mirror of
https://github.com/ArduPilot/ardupilot
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114 lines
2.9 KiB
C++
114 lines
2.9 KiB
C++
/*
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* ControllerCar.h
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*
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* Created on: Jun 30, 2011
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* Author: jgoppert
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*/
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#ifndef CONTROLLERCAR_H_
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#define CONTROLLERCAR_H_
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#include "../APO/AP_Controller.h"
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namespace apo {
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class ControllerCar: public AP_Controller {
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public:
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enum {
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ch_mode = 0, ch_str, ch_thrust
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};
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enum {
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k_chMode = k_radioChannelsStart, k_chStr, k_chThrust
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};
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enum {
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k_pidStr = k_controllersStart, k_pidThrust
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};
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ControllerCar(AP_Navigator * nav, AP_Guide * guide,
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AP_HardwareAbstractionLayer * hal) :
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AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode),
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pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
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steeringI, steeringD, steeringIMax, steeringYMax,steeringDFCut),
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pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
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throttleI, throttleD, throttleIMax, throttleYMax,
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throttleDFCut), _strCmd(0), _thrustCmd(0)
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{
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_hal->debug->println_P(PSTR("initializing car controller"));
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_hal->rc.push_back(
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new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
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1500, 1900, RC_MODE_IN, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 3, 1100, 1500,
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1900, RC_MODE_INOUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chThrust, PSTR("THR_"), APM_RC, 2, 1100, 1500,
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1900, RC_MODE_INOUT, false));
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}
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private:
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BlockPIDDfb pidStr;
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BlockPID pidThrust;
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float _strCmd, _thrustCmd;
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void manualLoop(const float dt) {
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setAllRadioChannelsManually();
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_strCmd = _hal->rc[ch_str]->getRadioPosition();
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_thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
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}
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void autoLoop(const float dt) {
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_hal->debug->printf_P(PSTR("hdg cmd: %f, yaw: %f\n"),_guide->getHeadingCommand(),_nav->getYaw());
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float headingError = _guide->getHeadingCommand()
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- _nav->getYaw();
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if (headingError > 180 * deg2Rad)
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headingError -= 360 * deg2Rad;
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if (headingError < -180 * deg2Rad)
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headingError += 360 * deg2Rad;
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_strCmd = pidStr.update(headingError, _nav->getYawRate(), dt);
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_thrustCmd = pidThrust.update(
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_guide->getGroundSpeedCommand()
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- _nav->getGroundSpeed(), dt);
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}
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void setMotors() {
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switch (_hal->getState()) {
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case MAV_STATE_ACTIVE: {
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digitalWrite(_hal->aLedPin, HIGH);
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// turn all motors off if below 0.1 throttle
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if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) {
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setAllRadioChannelsToNeutral();
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} else {
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_hal->rc[ch_thrust]->setPosition(_thrustCmd);
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_hal->rc[ch_str]->setPosition(_strCmd);
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}
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break;
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}
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case MAV_STATE_EMERGENCY: {
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digitalWrite(_hal->aLedPin, LOW);
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setAllRadioChannelsToNeutral();
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break;
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}
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case MAV_STATE_STANDBY: {
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digitalWrite(_hal->aLedPin,LOW);
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setAllRadioChannelsToNeutral();
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break;
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}
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default: {
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digitalWrite(_hal->aLedPin, LOW);
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setAllRadioChannelsToNeutral();
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}
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}
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}
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};
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} // namespace apo
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#endif /* CONTROLLERCAR_H_ */
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