mirror of https://github.com/ArduPilot/ardupilot
355 lines
13 KiB
C++
355 lines
13 KiB
C++
#include "Rover.h"
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/*****************************************
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Throttle slew limit
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*****************************************/
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void Rover::throttle_slew_limit(int16_t last_throttle) {
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// if slew limit rate is set to zero then do not slew limit
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if (g.throttle_slewrate && last_throttle != 0) {
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// limit throttle change by the given percentage per second
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float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
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// allow a minimum change of 1 PWM per cycle
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if (temp < 1) {
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temp = 1;
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}
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uint16_t pwm;
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if (SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, pwm)) {
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SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, constrain_int16(pwm, last_throttle - temp, last_throttle + temp));
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}
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}
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}
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/*
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check for triggering of start of auto mode
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*/
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bool Rover::auto_check_trigger(void) {
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// only applies to AUTO mode
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if (control_mode != AUTO) {
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return true;
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}
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// check for user pressing the auto trigger to off
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if (auto_triggered && g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 1) {
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gcs_send_text(MAV_SEVERITY_WARNING, "AUTO triggered off");
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auto_triggered = false;
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return false;
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}
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// if already triggered, then return true, so you don't
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// need to hold the switch down
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if (auto_triggered) {
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return true;
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}
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if (g.auto_trigger_pin == -1 && is_zero(g.auto_kickstart)) {
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// no trigger configured - let's go!
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auto_triggered = true;
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return true;
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}
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if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) {
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gcs_send_text(MAV_SEVERITY_WARNING, "Triggered AUTO with pin");
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auto_triggered = true;
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return true;
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}
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if (!is_zero(g.auto_kickstart)) {
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const float xaccel = ins.get_accel().x;
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if (xaccel >= g.auto_kickstart) {
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gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", static_cast<double>(xaccel));
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auto_triggered = true;
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return true;
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}
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}
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return false;
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}
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/*
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work out if we are going to use pivot steering
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*/
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bool Rover::use_pivot_steering(void) {
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if (control_mode >= AUTO && g.skid_steer_out && g.pivot_turn_angle != 0) {
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const int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
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if (abs(bearing_error) > g.pivot_turn_angle) {
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return true;
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}
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}
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return false;
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}
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/*
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test if we are loitering AND should be stopped at a waypoint
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*/
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bool Rover::in_stationary_loiter()
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{
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// Confirm we are in AUTO mode and need to loiter for a time period
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if ((loiter_start_time > 0) && (control_mode == AUTO)) {
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// Check if active loiter is enabled AND we are outside the waypoint loiter radius
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// then the vehicle still needs to move so return false
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if (active_loiter && (wp_distance > g.waypoint_radius)) {
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return false;
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}
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return true;
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}
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return false;
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}
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/*
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calculate the throtte for auto-throttle modes
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*/
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void Rover::calc_throttle(float target_speed) {
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// If not autostarting OR we are loitering at a waypoint
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// then set the throttle to minimum
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if (!auto_check_trigger() || in_stationary_loiter()) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
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// Stop rotation in case of loitering and skid steering
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if (g.skid_steer_out) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
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}
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return;
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}
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const float throttle_base = (fabsf(target_speed) / g.speed_cruise) * g.throttle_cruise;
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const int throttle_target = throttle_base + throttle_nudge;
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/*
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reduce target speed in proportion to turning rate, up to the
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SPEED_TURN_GAIN percentage.
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*/
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float steer_rate = fabsf(lateral_acceleration / (g.turn_max_g*GRAVITY_MSS));
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steer_rate = constrain_float(steer_rate, 0.0f, 1.0f);
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// use g.speed_turn_gain for a 90 degree turn, and in proportion
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// for other turn angles
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const int32_t turn_angle = wrap_180_cd(next_navigation_leg_cd - ahrs.yaw_sensor);
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const float speed_turn_ratio = constrain_float(fabsf(turn_angle / 9000.0f), 0, 1);
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const float speed_turn_reduction = (100 - g.speed_turn_gain) * speed_turn_ratio * 0.01f;
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float reduction = 1.0f - steer_rate * speed_turn_reduction;
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if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
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// in auto-modes we reduce speed when approaching waypoints
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const float reduction2 = 1.0f - speed_turn_reduction;
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if (reduction2 < reduction) {
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reduction = reduction2;
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}
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}
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// reduce the target speed by the reduction factor
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target_speed *= reduction;
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groundspeed_error = fabsf(target_speed) - ground_speed;
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throttle = throttle_target + (g.pidSpeedThrottle.get_pid(groundspeed_error * 100) / 100);
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// also reduce the throttle by the reduction factor. This gives a
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// much faster response in turns
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throttle *= reduction;
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if (in_reverse) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(-throttle, -g.throttle_max, -g.throttle_min));
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} else {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(throttle, g.throttle_min, g.throttle_max));
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}
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if (!in_reverse && g.braking_percent != 0 && groundspeed_error < -g.braking_speederr) {
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// the user has asked to use reverse throttle to brake. Apply
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// it in proportion to the ground speed error, but only when
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// our ground speed error is more than BRAKING_SPEEDERR.
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//
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// We use a linear gain, with 0 gain at a ground speed error
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// of braking_speederr, and 100% gain when groundspeed_error
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// is 2*braking_speederr
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const float brake_gain = constrain_float(((-groundspeed_error)-g.braking_speederr)/g.braking_speederr, 0, 1);
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const int16_t braking_throttle = g.throttle_max * (g.braking_percent * 0.01f) * brake_gain;
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(-braking_throttle, -g.throttle_max, -g.throttle_min));
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// temporarily set us in reverse to allow the PWM setting to
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// go negative
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set_reverse(true);
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}
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if (use_pivot_steering()) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
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}
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}
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/*****************************************
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Calculate desired turn angles (in medium freq loop)
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*****************************************/
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void Rover::calc_lateral_acceleration() {
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switch (control_mode) {
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case AUTO:
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// If we have reached the waypoint previously navigate
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// back to it from our current position
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if (previously_reached_wp && (loiter_duration > 0)) {
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nav_controller->update_waypoint(current_loc, next_WP);
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} else {
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nav_controller->update_waypoint(prev_WP, next_WP);
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}
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break;
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case RTL:
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case GUIDED:
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case STEERING:
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nav_controller->update_waypoint(current_loc, next_WP);
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break;
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default:
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return;
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}
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// Calculate the required turn of the wheels
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// negative error = left turn
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// positive error = right turn
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lateral_acceleration = nav_controller->lateral_acceleration();
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if (use_pivot_steering()) {
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const int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
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if (bearing_error > 0) {
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lateral_acceleration = g.turn_max_g * GRAVITY_MSS;
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} else {
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lateral_acceleration = -g.turn_max_g * GRAVITY_MSS;
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}
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}
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}
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/*
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calculate steering angle given lateral_acceleration
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*/
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void Rover::calc_nav_steer() {
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// check to see if the rover is loitering
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if (in_stationary_loiter()) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
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return;
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}
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// add in obstacle avoidance
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if (!in_reverse) {
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lateral_acceleration += (obstacle.turn_angle/45.0f) * g.turn_max_g;
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}
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// constrain to max G force
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lateral_acceleration = constrain_float(lateral_acceleration, -g.turn_max_g * GRAVITY_MSS, g.turn_max_g * GRAVITY_MSS);
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steerController.get_steering_out_lat_accel(lateral_acceleration));
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}
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/*****************************************
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Set the flight control servos based on the current calculated values
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*****************************************/
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void Rover::set_servos(void) {
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static uint16_t last_throttle;
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bool apply_skid_mix = true; // Normaly true, false when the mixage is done by the controler with skid_steer_in = 1
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if (control_mode == MANUAL || control_mode == LEARNING) {
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// do a direct pass through of radio values
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SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->read());
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SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->read());
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if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
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// suppress throttle if in failsafe and manual
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SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->get_radio_trim());
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// suppress steer if in failsafe and manual and skid steer mode
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if (g.skid_steer_out) {
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SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->get_radio_trim());
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}
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}
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if (g.skid_steer_in) {
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apply_skid_mix = false;
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}
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} else {
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if (in_reverse) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
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-g.throttle_max,
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-g.throttle_min));
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} else {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
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g.throttle_min.get(),
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g.throttle_max.get()));
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}
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if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
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// suppress throttle if in failsafe
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
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// suppress steer if in failsafe and skid steer mode
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if (g.skid_steer_out) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
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}
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}
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if (!hal.util->get_soft_armed()) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
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// suppress steer if in failsafe and skid steer mode
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if (g.skid_steer_out) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
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}
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}
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// limit throttle movement speed
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throttle_slew_limit(last_throttle);
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}
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// record last throttle before we apply skid steering
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SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, last_throttle);
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if (g.skid_steer_out) {
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// convert the two radio_out values to skid steering values
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/*
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mixing rule:
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steering = motor1 - motor2
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throttle = 0.5*(motor1 + motor2)
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motor1 = throttle + 0.5*steering
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motor2 = throttle - 0.5*steering
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*/
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const float steering_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_steering);
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const float throttle_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_throttle);
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float motor1 = throttle_scaled + 0.5f * steering_scaled;
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float motor2 = throttle_scaled - 0.5f * steering_scaled;
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if (!apply_skid_mix) { // Mixage is already done by a controller so just pass the value to motor
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motor1 = steering_scaled;
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motor2 = throttle_scaled;
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}
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 4500 * motor1);
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100 * motor2);
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}
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if (!arming.is_armed()) {
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// Some ESCs get noisy (beep error msgs) if PWM == 0.
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// This little segment aims to avoid this.
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switch (arming.arming_required()) {
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case AP_Arming::NO:
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// keep existing behavior: do nothing to radio_out
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// (don't disarm throttle channel even if AP_Arming class is)
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break;
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case AP_Arming::YES_ZERO_PWM:
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SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0);
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if (g.skid_steer_out) {
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SRV_Channels::set_output_pwm(SRV_Channel::k_steering, 0);
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}
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break;
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case AP_Arming::YES_MIN_PWM:
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default:
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SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->get_radio_trim());
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if (g.skid_steer_out) {
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SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->get_radio_trim());
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}
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break;
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}
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}
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SRV_Channels::calc_pwm();
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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// send values to the PWM timers for output
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// ----------------------------------------
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SRV_Channels::output_ch_all();
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#endif
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}
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