mirror of https://github.com/ArduPilot/ardupilot
328 lines
12 KiB
C++
328 lines
12 KiB
C++
#include "Copter.h"
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// get_smoothing_gain - returns smoothing gain to be passed into attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw
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// result is a number from 2 to 12 with 2 being very sluggish and 12 being very crisp
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float Copter::get_smoothing_gain()
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{
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return (2.0f + (float)g.rc_feel_rp/10.0f);
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}
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// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
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// returns desired angle in centi-degrees
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void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
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{
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// sanity check angle max parameter
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aparm.angle_max = constrain_int16(aparm.angle_max,1000,8000);
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// limit max lean angle
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angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
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// scale roll_in, pitch_in to ANGLE_MAX parameter range
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float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
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roll_in *= scaler;
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pitch_in *= scaler;
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// do circular limit
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float total_in = norm(pitch_in, roll_in);
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if (total_in > angle_max) {
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float ratio = angle_max / total_in;
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roll_in *= ratio;
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pitch_in *= ratio;
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}
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// do lateral tilt to euler roll conversion
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roll_in = (18000/M_PI) * atanf(cosf(pitch_in*(M_PI/18000))*tanf(roll_in*(M_PI/18000)));
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// return
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roll_out = roll_in;
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pitch_out = pitch_in;
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}
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// get_pilot_desired_heading - transform pilot's yaw input into a
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// desired yaw rate
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// returns desired yaw rate in centi-degrees per second
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float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
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{
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float yaw_request;
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// calculate yaw rate request
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if (g2.acro_y_expo <= 0) {
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yaw_request = stick_angle * g.acro_yaw_p;
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} else {
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// expo variables
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float y_in, y_in3, y_out;
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// range check expo
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if (g2.acro_y_expo > 1.0f || g2.acro_y_expo < 0.5f) {
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g2.acro_y_expo = 1.0f;
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}
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// yaw expo
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y_in = float(stick_angle)/ROLL_PITCH_YAW_INPUT_MAX;
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y_in3 = y_in*y_in*y_in;
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y_out = (g2.acro_y_expo * y_in3) + ((1.0f - g2.acro_y_expo) * y_in);
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yaw_request = ROLL_PITCH_YAW_INPUT_MAX * y_out * g.acro_yaw_p;
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}
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// convert pilot input to the desired yaw rate
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return yaw_request;
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}
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/*************************************************************
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* yaw controllers
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*************************************************************/
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// get_roi_yaw - returns heading towards location held in roi_WP
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// should be called at 100hz
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float Copter::get_roi_yaw()
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{
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static uint8_t roi_yaw_counter = 0; // used to reduce update rate to 100hz
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roi_yaw_counter++;
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if (roi_yaw_counter >= 4) {
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roi_yaw_counter = 0;
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yaw_look_at_WP_bearing = get_bearing_cd(inertial_nav.get_position(), roi_WP);
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}
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return yaw_look_at_WP_bearing;
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}
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float Copter::get_look_ahead_yaw()
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{
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const Vector3f& vel = inertial_nav.get_velocity();
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float speed = norm(vel.x,vel.y);
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// Commanded Yaw to automatically look ahead.
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if (position_ok() && (speed > YAW_LOOK_AHEAD_MIN_SPEED)) {
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yaw_look_ahead_bearing = degrees(atan2f(vel.y,vel.x))*100.0f;
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}
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return yaw_look_ahead_bearing;
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}
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/*************************************************************
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* throttle control
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****************************************************************/
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// update estimated throttle required to hover (if necessary)
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// called at 100hz
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void Copter::update_throttle_hover()
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{
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#if FRAME_CONFIG != HELI_FRAME
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// if not armed or landed exit
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if (!motors->armed() || ap.land_complete) {
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return;
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}
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// do not update in manual throttle modes or Drift
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if (flightmode->has_manual_throttle() || (control_mode == DRIFT)) {
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return;
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}
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// do not update while climbing or descending
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if (!is_zero(pos_control->get_desired_velocity().z)) {
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return;
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}
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// get throttle output
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float throttle = motors->get_throttle();
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// calc average throttle if we are in a level hover
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if (throttle > 0.0f && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
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// Can we set the time constant automatically
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motors->update_throttle_hover(0.01f);
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}
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#endif
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}
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// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
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void Copter::set_throttle_takeoff()
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{
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// tell position controller to reset alt target and reset I terms
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pos_control->init_takeoff();
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}
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// transform pilot's manual throttle input to make hover throttle mid stick
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// used only for manual throttle modes
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// thr_mid should be in the range 0 to 1
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// returns throttle output 0 to 1
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float Copter::get_pilot_desired_throttle(int16_t throttle_control, float thr_mid)
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{
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if (thr_mid <= 0.0f) {
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thr_mid = motors->get_throttle_hover();
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}
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int16_t mid_stick = get_throttle_mid();
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// protect against unlikely divide by zero
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if (mid_stick <= 0) {
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mid_stick = 500;
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}
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// ensure reasonable throttle values
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throttle_control = constrain_int16(throttle_control,0,1000);
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// calculate normalised throttle input
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float throttle_in;
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if (throttle_control < mid_stick) {
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// below the deadband
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throttle_in = ((float)throttle_control)*0.5f/(float)mid_stick;
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}else if(throttle_control > mid_stick) {
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// above the deadband
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throttle_in = 0.5f + ((float)(throttle_control-mid_stick)) * 0.5f / (float)(1000-mid_stick);
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}else{
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// must be in the deadband
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throttle_in = 0.5f;
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}
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float expo = constrain_float(-(thr_mid-0.5)/0.375, -0.5f, 1.0f);
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// calculate the output throttle using the given expo function
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float throttle_out = throttle_in*(1.0f-expo) + expo*throttle_in*throttle_in*throttle_in;
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return throttle_out;
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}
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// get_pilot_desired_climb_rate - transform pilot's throttle input to climb rate in cm/s
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// without any deadzone at the bottom
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float Copter::get_pilot_desired_climb_rate(float throttle_control)
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{
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// throttle failsafe check
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if( failsafe.radio ) {
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return 0.0f;
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}
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#if TOY_MODE_ENABLED == ENABLED
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if (g2.toy_mode.enabled()) {
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// allow throttle to be reduced after throttle arming and for
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// slower descent close to the ground
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g2.toy_mode.throttle_adjust(throttle_control);
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}
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#endif
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float desired_rate = 0.0f;
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float mid_stick = get_throttle_mid();
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float deadband_top = mid_stick + g.throttle_deadzone;
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float deadband_bottom = mid_stick - g.throttle_deadzone;
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// ensure a reasonable throttle value
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throttle_control = constrain_float(throttle_control,0.0f,1000.0f);
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// ensure a reasonable deadzone
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g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
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// check throttle is above, below or in the deadband
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if (throttle_control < deadband_bottom) {
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// below the deadband
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desired_rate = get_pilot_speed_dn() * (throttle_control-deadband_bottom) / deadband_bottom;
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}else if (throttle_control > deadband_top) {
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// above the deadband
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desired_rate = g.pilot_speed_up * (throttle_control-deadband_top) / (1000.0f-deadband_top);
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}else{
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// must be in the deadband
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desired_rate = 0.0f;
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}
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return desired_rate;
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}
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// get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
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float Copter::get_non_takeoff_throttle()
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{
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return MAX(0,motors->get_throttle_hover()/2.0f);
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}
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// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
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// returns climb rate (in cm/s) which should be passed to the position controller
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float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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static uint32_t last_call_ms = 0;
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float distance_error;
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float velocity_correction;
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float current_alt = inertial_nav.get_altitude();
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uint32_t now = millis();
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// reset target altitude if this controller has just been engaged
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if (now - last_call_ms > RANGEFINDER_TIMEOUT_MS) {
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target_rangefinder_alt = rangefinder_state.alt_cm + current_alt_target - current_alt;
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}
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last_call_ms = now;
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// adjust rangefinder target alt if motors have not hit their limits
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if ((target_rate<0 && !motors->limit.throttle_lower) || (target_rate>0 && !motors->limit.throttle_upper)) {
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target_rangefinder_alt += target_rate * dt;
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}
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/*
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handle rangefinder glitches. When we get a rangefinder reading
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more than RANGEFINDER_GLITCH_ALT_CM different from the current
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rangefinder reading then we consider it a glitch and reject
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until we get RANGEFINDER_GLITCH_NUM_SAMPLES samples in a
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row. When that happens we reset the target altitude to the new
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reading
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*/
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int32_t glitch_cm = rangefinder_state.alt_cm - target_rangefinder_alt;
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if (glitch_cm >= RANGEFINDER_GLITCH_ALT_CM) {
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rangefinder_state.glitch_count = MAX(rangefinder_state.glitch_count+1,1);
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} else if (glitch_cm <= -RANGEFINDER_GLITCH_ALT_CM) {
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rangefinder_state.glitch_count = MIN(rangefinder_state.glitch_count-1,-1);
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} else {
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rangefinder_state.glitch_count = 0;
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}
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if (abs(rangefinder_state.glitch_count) >= RANGEFINDER_GLITCH_NUM_SAMPLES) {
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// shift to the new rangefinder reading
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target_rangefinder_alt = rangefinder_state.alt_cm;
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rangefinder_state.glitch_count = 0;
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}
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if (rangefinder_state.glitch_count != 0) {
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// we are currently glitching, just use the target rate
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return target_rate;
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}
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// calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
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distance_error = (target_rangefinder_alt - rangefinder_state.alt_cm) - (current_alt_target - current_alt);
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velocity_correction = distance_error * g.rangefinder_gain;
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velocity_correction = constrain_float(velocity_correction, -THR_SURFACE_TRACKING_VELZ_MAX, THR_SURFACE_TRACKING_VELZ_MAX);
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// return combined pilot climb rate + rate to correct rangefinder alt error
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return (target_rate + velocity_correction);
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#else
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return (float)target_rate;
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#endif
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}
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// get target climb rate reduced to avoid obstacles and altitude fence
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float Copter::get_avoidance_adjusted_climbrate(float target_rate)
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{
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#if AC_AVOID_ENABLED == ENABLED
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avoid.adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_accel_z(), target_rate, G_Dt);
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return target_rate;
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#else
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return target_rate;
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#endif
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}
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// set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
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void Copter::set_accel_throttle_I_from_pilot_throttle()
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{
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// get last throttle input sent to attitude controller
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float pilot_throttle = constrain_float(attitude_control->get_throttle_in(), 0.0f, 1.0f);
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// shift difference between pilot's throttle and hover throttle into accelerometer I
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pos_control->get_accel_z_pid().set_integrator((pilot_throttle-motors->get_throttle_hover()) * 1000.0f);
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}
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// rotate vector from vehicle's perspective to North-East frame
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void Copter::rotate_body_frame_to_NE(float &x, float &y)
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{
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float ne_x = x*ahrs.cos_yaw() - y*ahrs.sin_yaw();
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float ne_y = x*ahrs.sin_yaw() + y*ahrs.cos_yaw();
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x = ne_x;
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y = ne_y;
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}
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// It will return the PILOT_SPEED_DN value if non zero, otherwise if zero it returns the PILOT_SPEED_UP value.
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uint16_t Copter::get_pilot_speed_dn()
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{
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if (g2.pilot_speed_dn == 0) {
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return abs(g.pilot_speed_up);
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} else {
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return abs(g2.pilot_speed_dn);
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}
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}
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