mirror of https://github.com/ArduPilot/ardupilot
845 lines
29 KiB
Plaintext
845 lines
29 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// update_navigation - checks for new GPS updates and invokes navigation routines
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// called at 50hz
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static void update_navigation()
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{
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static uint32_t nav_last_update = 0; // the system time of the last time nav was run update
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bool pos_updated = false;
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bool log_output = false;
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#if INERTIAL_NAV_XY == ENABLED
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static uint8_t nav_counter = 0; // used to slow down the navigation to 10hz
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// check for inertial nav updates
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if( inertial_nav.position_ok() ) {
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nav_counter++;
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if( nav_counter >= 5) {
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nav_counter = 0;
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// calculate time since nav controllers last ran
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dTnav = (float)(millis() - nav_last_update)/ 1000.0f;
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nav_last_update = millis();
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// prevent runnup in dTnav value
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dTnav = min(dTnav, 1.0f);
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// signal to run nav controllers
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pos_updated = true;
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// signal to create log entry
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log_output = true;
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}
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}
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#else
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static uint32_t nav_last_gps_time = 0; // the time according to the gps
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// check for new gps data
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if( g_gps->fix && g_gps->time != nav_last_gps_time ) {
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// used to calculate speed in X and Y, iterms
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// ------------------------------------------
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dTnav = (float)(millis() - nav_last_update)/ 1000.0f;
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nav_last_update = millis();
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// prevent runup from bad GPS
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dTnav = min(dTnav, 1.0f);
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// save GPS time
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nav_last_gps_time = g_gps->time;
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// signal to run nav controllers
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pos_updated = true;
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// signal to create log entry
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log_output = true;
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}
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#endif
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// setup to calculate new navigation values and run controllers if
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// we've received a position update
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if( pos_updated ) {
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nav_updates.need_velpos = 1;
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nav_updates.need_dist_bearing = 1;
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nav_updates.need_nav_controllers = 1;
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nav_updates.need_nav_pitch_roll = 1;
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// update log
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if (log_output && (g.log_bitmask & MASK_LOG_NTUN) && motors.armed()) {
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Log_Write_Nav_Tuning();
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}
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}
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// reduce nav outputs to zero if we have not seen a position update in 2 seconds
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if( millis() - nav_last_update > 2000 ) {
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// after 12 reads we guess we may have lost GPS signal, stop navigating
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// we have lost GPS signal for a moment. Reduce our error to avoid flyaways
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auto_roll >>= 1;
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auto_pitch >>= 1;
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}
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}
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/*
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run navigation updates from nav_updates. Only run one at a time to
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prevent too much cpu usage hurting the main loop
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*/
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static void run_nav_updates(void)
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{
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if (nav_updates.need_velpos) {
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calc_velocity_and_position();
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nav_updates.need_velpos = 0;
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} else if (nav_updates.need_dist_bearing) {
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calc_distance_and_bearing();
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nav_updates.need_dist_bearing = 0;
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} else if (nav_updates.need_nav_controllers) {
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run_autopilot();
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update_nav_mode();
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nav_updates.need_nav_controllers = 0;
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} else if (nav_updates.need_nav_pitch_roll) {
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calc_nav_pitch_roll();
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nav_updates.need_nav_pitch_roll = 0;
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}
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}
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//*******************************************************************************************************
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// calc_velocity_and_filtered_position - velocity in lon and lat directions calculated from GPS position
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// and accelerometer data
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// lon_speed expressed in cm/s. positive numbers mean moving east
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// lat_speed expressed in cm/s. positive numbers when moving north
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// Note: we use gps locations directly to calculate velocity instead of asking gps for velocity because
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// this is more accurate below 1.5m/s
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// Note: even though the positions are projected using a lead filter, the velocities are calculated
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// from the unaltered gps locations. We do not want noise from our lead filter affecting velocity
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//*******************************************************************************************************
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static void calc_velocity_and_position(){
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#if INERTIAL_NAV_XY == ENABLED
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if( inertial_nav.position_ok() ) {
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// pull velocity from interial nav library
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lon_speed = inertial_nav.get_longitude_velocity();
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lat_speed = inertial_nav.get_latitude_velocity();
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// pull position from interial nav library
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current_loc.lng = inertial_nav.get_longitude();
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current_loc.lat = inertial_nav.get_latitude();
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}
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#else
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static int32_t last_gps_longitude = 0;
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static int32_t last_gps_latitude = 0;
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// initialise last_longitude and last_latitude
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if( last_gps_longitude == 0 && last_gps_latitude == 0 ) {
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last_gps_longitude = g_gps->longitude;
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last_gps_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 = 1.0f/dTnav;
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// calculate velocity
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lon_speed = (float)(g_gps->longitude - last_gps_longitude) * scaleLongDown * tmp;
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lat_speed = (float)(g_gps->latitude - last_gps_latitude) * tmp;
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// calculate position from gps + expected travel during gps_lag
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current_loc.lng = xLeadFilter.get_position(g_gps->longitude, lon_speed, g_gps->get_lag());
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current_loc.lat = yLeadFilter.get_position(g_gps->latitude, lat_speed, g_gps->get_lag());
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// store gps lat and lon values for next iteration
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last_gps_longitude = g_gps->longitude;
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last_gps_latitude = g_gps->latitude;
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#endif
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}
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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 void calc_distance_and_bearing()
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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_cm(¤t_loc, &next_WP);
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home_distance = get_distance_cm(¤t_loc, &home);
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// wp_bearing is bearing to next waypoint
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// --------------------------------------------
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wp_bearing = get_bearing_cd(¤t_loc, &next_WP);
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home_bearing = get_bearing_cd(¤t_loc, &home);
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// update super simple bearing (if required) because it relies on home_bearing
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update_super_simple_beading();
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// bearing to target (used when yaw_mode = YAW_LOOK_AT_LOCATION)
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yaw_look_at_WP_bearing = get_bearing_cd(¤t_loc, &yaw_look_at_WP);
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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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/*
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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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}
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// run_autopilot - highest level call to process mission commands
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static void run_autopilot()
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{
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switch( control_mode ) {
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case AUTO:
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// majority of command logic is in commands_logic.pde
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verify_commands();
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break;
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case GUIDED:
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// switch to loiter once we've reached the target location and altitude
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if(verify_nav_wp()) {
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set_nav_mode(NAV_LOITER);
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}
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case RTL:
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verify_RTL();
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break;
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}
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}
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// set_nav_mode - update nav mode and initialise any variables as required
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static bool set_nav_mode(uint8_t new_nav_mode)
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{
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// boolean to ensure proper initialisation of nav modes
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bool nav_initialised = false;
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// return immediately if no change
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if( new_nav_mode == nav_mode ) {
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return true;
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}
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switch( new_nav_mode ) {
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case NAV_NONE:
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nav_initialised = true;
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break;
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case NAV_CIRCLE:
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// start circling around current location
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set_next_WP(¤t_loc);
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circle_WP = next_WP;
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circle_angle = 0;
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nav_initialised = true;
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break;
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case NAV_LOITER:
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// set target to current position
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next_WP.lat = current_loc.lat;
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next_WP.lng = current_loc.lng;
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nav_initialised = true;
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break;
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case NAV_WP:
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nav_initialised = true;
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break;
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case NAV_LOITER_INAV:
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loiter_set_target(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
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nav_initialised = true;
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break;
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}
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// if initialisation has been successful update the yaw mode
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if( nav_initialised ) {
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nav_mode = new_nav_mode;
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}
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// return success or failure
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return nav_initialised;
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}
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// update_nav_mode - run navigation controller based on nav_mode
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static void update_nav_mode()
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{
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int16_t loiter_delta;
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int16_t speed;
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switch( nav_mode ) {
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case NAV_NONE:
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// do nothing
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break;
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case NAV_CIRCLE:
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// check if we have missed the WP
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loiter_delta = (wp_bearing - old_wp_bearing)/100;
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// reset the old value
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old_wp_bearing = wp_bearing;
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// wrap values
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if (loiter_delta > 180) loiter_delta -= 360;
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if (loiter_delta < -180) loiter_delta += 360;
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// sum the angle around the WP
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loiter_sum += loiter_delta;
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circle_angle += (circle_rate * dTnav);
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//1 degree = 0.0174532925 radians
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// wrap
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if (circle_angle > 6.28318531f)
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circle_angle -= 6.28318531f;
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next_WP.lng = circle_WP.lng + (g.circle_radius * 100 * cosf(1.57f - circle_angle) * scaleLongUp);
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next_WP.lat = circle_WP.lat + (g.circle_radius * 100 * sinf(1.57f - circle_angle));
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// use error as the desired rate towards the target
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// nav_lon, nav_lat is calculated
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// if the target location is >4m use waypoint controller
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if(wp_distance > 400) {
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calc_nav_rate(get_desired_speed(g.waypoint_speed_max));
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}else{
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// calc the lat and long error to the target
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calc_location_error(&next_WP);
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// call loiter controller
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calc_loiter(long_error, lat_error);
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}
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break;
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case NAV_LOITER:
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// check if user is overriding the loiter controller
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if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500) {
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if(wp_distance > 500){
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ap.loiter_override = true;
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}
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}
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// check if user has release sticks
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if(ap.loiter_override) {
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if(g.rc_2.control_in == 0 && g.rc_1.control_in == 0) {
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ap.loiter_override = false;
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// reset LOITER to current position
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next_WP.lat = current_loc.lat;
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next_WP.lng = current_loc.lng;
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}
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// We bring copy over our Iterms for wind control, but we don't navigate
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nav_lon = g.pid_loiter_rate_lon.get_integrator();
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nav_lat = g.pid_loiter_rate_lon.get_integrator();
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nav_lon = constrain(nav_lon, -2000, 2000);
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nav_lat = constrain(nav_lat, -2000, 2000);
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}else{
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// calc error to target
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calc_location_error(&next_WP);
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// use error as the desired rate towards the target
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calc_loiter(long_error, lat_error);
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}
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break;
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case NAV_WP:
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// calc position error to target
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calc_location_error(&next_WP);
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// calc speed to target
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speed = get_desired_speed(g.waypoint_speed_max);
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// use error as the desired rate towards the target
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calc_nav_rate(speed);
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break;
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case NAV_LOITER_INAV:
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get_loiter_pos_lat_lon(loiter_lat_from_home_cm, loiter_lon_from_home_cm, 0.1f);
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break;
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}
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/*
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// To-Do: check that we haven't broken toy mode
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case TOY_A:
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case TOY_M:
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set_nav_mode(NAV_NONE);
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update_nav_wp();
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break;
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}
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*/
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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 = wp_bearing - original_wp_bearing;
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temp = wrap_180(temp);
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return (labs(temp) > 9000); // we passed the waypoint by 100 degrees
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}
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////////////////////////////////////////////////////////////////
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// Loiter controller (based on GPS position)
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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(int16_t x_error, int16_t 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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// calculate rate error
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x_rate_error = x_target_speed - lon_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(lon_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, -4500, 4500); // constrain max angle to 45 degrees
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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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// calculate rate error
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y_rate_error = y_target_speed - lat_speed; // calc the speed error
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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(lat_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, -4500, 4500); // constrain max angle to 45 degrees
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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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}
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///////////////////////////////////////////////////////////
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// Waypoint controller (based on GPS position)
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///////////////////////////////////////////////////////////
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static void calc_nav_rate(int16_t max_speed)
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{
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float temp, temp_x, temp_y;
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// push us towards the original track
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update_crosstrack();
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int16_t cross_speed = crosstrack_error * -g.crosstrack_gain; // scale down crosstrack_error in cm
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cross_speed = constrain(cross_speed, -150, 150);
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// rotate by 90 to deal with trig functions
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temp = (9000l - wp_bearing) * RADX100;
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temp_x = cosf(temp);
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temp_y = sinf(temp);
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// rotate desired spped vector:
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int32_t x_target_speed = max_speed * temp_x - cross_speed * temp_y;
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int32_t y_target_speed = cross_speed * temp_x + max_speed * temp_y;
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// East / West
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// calculate rate error
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x_rate_error = x_target_speed - lon_speed;
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x_rate_error = constrain(x_rate_error, -500, 500);
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nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
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int32_t tilt = (x_target_speed * x_target_speed * (int32_t)g.tilt_comp) / 10000;
|
|
|
|
if(x_target_speed < 0) tilt = -tilt;
|
|
nav_lon += tilt;
|
|
|
|
|
|
// North / South
|
|
// calculate rate error
|
|
y_rate_error = y_target_speed - lat_speed;
|
|
|
|
y_rate_error = constrain(y_rate_error, -500, 500); // added a rate error limit to keep pitching down to a minimum
|
|
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
|
|
tilt = (y_target_speed * y_target_speed * (int32_t)g.tilt_comp) / 10000;
|
|
|
|
if(y_target_speed < 0) tilt = -tilt;
|
|
nav_lat += tilt;
|
|
|
|
// copy over I term to Loiter_Rate
|
|
g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator());
|
|
g.pid_loiter_rate_lat.set_integrator(g.pid_nav_lat.get_integrator());
|
|
}
|
|
|
|
|
|
// this calculation rotates our World frame of reference to the copter's frame of reference
|
|
// We use the DCM's matrix to precalculate these trig values at 50hz
|
|
static void calc_nav_pitch_roll()
|
|
{
|
|
// To-Do: remove this hack dependent upon nav_mode
|
|
if( nav_mode != NAV_LOITER_INAV ) {
|
|
// rotate the vector
|
|
auto_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
|
|
auto_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
|
|
|
|
// flip pitch because forward is negative
|
|
auto_pitch = -auto_pitch;
|
|
|
|
// constrain maximum roll and pitch angles to 45 degrees
|
|
auto_roll = constrain(auto_roll, -4500, 4500);
|
|
auto_pitch = constrain(auto_pitch, -4500, 4500);
|
|
}
|
|
}
|
|
|
|
static int16_t get_desired_speed(int16_t max_speed)
|
|
{
|
|
/*
|
|
Based on Equation by Bill Premerlani & Robert Lefebvre
|
|
(sq(V2)-sq(V1))/2 = A(X2-X1)
|
|
derives to:
|
|
V1 = sqrt(sq(V2) - 2*A*(X2-X1))
|
|
*/
|
|
|
|
if(ap.fast_corner) {
|
|
// don't slow down
|
|
}else{
|
|
if(wp_distance < 20000){ // limit the size of numbers we're dealing with to avoid overflow
|
|
// go slower
|
|
int32_t temp = 2 * 100 * (int32_t)(wp_distance - g.waypoint_radius * 100);
|
|
int32_t s_min = WAYPOINT_SPEED_MIN;
|
|
temp += s_min * s_min;
|
|
if( temp < 0 ) temp = 0; // check to ensure we don't try to take the sqrt of a negative number
|
|
max_speed = sqrtf((float)temp);
|
|
max_speed = min(max_speed, g.waypoint_speed_max);
|
|
}
|
|
}
|
|
|
|
max_speed = min(max_speed, max_speed_old + (100 * dTnav));// limit going faster
|
|
max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // don't go too slow
|
|
max_speed_old = max_speed;
|
|
return max_speed;
|
|
}
|
|
|
|
static void reset_desired_speed()
|
|
{
|
|
max_speed_old = 0;
|
|
}
|
|
|
|
static void update_crosstrack(void)
|
|
{
|
|
// Crosstrack Error
|
|
// ----------------
|
|
if (wp_distance >= (g.crosstrack_min_distance * 100) &&
|
|
abs(wrap_180(wp_bearing - original_wp_bearing)) < 4500) {
|
|
|
|
float temp = (wp_bearing - original_wp_bearing) * RADX100;
|
|
crosstrack_error = sinf(temp) * wp_distance; // Meters we are off track line
|
|
}else{
|
|
// fade out crosstrack
|
|
crosstrack_error >>= 1;
|
|
}
|
|
}
|
|
|
|
static void force_new_altitude(int32_t new_alt)
|
|
{
|
|
next_WP.alt = new_alt;
|
|
set_alt_change(REACHED_ALT);
|
|
}
|
|
|
|
static void set_new_altitude(int32_t new_alt)
|
|
{
|
|
// if no change exit immediately
|
|
if(new_alt == next_WP.alt) {
|
|
return;
|
|
}
|
|
|
|
// update new target altitude
|
|
next_WP.alt = new_alt;
|
|
|
|
if(next_WP.alt > (current_loc.alt + 80)) {
|
|
// we are below, going up
|
|
set_alt_change(ASCENDING);
|
|
|
|
}else if(next_WP.alt < (current_loc.alt - 80)) {
|
|
// we are above, going down
|
|
set_alt_change(DESCENDING);
|
|
|
|
}else{
|
|
// No Change
|
|
set_alt_change(REACHED_ALT);
|
|
}
|
|
}
|
|
|
|
static void verify_altitude()
|
|
{
|
|
if(alt_change_flag == ASCENDING) {
|
|
// we are below, going up
|
|
if(current_loc.alt > next_WP.alt - 50) {
|
|
set_alt_change(REACHED_ALT);
|
|
}
|
|
}else if (alt_change_flag == DESCENDING) {
|
|
// we are above, going down
|
|
if(current_loc.alt <= next_WP.alt + 50){
|
|
set_alt_change(REACHED_ALT);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Keeps old data out of our calculation / logs
|
|
static void reset_nav_params(void)
|
|
{
|
|
// always start Circle mode at same angle
|
|
circle_angle = 0;
|
|
|
|
// We must be heading to a new WP, so XTrack must be 0
|
|
crosstrack_error = 0;
|
|
|
|
// Will be set by new command
|
|
wp_bearing = 0;
|
|
|
|
// Will be set by new command
|
|
wp_distance = 0;
|
|
|
|
// Will be set by new command, used by loiter
|
|
long_error = 0;
|
|
lat_error = 0;
|
|
nav_lon = 0;
|
|
nav_lat = 0;
|
|
nav_roll = 0;
|
|
nav_pitch = 0;
|
|
auto_roll = 0;
|
|
auto_pitch = 0;
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
// get_yaw_slew - reduces rate of change of yaw to a maximum
|
|
// assumes it is called at 100hz so centi-degrees and update rate cancel each other out
|
|
static int32_t get_yaw_slew(int32_t current_yaw, int32_t desired_yaw, int16_t deg_per_sec)
|
|
{
|
|
return wrap_360(current_yaw + constrain(wrap_180(desired_yaw - current_yaw), -deg_per_sec, deg_per_sec));
|
|
}
|
|
|
|
////////////////////////////////////////////////////
|
|
// Loiter controller using inertial nav
|
|
////////////////////////////////////////////////////
|
|
|
|
// get_loiter_accel - loiter acceration controllers with desired accelerations provided in forward/right directions in cm/s/s
|
|
static void
|
|
get_loiter_accel(int16_t accel_req_forward, int16_t accel_req_right)
|
|
{
|
|
static float z_accel_meas = 0; // The acceleration error in cm.
|
|
static float accel_forward = 0; // The acceleration error in cm.
|
|
static float accel_right = 0; // The acceleration error in cm.
|
|
|
|
z_accel_meas = -AP_INTERTIALNAV_GRAVITY * 100;
|
|
|
|
// calculate accel and filter with fc = 2 Hz
|
|
// 100hz sample rate, 2hz filter, alpha = 0.11164f
|
|
// 20hz sample rate, 2hz filter, alpha = 0.38587f
|
|
// 10hz sample rate, 2hz filter, alpha = 0.55686f
|
|
accel_forward = accel_forward + 0.55686f * (accel_req_forward - accel_forward);
|
|
accel_right = accel_right + 0.55686f * (accel_req_right - accel_right);
|
|
|
|
// update angle targets that will be passed to stabilize controller
|
|
auto_roll = constrain((accel_right/(-z_accel_meas))*(18000/M_PI), -4500, 4500);
|
|
auto_pitch = constrain((-accel_forward/(-z_accel_meas*cos_roll_x))*(18000/M_PI), -4500, 4500);
|
|
}
|
|
|
|
|
|
// get_loiter_accel_lat_lon - loiter acceration controller with desired accelerations provided in lat/lon directions in cm/s/s
|
|
static void
|
|
get_loiter_accel_lat_lon(int16_t accel_lat, int16_t accel_lon)
|
|
{
|
|
float accel_forward;
|
|
float accel_right;
|
|
|
|
accel_forward = accel_lat*cos_yaw + accel_lon*sin_yaw;
|
|
accel_right = -accel_lat*sin_yaw + accel_lon*cos_yaw;
|
|
|
|
get_loiter_accel(accel_forward, accel_right);
|
|
}
|
|
|
|
|
|
// get_loiter_vel_lat_lon - loiter velocity controller with desired velocity provided in lat/lon directions in cm/s
|
|
#define MAX_LOITER_VEL_ACCEL 400 // should be 1.5 times larger than MAX_LOITER_POS_ACCEL
|
|
static void
|
|
get_loiter_vel_lat_lon(int16_t vel_lat, int16_t vel_lon, float dt)
|
|
{
|
|
static float speed_error_lat = 0; // The velocity in cm/s.
|
|
static float speed_error_lon = 0; // The velocity in cm/s.
|
|
|
|
float speed_lat = inertial_nav.get_latitude_velocity();
|
|
float speed_lon = inertial_nav.get_longitude_velocity();
|
|
|
|
int32_t accel_lat;
|
|
int32_t accel_lon;
|
|
int32_t accel_total;
|
|
|
|
int16_t lat_p,lat_i,lat_d;
|
|
int16_t lon_p,lon_i,lon_d;
|
|
|
|
// calculate vel error and Filter with fc = 2 Hz
|
|
// 100hz sample rate, 2hz filter, alpha = 0.11164f
|
|
// 20hz sample rate, 2hz filter, alpha = 0.38587f
|
|
// 10hz sample rate, 2hz filter, alpha = 0.55686f
|
|
speed_error_lat = speed_error_lat + 0.55686f * ((vel_lat - speed_lat) - speed_error_lat);
|
|
speed_error_lon = speed_error_lon + 0.55686f * ((vel_lon - speed_lon) - speed_error_lon);
|
|
|
|
lat_p = g.pid_loiter_rate_lat.get_p(speed_error_lat);
|
|
lat_i = g.pid_loiter_rate_lat.get_i(speed_error_lat, dt);
|
|
lat_d = g.pid_loiter_rate_lat.get_d(speed_error_lat, dt);
|
|
|
|
lon_p = g.pid_loiter_rate_lon.get_p(speed_error_lon);
|
|
lon_i = g.pid_loiter_rate_lon.get_i(speed_error_lon, dt);
|
|
lon_d = g.pid_loiter_rate_lon.get_d(speed_error_lon, dt);
|
|
|
|
accel_lat = (lat_p+lat_i+lat_d);
|
|
accel_lon = (lon_p+lon_i+lon_d);
|
|
|
|
accel_total = safe_sqrt(accel_lat*accel_lat + accel_lon*accel_lon);
|
|
|
|
if( accel_total > MAX_LOITER_VEL_ACCEL ) {
|
|
accel_lat = MAX_LOITER_VEL_ACCEL * accel_lat/accel_total;
|
|
accel_lon = MAX_LOITER_VEL_ACCEL * accel_lon/accel_total;
|
|
}
|
|
|
|
get_loiter_accel_lat_lon(accel_lat, accel_lon);
|
|
}
|
|
|
|
// get_loiter_pos_lat_lon - loiter position controller with desired position provided as distance from home in lat/lon directions in cm
|
|
#define MAX_LOITER_POS_VELOCITY 750 // should be 1.5 ~ 2.0 times the pilot input's max velocity
|
|
#define MAX_LOITER_POS_ACCEL 250
|
|
static void
|
|
get_loiter_pos_lat_lon(int32_t target_lat, int32_t target_lon, float dt)
|
|
{
|
|
static float dist_error_lat;
|
|
int32_t desired_vel_lat;
|
|
|
|
static float dist_error_lon;
|
|
int32_t desired_vel_lon;
|
|
|
|
int32_t dist_error_total;
|
|
|
|
int16_t vel_sqrt;
|
|
int32_t vel_total;
|
|
|
|
int16_t linear_distance; // the distace we swap between linear and sqrt.
|
|
|
|
// calculate distance error and Filter with fc = 2 Hz
|
|
// 100hz sample rate, 2hz filter, alpha = 0.11164f
|
|
// 20hz sample rate, 2hz filter, alpha = 0.38587f
|
|
// 10hz sample rate, 2hz filter, alpha = 0.55686f
|
|
dist_error_lat = dist_error_lat + 0.55686f * ((target_lat - inertial_nav.get_latitude_diff()) - dist_error_lat);
|
|
dist_error_lon = dist_error_lon + 0.55686f * ((target_lon - inertial_nav.get_longitude_diff()) - dist_error_lon);
|
|
|
|
linear_distance = MAX_LOITER_POS_ACCEL/(2*g.pi_loiter_lat.kP()*g.pi_loiter_lat.kP());
|
|
|
|
dist_error_total = safe_sqrt(dist_error_lat*dist_error_lat + dist_error_lon*dist_error_lon);
|
|
if( dist_error_total > 2*linear_distance ) {
|
|
vel_sqrt = constrain(safe_sqrt(2*MAX_LOITER_POS_ACCEL*(dist_error_total-linear_distance)),0,1000);
|
|
desired_vel_lat = vel_sqrt * dist_error_lat/dist_error_total;
|
|
desired_vel_lon = vel_sqrt * dist_error_lon/dist_error_total;
|
|
}else{
|
|
desired_vel_lat = g.pi_loiter_lat.get_p(dist_error_lat);
|
|
desired_vel_lon = g.pi_loiter_lon.get_p(dist_error_lon);
|
|
}
|
|
|
|
vel_total = safe_sqrt(desired_vel_lat*desired_vel_lat + desired_vel_lon*desired_vel_lon);
|
|
if( vel_total > MAX_LOITER_POS_VELOCITY ) {
|
|
desired_vel_lat = MAX_LOITER_POS_VELOCITY * desired_vel_lat/vel_total;
|
|
desired_vel_lon = MAX_LOITER_POS_VELOCITY * desired_vel_lon/vel_total;
|
|
}
|
|
|
|
get_loiter_vel_lat_lon(desired_vel_lat, desired_vel_lon, dt);
|
|
}
|
|
|
|
|
|
#define MAX_LOITER_POS_VEL_VELOCITY 1000
|
|
// loiter_set_pos_from_velocity - loiter velocity controller with desired velocity provided in front/right directions in cm/s
|
|
static void
|
|
loiter_set_pos_from_velocity(int16_t vel_forward_cms, int16_t vel_right_cms, float dt)
|
|
{
|
|
int32_t vel_lat;
|
|
int32_t vel_lon;
|
|
int32_t vel_total;
|
|
|
|
vel_lat = vel_forward_cms*cos_yaw - vel_right_cms*sin_yaw;
|
|
vel_lon = vel_forward_cms*sin_yaw + vel_right_cms*cos_yaw;
|
|
|
|
// constrain the velocity vector and scale if necessary
|
|
vel_total = safe_sqrt(vel_lat*vel_lat + vel_lon*vel_lon);
|
|
if( vel_total > MAX_LOITER_POS_VEL_VELOCITY ) {
|
|
vel_lat = MAX_LOITER_POS_VEL_VELOCITY * vel_lat/vel_total;
|
|
vel_lon = MAX_LOITER_POS_VEL_VELOCITY * vel_lon/vel_total;
|
|
}
|
|
|
|
// update loiter target position
|
|
loiter_lat_from_home_cm += vel_lat * dt;
|
|
loiter_lon_from_home_cm += vel_lon * dt;
|
|
|
|
// update next_WP location for reporting purposes
|
|
next_WP.lat = home.lat + loiter_lat_from_home_cm;
|
|
next_WP.lng = home.lng + loiter_lat_from_home_cm * scaleLongUp;
|
|
}
|
|
|
|
// loiter_set_target - set loiter's target position from home in cm
|
|
static void
|
|
loiter_set_target(float lat_from_home_cm, float lon_from_home_cm)
|
|
{
|
|
loiter_lat_from_home_cm = lat_from_home_cm;
|
|
loiter_lon_from_home_cm = lon_from_home_cm;
|
|
|
|
// update next_WP location for reporting purposes
|
|
next_WP.lat = home.lat + loiter_lat_from_home_cm;
|
|
next_WP.lng = home.lng + loiter_lat_from_home_cm * scaleLongUp;
|
|
}
|