mirror of https://github.com/ArduPilot/ardupilot
140 lines
2.9 KiB
Plaintext
140 lines
2.9 KiB
Plaintext
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/*************************************************************
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throttle control
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****************************************************************/
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// user input:
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// -----------
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void output_manual_throttle()
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{
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rc_3.servo_out = rc_3.control_in;
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rc_3.servo_out = (float)rc_3.servo_out * angle_boost();
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}
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// Autopilot
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// ---------
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void output_auto_throttle()
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{
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rc_3.servo_out = (float)nav_throttle * angle_boost();
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rc_3.servo_out = max(rc_3.servo_out, 1);
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}
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void calc_nav_throttle()
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{
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long err = constrain (altitude_error, -150, 150); //+-1.5 meters
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long temp = pid_throttle.get_pid(err, deltaMiliSeconds, 1.0);
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nav_throttle = (float)(throttle_cruise + temp) * angle_boost();
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}
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float angle_boost()
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{
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//static byte flipper;
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float temp = 1 / (cos(dcm.roll) * cos(dcm.pitch));
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//temp *= .5;
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if(temp > 1.2)
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temp = 1.2;
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return temp;
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}
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/*************************************************************
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yaw control
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****************************************************************/
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void input_yaw_hold_2()
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{
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if(rc_3.control_in == 0){
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// Reset the yaw hold
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nav_yaw = yaw_sensor;
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}else if(rc_4.control_in == 0){
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// do nothing
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}else{
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// create up to 60° of yaw error
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nav_yaw = yaw_sensor + rc_4.control_in;
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nav_yaw = wrap_360(nav_yaw);
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}
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}
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void input_yaw_hold()
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{
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if(rc_3.control_in == 0){
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// Reset the yaw hold
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nav_yaw = yaw_sensor;
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}else if(rc_4.control_in == 0){
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// do nothing
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}else{
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// create up to 60° of yaw error
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nav_yaw += ((long)rc_4.control_in * (long)deltaMiliSeconds) / 500; // we'll get 60° * 2 or 120° per second
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nav_yaw = wrap_360(nav_yaw);
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}
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}
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/*void output_yaw_stabilize()
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{
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rc_4.servo_out = rc_4.control_in;
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rc_4.servo_out = constrain(rc_4.servo_out, -MAX_SERVO_OUTPUT, MAX_SERVO_OUTPUT);
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}*/
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/*************************************************************
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picth and roll control
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****************************************************************/
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// how hard to tilt towards the target
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// -----------------------------------
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void calc_nav_pid()
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{
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nav_angle = pid_nav.get_pid(wp_distance * 100, dTnav, 1.0);
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nav_angle = constrain(nav_angle, -pitch_max, pitch_max);
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}
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// distribute the pitch angle based on our orientation
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// ---------------------------------------------------
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void calc_nav_pitch()
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{
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long b_err = bearing_error;
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bool rev = false;
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float roll_out;
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if(b_err > 18000){
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b_err -= 18000;
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rev = true;
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}
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roll_out = abs(b_err - 18000);
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roll_out = (9000.0 - roll_out) / 9000.0;
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roll_out = (rev) ? roll_out : -roll_out;
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nav_pitch = (float)nav_angle * roll_out;
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}
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// distribute the roll angle based on our orientation
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// --------------------------------------------------
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void calc_nav_roll()
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{
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long b_err = bearing_error;
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bool rev = false;
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float roll_out;
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if(b_err > 18000){
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b_err -= 18000;
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rev = true;
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}
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roll_out = abs(b_err - 9000);
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roll_out = (9000.0 - roll_out) / 9000.0;
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roll_out = (rev) ? -roll_out : roll_out;
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nav_roll = (float)nav_angle * roll_out;
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}
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