mirror of https://github.com/ArduPilot/ardupilot
134 lines
3.7 KiB
C++
134 lines
3.7 KiB
C++
/*
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* ControllerTank.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 CONTROLLERTANK_H_
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#define CONTROLLERTANK_H_
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#include "../APO/AP_Controller.h"
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namespace apo {
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class ControllerTank: public AP_Controller {
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private:
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AP_Var_group _group;
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AP_Uint8 _mode;
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enum {
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k_chMode = k_radioChannelsStart, k_chLeft, k_chRight, k_chStr, k_chThr
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};
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enum {
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k_pidStr = k_controllersStart, k_pidThr
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};
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enum {
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CH_MODE = 0, CH_LEFT, CH_RIGHT, CH_STR, CH_THR
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};
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BlockPIDDfb pidStr;
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BlockPID pidThr;
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public:
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ControllerTank(AP_Navigator * nav, AP_Guide * guide,
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AP_HardwareAbstractionLayer * hal) :
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AP_Controller(nav, guide, hal),
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_group(k_cntrl, PSTR("CNTRL_")),
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_mode(&_group, 1, MAV_MODE_UNINIT, PSTR("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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pidThr(new AP_Var_group(k_pidThr, PSTR("THR_")), 1, throttleP,
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throttleI, throttleD, throttleIMax, throttleYMax,
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throttleDFCut) {
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_hal->debug->println_P(PSTR("initializing tank 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_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
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1900, RC_MODE_OUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
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1900, RC_MODE_OUT, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
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1900, RC_MODE_IN, false));
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_hal->rc.push_back(
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new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
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1900, RC_MODE_IN, false));
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}
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virtual MAV_MODE getMode() {
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return (MAV_MODE) _mode.get();
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}
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void mix(float headingOutput, float throttleOutput) {
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_hal->rc[CH_LEFT]->setPosition(throttleOutput + headingOutput);
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_hal->rc[CH_RIGHT]->setPosition(throttleOutput - headingOutput);
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}
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virtual void update(const float & dt) {
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// check for heartbeat
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if (_hal->heartBeatLost()) {
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_mode = MAV_MODE_FAILSAFE;
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setAllRadioChannelsToNeutral();
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_hal->setState(MAV_STATE_EMERGENCY);
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_hal->debug->printf_P(PSTR("comm lost, send heartbeat from gcs\n"));
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return;
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// if throttle less than 5% cut motor power
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} else if (_hal->rc[CH_THR]->getRadioPosition() < 0.05) {
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_mode = MAV_MODE_LOCKED;
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setAllRadioChannelsToNeutral();
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_hal->setState(MAV_STATE_STANDBY);
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return;
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// if in live mode then set state to active
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} else if (_hal->getMode() == MODE_LIVE) {
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_hal->setState(MAV_STATE_ACTIVE);
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// if in hardware in the loop (control) mode, set to hilsim
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} else if (_hal->getMode() == MODE_HIL_CNTL) {
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_hal->setState(MAV_STATE_HILSIM);
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}
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// read switch to set mode
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if (_hal->rc[CH_MODE]->getRadioPosition() > 0) {
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_mode = MAV_MODE_MANUAL;
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} else {
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_mode = MAV_MODE_AUTO;
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}
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// manual mode
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switch (_mode) {
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case MAV_MODE_MANUAL: {
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setAllRadioChannelsManually();
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mix(_hal->rc[CH_STR]->getPosition(),
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_hal->rc[CH_THR]->getPosition());
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break;
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}
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case MAV_MODE_AUTO: {
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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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mix(pidStr.update(headingError, _nav->getYawRate(), dt),
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pidThr.update(_guide->getGroundSpeedCommand()
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- _nav->getGroundSpeed(), dt));
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//_hal->debug->println("automode");
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break;
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}
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default: {
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setAllRadioChannelsToNeutral();
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_mode = MAV_MODE_FAILSAFE;
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_hal->setState(MAV_STATE_EMERGENCY);
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_hal->debug->printf_P(PSTR("unknown controller mode\n"));
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break;
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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 /* CONTROLLERTANK_H_ */
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