrust,
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ch_yaw
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};
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// must match channel enum
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enum {
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k_chMode = k_radioChannelsStart,
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k_chRight,
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k_chLeft,
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k_chFront,
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k_chBack,
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k_chRoll,
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k_chPitch,
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k_chThr,
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k_chYaw
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};
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enum {
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k_pidGroundSpeed2Throttle = k_controllersStart,
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k_pidStr,
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k_pidPN,
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k_pidPE,
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k_pidPD,
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k_pidRoll,
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k_pidPitch,
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k_pidYawRate,
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k_pidYaw,
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};
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ControllerQuad(AP_Navigator * nav, AP_Guide * guide,
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AP_HardwareAbstractionLayer * hal) :
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AP_Controller(nav, guide, hal, new AP_ArmingMechanism(hal,ch_thrust,ch_yaw,0.1,-0.9,0.9), ch_mode),
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pidRoll(new AP_Var_group(k_pidRoll, PSTR("ROLL_")), 1,
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PID_ATT_P, PID_ATT_I, PID_ATT_D, PID_ATT_AWU,
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PID_ATT_LIM, PID_ATT_DFCUT),
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pidPitch(new AP_Var_group(k_pidPitch, PSTR("PITCH_")), 1,
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PID_ATT_P, PID_ATT_I, PID_ATT_D, PID_ATT_AWU,
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PID_ATT_LIM, PID_ATT_DFCUT),
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pidYaw(new AP_Var_group(k_pidYaw, PSTR("YAW_")), 1,
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PID_YAWPOS_P, PID_YAWPOS_I, PID_YAWPOS_D,
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PID_YAWPOS_AWU, PID_YAWPOS_LIM, PID_ATT_DFCUT),
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pidYawRate(new AP_Var_group(k_pidYawRate, PSTR("YAWRT_")), 1,
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PID_YAWSPEED_P, PID_YAWSPEED_I, PID_YAWSPEED_D,
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PID_YAWSPEED_AWU, PID_YAWSPEED_LIM, PID_YAWSPEED_DFCUT),
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pidPN(new AP_Var_group(k_pidPN, PSTR("NORTH_")), 1, PID_POS_P,
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PID_POS_I, PID_POS_D, PID_POS_AWU, PID_POS_LIM, PID_POS_DFCUT),
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pidPE(new AP_Var_group(k_pidPE, PSTR("EAST_")), 1, PID_POS_P,
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PID_POS_I, PID_POS_D, PID_POS_AWU, PID_POS_LIM, PID_POS_DFCUT),
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pidPD(new AP_Var_group(k_pidPD, PSTR("DOWN_")), 1, PID_POS_Z_P,
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PID_POS_Z_I, PID_POS_Z_D, PID_POS_Z_AWU, PID_POS_Z_LIM, PID_POS_DFCUT),
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_thrustMix(0), _pitchMix(0), _rollMix(0), _yawMix(0),
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_cmdRoll(0), _cmdPitch(0), _cmdYawRate(0) {
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_hal->debug->println_P(PSTR("initializing quad controller"));
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/*
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* allocate radio channels
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* the order of the channels has to match the enumeration above
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*/
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_hal->rc.push_back(
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new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
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1500, 1900, RC_MODE_IN, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 0, 1100,
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1100, 1900, RC_MODE_OUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 1, 1100,
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1100, 1900, RC_MODE_OUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
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1100, 1900, RC_MODE_OUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chBack, PSTR("BACK_"), APM_RC, 3, 1100,
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1100, 1900, RC_MODE_OUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chRoll, PSTR("ROLL_"), APM_RC, 0, 1100,
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1500, 1900, RC_MODE_IN, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
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1500, 1900, RC_MODE_IN, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 2, 1100,
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1100, 1900, RC_MODE_IN, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 3, 1100, 1500,
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1900, RC_MODE_IN, false));
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}
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private:
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BlockPIDDfb pidRoll, pidPitch, pidYaw;
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BlockPID pidYawRate;
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BlockPIDDfb pidPN, pidPE, pidPD;
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float _thrustMix, _pitchMix, _rollMix, _yawMix;
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float _cmdRoll, _cmdPitch, _cmdYawRate;
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void manualLoop(const float dt) {
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setAllRadioChannelsManually();
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_cmdRoll = -0.5 * _hal->rc[ch_roll]->getPosition();
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_cmdPitch = -0.5 * _hal->rc[ch_pitch]->getPosition();
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_cmdYawRate = -1 * _hal->rc[ch_yaw]->getPosition();
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_thrustMix = _hal->rc[ch_thrust]->getPosition();
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autoAttitudeLoop(dt);
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}
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void autoLoop(const float dt) {
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autoPositionLoop(dt);
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autoAttitudeLoop(dt);
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// XXX currently auto loop not tested, so
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// put vehicle in standby
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_hal->setState(MAV_STATE_STANDBY);
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}
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void autoPositionLoop(float dt) {
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float cmdNorthTilt = pidPN.update(_nav->getPN(),_nav->getVN(),dt);
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float cmdEastTilt = pidPE.update(_nav->getPE(),_nav->getVE(),dt);
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float cmdDown = pidPD.update(_nav->getPD(),_nav->getVD(),dt);
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// "transform-to-body"
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{
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float trigSin = sin(-_nav->getYaw());
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float trigCos = cos(-_nav->getYaw());
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_cmdPitch = cmdEastTilt * trigCos - cmdNorthTilt * trigSin;
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_cmdRoll = -cmdEastTilt * trigSin + cmdNorthTilt * trigCos;
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// note that the north tilt is negative of the pitch
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}
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_cmdYawRate = 0;
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_thrustMix = THRUST_HOVER_OFFSET + cmdDown;
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// "thrust-trim-adjust"
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if (fabs(_cmdRoll) > 0.5) _thrustMix *= 1.13949393;
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else _thrustMix /= cos(_cmdRoll);
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if (fabs(_cmdPitch) > 0.5) _thrustMix *= 1.13949393;
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else _thrustMix /= cos(_cmdPitch);
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}
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void autoAttitudeLoop(float dt) {
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_rollMix = pidRoll.update(_cmdRoll - _nav->getRoll(),
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_nav->getRollRate(), dt);
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_pitchMix = pidPitch.update(_cmdPitch - _nav->getPitch(),
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_nav->getPitchRate(), dt);
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_yawMix = pidYawRate.update(_cmdYawRate - _nav->getYawRate(), dt);
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}
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void setMotors() {
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switch (_hal->getState()) {
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case MAV_STATE_ACTIVE: {
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digitalWrite(_hal->aLedPin, HIGH);
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// turn all motors off if below 0.1 throttle
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if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
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setAllRadioChannelsToNeutral();
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} else {
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_hal->rc[ch_right]->setPosition(_thrustMix - _rollMix + _yawMix);
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_hal->rc[ch_left]->setPosition(_thrustMix + _rollMix + _yawMix);
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_hal->rc[ch_front]->setPosition(_thrustMix + _pitchMix - _yawMix);
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_hal->rc[ch_back]->setPosition(_thrustMix - _pitchMix - _yawMix);
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}
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break;
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}
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case MAV_STATE_EMERGENCY: {
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digitalWrite(_hal->aLedPin, LOW);
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setAllRadioChannelsToNeutral();
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break;
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}
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case MAV_STATE_STANDBY: {
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digitalWrite(_hal->aLedPin,LOW);
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setAllRadioChannelsToNeutral();
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break;
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}
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default: {
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digitalWrite(_hal->aLedPin, LOW);
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setAllRadioChannelsToNeutral();
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}
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}
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}
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};
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} // namespace apo
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#endif /* CONTROLLERQUAD_H_ */
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