mirror of https://github.com/ArduPilot/ardupilot
107 lines
4.8 KiB
C++
107 lines
4.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AC_AttitudeControl_Heli.h
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/// @brief ArduCopter attitude control library for traditional helicopters
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#ifndef AC_ATTITUDECONTROL_HELI_H
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#define AC_ATTITUDECONTROL_HELI_H
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#include "AC_AttitudeControl.h"
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#include <AP_Motors/AP_MotorsHeli.h>
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#include <AC_PID/AC_HELI_PID.h>
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#include <Filter/Filter.h>
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#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f
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#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f
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#define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f
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#define AC_ATTITUDE_HELI_RATE_Y_AFF_FILTER 10.0f
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class AC_AttitudeControl_Heli : public AC_AttitudeControl {
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public:
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AC_AttitudeControl_Heli( AP_AHRS &ahrs,
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const AP_Vehicle::MultiCopter &aparm,
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AP_MotorsHeli& motors,
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AC_P& p_angle_roll, AC_P& p_angle_pitch, AC_P& p_angle_yaw,
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AC_HELI_PID& pid_rate_roll, AC_HELI_PID& pid_rate_pitch, AC_HELI_PID& pid_rate_yaw
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) :
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AC_AttitudeControl(ahrs, aparm, motors,
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p_angle_roll, p_angle_pitch, p_angle_yaw,
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pid_rate_roll, pid_rate_pitch, pid_rate_yaw),
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_passthrough_roll(0), _passthrough_pitch(0), _passthrough_yaw(0),
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pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
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roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
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yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER),
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yaw_acceleration_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_AFF_FILTER)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
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void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf);
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// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
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// should be called at 100hz or more
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virtual void rate_controller_run();
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// get lean angle max for pilot input that prioritises altitude hold over lean angle
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float get_althold_lean_angle_max() const;
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// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage
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void use_leaky_i(bool leaky_i) { _flags_heli.leaky_i = leaky_i; }
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// use_flybar_passthrough - controls whether we pass-through
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// control inputs to swash-plate and tail
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void use_flybar_passthrough(bool passthrough, bool tail_passthrough) {
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_flags_heli.flybar_passthrough = passthrough;
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_flags_heli.tail_passthrough = tail_passthrough;
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}
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// user settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// To-Do: move these limits flags into the heli motors class
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struct AttControlHeliFlags {
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uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move
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uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move
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uint8_t limit_yaw : 1; // 1 if we have requested larger yaw angle than tail servo can physically move
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uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage
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uint8_t flybar_passthrough : 1; // 1 if we should pass through pilots roll & pitch input directly to swash-plate
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uint8_t tail_passthrough : 1; // 1 if we should pass through pilots yaw input to tail
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} _flags_heli;
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//
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// body-frame rate controller
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//
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// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in centi-degrees/sec) for roll, pitch and yaw
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// outputs are sent directly to motor class
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void rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds);
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virtual float rate_bf_to_motor_yaw(float rate_yaw_cds);
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//
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// throttle methods
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//
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// calculate total body frame throttle required to produce the given earth frame throttle
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float get_boosted_throttle(float throttle_in);
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// pass through for roll and pitch
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int16_t _passthrough_roll;
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int16_t _passthrough_pitch;
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// pass through for yaw if tail_passthrough is set
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int16_t _passthrough_yaw;
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// LPF filters to act on Rate Feedforward terms to linearize output.
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// Due to complicated aerodynamic effects, feedforwards acting too fast can lead
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// to jerks on rate change requests.
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LowPassFilterFloat pitch_feedforward_filter;
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LowPassFilterFloat roll_feedforward_filter;
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LowPassFilterFloat yaw_velocity_feedforward_filter;
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LowPassFilterFloat yaw_acceleration_feedforward_filter;
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};
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#endif //AC_ATTITUDECONTROL_HELI_H
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