mirror of https://github.com/ArduPilot/ardupilot
593 lines
16 KiB
Plaintext
593 lines
16 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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static byte navigate()
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{
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// waypoint distance from plane in cm
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// ---------------------------------------
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wp_distance = get_distance(¤t_loc, &next_WP);
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home_distance = get_distance(¤t_loc, &home);
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if (wp_distance < 0){
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// something went very wrong
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return 0;
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}
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// target_bearing is where we should be heading
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// --------------------------------------------
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target_bearing = get_bearing(¤t_loc, &next_WP);
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home_to_copter_bearing = get_bearing(&home, ¤t_loc);
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// nav_bearing will includes xtrac correction
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// ------------------------------------------
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nav_bearing = target_bearing;
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return 1;
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}
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static bool check_missed_wp()
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{
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int32_t temp;
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temp = target_bearing - original_target_bearing;
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temp = wrap_180(temp);
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return (abs(temp) > 10000); // we passed the waypoint by 100 degrees
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}
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// ------------------------------
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static void calc_XY_velocity(){
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// offset calculation of GPS speed:
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// used for estimations below 1.5m/s
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// our GPS is about 1m per
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static int32_t last_longitude = 0;
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static int32_t last_latitude = 0;
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static int16_t x_speed_old = 0;
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static int16_t y_speed_old = 0;
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// y_GPS_speed positve = Up
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// x_GPS_speed positve = Right
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// initialise last_longitude and last_latitude
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if( last_longitude == 0 && last_latitude == 0 ) {
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last_longitude = g_gps->longitude;
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last_latitude = g_gps->latitude;
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}
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// this speed is ~ in cm because we are using 10^7 numbers from GPS
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float tmp = 1.0/dTnav;
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x_actual_speed = (float)(g_gps->longitude - last_longitude) * scaleLongDown * tmp;
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y_actual_speed = (float)(g_gps->latitude - last_latitude) * tmp;
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x_actual_speed = (x_actual_speed + x_speed_old ) / 2;
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y_actual_speed = (y_actual_speed + y_speed_old ) / 2;
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x_speed_old = x_actual_speed;
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y_speed_old = y_actual_speed;
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last_longitude = g_gps->longitude;
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last_latitude = g_gps->latitude;
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/*if(g_gps->ground_speed > 150){
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float temp = radians((float)g_gps->ground_course/100.0);
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x_actual_speed = (float)g_gps->ground_speed * sin(temp);
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y_actual_speed = (float)g_gps->ground_speed * cos(temp);
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}*/
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}
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static void calc_location_error(struct Location *next_loc)
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{
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static int16_t last_lon_error = 0;
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static int16_t last_lat_error = 0;
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static int16_t last_lon_d = 0;
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static int16_t last_lat_d = 0;
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/*
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Becuase we are using lat and lon to do our distance errors here's a quick chart:
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100 = 1m
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1000 = 11m = 36 feet
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1800 = 19.80m = 60 feet
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3000 = 33m
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10000 = 111m
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*/
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// X Error
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long_error = (float)(next_loc->lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 Go East
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// Y Error
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lat_error = next_loc->lat - current_loc.lat; // 500 - 0 = 500 Go North
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int16_t tmp;
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// -------------------------------------
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tmp = (long_error - last_lon_error);
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if(abs(abs(tmp) -last_lon_d) > 20){
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tmp = x_rate_d;
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}/*
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if(long_error > 0){
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if(tmp < 0) tmp = 0;
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}else{
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if(tmp > 0) tmp = 0;
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}*/
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x_rate_d = lon_rate_d_filter.apply(tmp);
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x_rate_d = constrain(x_rate_d, -800, 800);
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last_lon_d = abs(tmp);
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// -------------------------------------
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tmp = (lat_error - last_lat_error);
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if(abs(abs(tmp) -last_lat_d) > 20)
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tmp = y_rate_d;
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/*if(lat_error > 0){
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if(tmp < 0) tmp = 0;
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}else{
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if(tmp > 0) tmp = 0;
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}*/
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y_rate_d = lat_rate_d_filter.apply(tmp);
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y_rate_d = constrain(y_rate_d, -800, 800);
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last_lat_d = abs(tmp);
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// debug
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//int16_t t22 = x_rate_d * (g.pid_loiter_rate_lon.kD() / dTnav);
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//if(control_mode == LOITER)
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// Serial.printf("XX, %d, %d, %d \n", long_error, t22, (int16_t)g.pid_loiter_rate_lon.get_integrator());
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last_lon_error = long_error;
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last_lat_error = lat_error;
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}
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#define NAV_ERR_MAX 600
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#define NAV_RATE_ERR_MAX 250
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static void calc_loiter(int x_error, int y_error)
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{
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int32_t p,i,d; // used to capture pid values for logging
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int32_t output;
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int32_t x_target_speed, y_target_speed;
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// East / West
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x_target_speed = g.pi_loiter_lon.get_p(x_error); // calculate desired speed from lon error
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_KP || g.radio_tuning == CH6_LOITER_KI) ) {
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Log_Write_PID(CH6_LOITER_KP, x_error, x_target_speed, 0, 0, x_target_speed, tuning_value);
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}
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#endif
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x_rate_error = x_target_speed - x_actual_speed; // calc the speed error
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p = g.pid_loiter_rate_lon.get_p(x_rate_error);
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i = g.pid_loiter_rate_lon.get_i(x_rate_error + x_error, dTnav);
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d = g.pid_loiter_rate_lon.get_d(x_error, dTnav);
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d = constrain(d, -2000, 2000);
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// get rid of noise
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if(abs(x_actual_speed) < 50){
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d = 0;
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}
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output = p + i + d;
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nav_lon = constrain(output, -3000, 3000); // 30°
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_RATE_KP || g.radio_tuning == CH6_LOITER_RATE_KI || g.radio_tuning == CH6_LOITER_RATE_KD) ) {
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Log_Write_PID(CH6_LOITER_RATE_KP, x_rate_error, p, i, d, nav_lon, tuning_value);
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}
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#endif
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// North / South
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y_target_speed = g.pi_loiter_lat.get_p(y_error); // calculate desired speed from lat error
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_KP || g.radio_tuning == CH6_LOITER_KI) ) {
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Log_Write_PID(CH6_LOITER_KP+100, y_error, y_target_speed, 0, 0, y_target_speed, tuning_value);
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}
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#endif
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y_rate_error = y_target_speed - y_actual_speed;
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p = g.pid_loiter_rate_lat.get_p(y_rate_error);
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i = g.pid_loiter_rate_lat.get_i(y_rate_error + y_error, dTnav);
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d = g.pid_loiter_rate_lat.get_d(y_error, dTnav);
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d = constrain(d, -2000, 2000);
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// get rid of noise
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if(abs(y_actual_speed) < 50){
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d = 0;
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}
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output = p + i + d;
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nav_lat = constrain(output, -3000, 3000); // 30°
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_RATE_KP || g.radio_tuning == CH6_LOITER_RATE_KI || g.radio_tuning == CH6_LOITER_RATE_KD) ) {
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Log_Write_PID(CH6_LOITER_RATE_KP+100, y_rate_error, p, i, d, nav_lat, tuning_value);
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}
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#endif
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// copy over I term to Nav_Rate
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g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator());
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g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator());
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//Serial.printf("XX, %d, %d, %d\n", long_error, x_actual_speed, (int16_t)g.pid_loiter_rate_lon.get_integrator());
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// Wind I term based on location error,
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// limit windup
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/*
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int16_t x_iterm, y_iterm;
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
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y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
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nav_lat = nav_lat + y_iterm;
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nav_lon = nav_lon + x_iterm;
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*/
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/*
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int8_t ttt = 1.0/dTnav;
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int16_t t2 = g.pi_nav_lat.get_integrator();
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// 1 2 3 4 5 6 7 8 9 10
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Serial.printf("%d, %d, %d, %d, %d, %d, %d, %d, %d, %d\n",
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wp_distance, //1
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y_error, //2
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y_GPS_speed, //3
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y_actual_speed, //4 ;
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y_target_speed, //5
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y_rate_error, //6
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nav_lat_p, //7
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nav_lat, //8
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y_iterm, //9
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t2); //10
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//*/
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/*
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int16_t t1 = g.pid_nav_lon.get_integrator(); // X
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Serial.printf("%d, %1.4f, %d, %d, %d, %d, %d, %d, %d, %d\n",
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wp_distance, //1
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dTnav, //2
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x_error, //3
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x_GPS_speed, //4
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x_actual_speed, //5
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x_target_speed, //6
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x_rate_error, //7
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nav_lat, //8
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x_iterm, //9
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t1); //10
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//*/
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}
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static void calc_nav_rate(int max_speed)
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{
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// push us towards the original track
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update_crosstrack();
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// nav_bearing includes crosstrack
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float temp = (9000l - nav_bearing) * RADX100;
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// East / West
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x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413
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x_rate_error = constrain(x_rate_error, -1000, 1000);
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nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
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nav_lon = constrain(nav_lon, -3000, 3000);
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// North / South
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y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
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nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
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nav_lat = constrain(nav_lat, -3000, 3000);
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// copy over I term to Loiter_Rate
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g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator());
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g.pid_loiter_rate_lat.set_integrator(g.pid_nav_lat.get_integrator());
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//int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav);
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//int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);
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//nav_lon = nav_lon + x_iterm;
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//nav_lat = nav_lat + y_iterm;
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/*
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Serial.printf("max_sp %d,\t x_sp %d, y_sp %d,\t x_re: %d, y_re: %d, \tnav_lon: %d, nav_lat: %d, Xi:%d, Yi:%d, \t XE %d \n",
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max_speed,
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x_actual_speed,
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y_actual_speed,
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x_rate_error,
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y_rate_error,
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nav_lon,
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nav_lat,
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x_iterm,
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y_iterm,
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crosstrack_error);
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//*/
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// nav_lat and nav_lon will be rotated to the angle of the quad in calc_nav_pitch_roll()
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/*Serial.printf("max_speed: %d, xspeed: %d, yspeed: %d, x_re: %d, y_re: %d, nav_lon: %ld, nav_lat: %ld ",
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max_speed,
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x_actual_speed,
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y_actual_speed,
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x_rate_error,
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y_rate_error,
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nav_lon,
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nav_lat);*/
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}
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/*static void calc_nav_lon(int rate)
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{
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nav_lon = g.pid_nav_lon.get_pid(rate, dTnav);
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nav_lon = constrain(nav_lon, -3000, 3000);
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}
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static void calc_nav_lat(int rate)
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{
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nav_lat = g.pid_nav_lat.get_pid(rate, dTnav);
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nav_lat = constrain(nav_lat, -3000, 3000);
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}
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*/
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//static int16_t get_corrected_angle(int16_t desired_rate, int16_t rate_out)
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/*{
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int16_t tt = desired_rate;
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// scale down the desired rate and square it
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desired_rate = desired_rate / 20;
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desired_rate = desired_rate * desired_rate;
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int16_t tmp = 0;
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if (tt > 0){
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tmp = rate_out + (rate_out - desired_rate);
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tmp = max(tmp, rate_out);
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}else if (tt < 0){
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tmp = rate_out + (rate_out + desired_rate);
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tmp = min(tmp, rate_out);
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}
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//Serial.printf("rate:%d, norm:%d, out:%d \n", tt, rate_out, tmp);
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return tmp;
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}*/
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//wp_distance,ttt, y_error, y_GPS_speed, y_actual_speed, y_target_speed, y_rate_error, nav_lat, y_iterm, t2
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// this calculation rotates our World frame of reference to the copter's frame of reference
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// We use the DCM's matrix to precalculate these trig values at 50hz
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static void calc_loiter_pitch_roll()
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{
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//Serial.printf("ys %ld, cx %1.4f, _cx %1.4f | sy %1.4f, _sy %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x, sin_yaw_y, _sin_yaw_y);
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// rotate the vector
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auto_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
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auto_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
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// flip pitch because forward is negative
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auto_pitch = -auto_pitch;
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}
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static int16_t calc_desired_speed(int16_t max_speed, bool _slow)
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{
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/*
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|< WP Radius
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0 1 2 3 4 5 6 7 8m
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...|...|...|...|...|...|...|...|
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100 | 200 300 400cm/s
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| +|+
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|< we should slow to 1.5 m/s as we hit the target
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*/
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// max_speed is default 600 or 6m/s
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if(_slow){
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max_speed = min(max_speed, wp_distance / 2);
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max_speed = max(max_speed, 0);
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}else{
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max_speed = min(max_speed, wp_distance);
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max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // go at least 100cm/s
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}
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// limit the ramp up of the speed
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// waypoint_speed_gov is reset to 0 at each new WP command
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if(max_speed > waypoint_speed_gov){
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waypoint_speed_gov += (int)(100.0 * dTnav); // increase at .5/ms
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max_speed = waypoint_speed_gov;
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}
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return max_speed;
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}
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static void update_crosstrack(void)
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{
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// Crosstrack Error
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// ----------------
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if (abs(wrap_180(target_bearing - original_target_bearing)) < 4500) { // If we are too far off or too close we don't do track following
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float temp = (target_bearing - original_target_bearing) * RADX100;
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crosstrack_error = sin(temp) * (wp_distance * g.crosstrack_gain); // Meters we are off track line
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nav_bearing = target_bearing + constrain(crosstrack_error, -3000, 3000);
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nav_bearing = wrap_360(nav_bearing);
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}else{
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nav_bearing = target_bearing;
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}
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}
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static int32_t get_altitude_error()
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{
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// Next_WP alt is our target alt
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// It changes based on climb rate
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// until it reaches the target_altitude
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return next_WP.alt - current_loc.alt;
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}
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static void clear_new_altitude()
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{
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alt_change_flag = REACHED_ALT;
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}
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static void force_new_altitude(int32_t _new_alt)
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{
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next_WP.alt = _new_alt;
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target_altitude = _new_alt;
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alt_change_flag = REACHED_ALT;
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}
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static void set_new_altitude(int32_t _new_alt)
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{
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if(_new_alt == current_loc.alt){
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force_new_altitude(_new_alt);
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return;
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}
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// We start at the current location altitude and gradually change alt
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next_WP.alt = current_loc.alt;
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// for calculating the delta time
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alt_change_timer = millis();
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// save the target altitude
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target_altitude = _new_alt;
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// reset our altitude integrator
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alt_change = 0;
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// save the original altitude
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original_altitude = current_loc.alt;
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// to decide if we have reached the target altitude
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if(target_altitude > original_altitude){
|
|
// we are below, going up
|
|
alt_change_flag = ASCENDING;
|
|
//Serial.printf("go up\n");
|
|
}else if(target_altitude < original_altitude){
|
|
// we are above, going down
|
|
alt_change_flag = DESCENDING;
|
|
//Serial.printf("go down\n");
|
|
}else{
|
|
// No Change
|
|
alt_change_flag = REACHED_ALT;
|
|
//Serial.printf("reached alt\n");
|
|
}
|
|
//Serial.printf("new alt: %d Org alt: %d\n", target_altitude, original_altitude);
|
|
}
|
|
|
|
static int32_t get_new_altitude()
|
|
{
|
|
// returns a new next_WP.alt
|
|
|
|
if(alt_change_flag == ASCENDING){
|
|
// we are below, going up
|
|
if(current_loc.alt >= target_altitude){
|
|
alt_change_flag = REACHED_ALT;
|
|
}
|
|
|
|
// we shouldn't command past our target
|
|
if(next_WP.alt >= target_altitude){
|
|
return target_altitude;
|
|
}
|
|
}else if (alt_change_flag == DESCENDING){
|
|
// we are above, going down
|
|
if(current_loc.alt <= target_altitude)
|
|
alt_change_flag = REACHED_ALT;
|
|
|
|
// we shouldn't command past our target
|
|
if(next_WP.alt <= target_altitude){
|
|
return target_altitude;
|
|
}
|
|
}
|
|
|
|
// if we have reached our target altitude, return the target alt
|
|
if(alt_change_flag == REACHED_ALT){
|
|
return target_altitude;
|
|
}
|
|
|
|
int32_t diff = abs(next_WP.alt - target_altitude);
|
|
// scale is how we generate a desired rate from the elapsed time
|
|
// a smaller scale means faster rates
|
|
int8_t _scale = 4;
|
|
|
|
if (next_WP.alt < target_altitude){
|
|
// we are below the target alt
|
|
if(diff < 200){
|
|
_scale = 4;
|
|
} else {
|
|
_scale = 3;
|
|
}
|
|
}else {
|
|
// we are above the target, going down
|
|
if(diff < 400){
|
|
_scale = 5;
|
|
}
|
|
if(diff < 100){
|
|
_scale = 6;
|
|
}
|
|
}
|
|
|
|
// we use the elapsed time as our altitude offset
|
|
// 1000 = 1 sec
|
|
// 1000 >> 4 = 64cm/s descent by default
|
|
int32_t change = (millis() - alt_change_timer) >> _scale;
|
|
|
|
if(alt_change_flag == ASCENDING){
|
|
alt_change += change;
|
|
}else{
|
|
alt_change -= change;
|
|
}
|
|
// for generating delta time
|
|
alt_change_timer = millis();
|
|
|
|
return original_altitude + alt_change;
|
|
}
|
|
|
|
|
|
static int32_t wrap_360(int32_t error)
|
|
{
|
|
if (error > 36000) error -= 36000;
|
|
if (error < 0) error += 36000;
|
|
return error;
|
|
}
|
|
|
|
static int32_t wrap_180(int32_t error)
|
|
{
|
|
if (error > 18000) error -= 36000;
|
|
if (error < -18000) error += 36000;
|
|
return error;
|
|
}
|
|
|
|
/*
|
|
//static int32_t get_altitude_above_home(void)
|
|
{
|
|
// This is the altitude above the home location
|
|
// The GPS gives us altitude at Sea Level
|
|
// if you slope soar, you should see a negative number sometimes
|
|
// -------------------------------------------------------------
|
|
return current_loc.alt - home.alt;
|
|
}
|
|
*/
|
|
|
|
// distance is returned in cm
|
|
static int32_t get_distance(struct Location *loc1, struct Location *loc2)
|
|
{
|
|
float dlat = (float)(loc2->lat - loc1->lat);
|
|
float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
|
|
dlong = sqrt(sq(dlat) + sq(dlong)) * 1.113195;
|
|
return dlong;
|
|
}
|
|
/*
|
|
//static int32_t get_alt_distance(struct Location *loc1, struct Location *loc2)
|
|
{
|
|
return abs(loc1->alt - loc2->alt);
|
|
}
|
|
*/
|
|
static int32_t get_bearing(struct Location *loc1, struct Location *loc2)
|
|
{
|
|
int32_t off_x = loc2->lng - loc1->lng;
|
|
int32_t off_y = (loc2->lat - loc1->lat) * scaleLongUp;
|
|
int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
|
|
if (bearing < 0) bearing += 36000;
|
|
return bearing;
|
|
}
|