mirror of https://github.com/ArduPilot/ardupilot
521 lines
12 KiB
Plaintext
521 lines
12 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static int
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get_stabilize_roll(int32_t target_angle)
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{
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// angle error
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target_angle = wrap_180(target_angle - dcm.roll_sensor);
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#if FRAME_CONFIG == HELI_FRAME
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -4500, 4500);
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// convert to desired Rate:
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target_angle = g.pi_stabilize_roll.get_pi(target_angle, G_Dt);
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// output control:
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return constrain(target_angle, -4500, 4500);
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#else
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -2500, 2500);
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// convert to desired Rate:
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int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);
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int16_t iterm = g.pi_stabilize_roll.get_i(target_angle, G_Dt);
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return get_rate_roll(target_rate) + iterm;
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#endif
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}
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static int
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get_stabilize_pitch(int32_t target_angle)
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{
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// angle error
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target_angle = wrap_180(target_angle - dcm.pitch_sensor);
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#if FRAME_CONFIG == HELI_FRAME
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -4500, 4500);
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// convert to desired Rate:
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target_angle = g.pi_stabilize_pitch.get_pi(target_angle, G_Dt);
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// output control:
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return constrain(target_angle, -4500, 4500);
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#else
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -2500, 2500);
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// conver to desired Rate:
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int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle);
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int16_t iterm = g.pi_stabilize_pitch.get_i(target_angle, G_Dt);
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return get_rate_pitch(target_rate) + iterm;
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#endif
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}
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static int
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get_stabilize_yaw(int32_t target_angle)
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{
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// angle error
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target_angle = wrap_180(target_angle - dcm.yaw_sensor);
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// limit the error we're feeding to the PID
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target_angle = constrain(target_angle, -2000, 2000);
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// conver to desired Rate:
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int32_t target_rate = g.pi_stabilize_yaw.get_p(target_angle);
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int16_t iterm = g.pi_stabilize_yaw.get_i(target_angle, G_Dt);
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#if FRAME_CONFIG == HELI_FRAME // cannot use rate control for helicopters
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if(!g.heli_ext_gyro_enabled){
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return get_rate_yaw(target_rate) + iterm;
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}else{
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return constrain((target_rate + iterm), -4500, 4500);
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}
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#else
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return get_rate_yaw(target_rate) + iterm;
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#endif
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}
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static int
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get_acro_roll(int32_t target_rate)
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{
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target_rate = target_rate * g.acro_p;
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target_rate = constrain(target_rate, -10000, 10000);
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return get_rate_roll(target_rate);
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}
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static int
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get_acro_pitch(int32_t target_rate)
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{
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target_rate = target_rate * g.acro_p;
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target_rate = constrain(target_rate, -10000, 10000);
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return get_rate_pitch(target_rate);
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}
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static int
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get_acro_yaw(int32_t target_rate)
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{
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target_rate = g.pi_stabilize_yaw.get_p(target_rate);
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target_rate = constrain(target_rate, -15000, 15000);
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return get_rate_yaw(target_rate);
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}
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static int
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get_rate_roll(int32_t target_rate)
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{
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static int32_t last_rate = 0;
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int32_t current_rate = (omega.x * DEGX100);
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// rate control
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target_rate = target_rate - current_rate;
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target_rate = g.pid_rate_roll.get_pid(target_rate, G_Dt);
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// Dampening
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int16_t d_temp = (float)(current_rate - last_rate) * g.stabilize_d;
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target_rate -= constrain(d_temp, -500, 500);
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last_rate = current_rate;
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// output control:
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return constrain(target_rate, -2500, 2500);
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}
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static int
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get_rate_pitch(int32_t target_rate)
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{
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static int32_t last_rate = 0;
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int32_t current_rate = (omega.y * DEGX100);
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// rate control
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target_rate = target_rate - current_rate;
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target_rate = g.pid_rate_pitch.get_pid(target_rate, G_Dt);
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// Dampening
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int16_t d_temp = (float)(current_rate - last_rate) * g.stabilize_d;
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target_rate -= constrain(d_temp, -500, 500);
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last_rate = current_rate;
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// output control:
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return constrain(target_rate, -2500, 2500);
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}
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static int
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get_rate_yaw(int32_t target_rate)
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{
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// rate control
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target_rate = target_rate - (omega.z * DEGX100);
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target_rate = g.pid_rate_yaw.get_pid(target_rate, G_Dt);
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// output control:
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int16_t yaw_limit = 1400 + abs(g.rc_4.control_in);
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// smoother Yaw control:
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return constrain(target_rate, -yaw_limit, yaw_limit);
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}
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static int16_t
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get_nav_throttle(int32_t z_error)
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{
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static int16_t old_output = 0;
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int16_t rate_error = 0;
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int16_t output = 0;
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// convert to desired Rate:
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rate_error = g.pi_alt_hold.get_p(z_error);
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rate_error = constrain(rate_error, -100, 100);
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// limit error to prevent I term wind up
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z_error = constrain(z_error, -400, 400);
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// compensates throttle setpoint error for hovering
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int16_t iterm = g.pi_alt_hold.get_i(z_error, .1);
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// calculate rate error
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rate_error = rate_error - climb_rate;
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// limit the rate
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output = constrain(g.pid_throttle.get_pid(rate_error, .1), -160, 180);
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// light filter of output
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output = (old_output + output) / 2;
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// save our output
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old_output = output;
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// output control:
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return output + iterm;
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}
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// Keeps old data out of our calculation / logs
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static void reset_nav_params(void)
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{
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// forces us to update nav throttle
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invalid_throttle = true;
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nav_throttle = 0;
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// always start Circle mode at same angle
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circle_angle = 0;
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// We must be heading to a new WP, so XTrack must be 0
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crosstrack_error = 0;
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// Will be set by new command
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target_bearing = 0;
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// Will be set by new command
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wp_distance = 0;
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// Will be set by new command, used by loiter
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long_error = 0;
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lat_error = 0;
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// Will be set by new command, used by loiter
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next_WP.alt = 0;
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}
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/*
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reset all I integrators
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*/
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static void reset_I_all(void)
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{
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reset_rate_I();
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reset_stability_I();
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reset_nav_I();
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reset_wind_I();
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reset_throttle_I();
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reset_optflow_I();
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// This is the only place we reset Yaw
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g.pi_stabilize_yaw.reset_I();
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}
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static void reset_rate_I()
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{
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g.pid_rate_roll.reset_I();
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g.pid_rate_pitch.reset_I();
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g.pid_rate_yaw.reset_I();
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}
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static void reset_optflow_I(void)
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{
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g.pid_optflow_roll.reset_I();
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g.pid_optflow_pitch.reset_I();
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of_roll = 0;
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of_pitch = 0;
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}
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static void reset_wind_I(void)
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{
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// Wind Compensation
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g.pi_loiter_lat.reset_I();
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g.pi_loiter_lon.reset_I();
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}
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static void reset_nav_I(void)
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{
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// Rate control for WP navigation
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g.pid_nav_lat.reset_I();
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g.pid_nav_lon.reset_I();
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}
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static void reset_throttle_I(void)
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{
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// For Altitude Hold
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g.pi_alt_hold.reset_I();
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g.pid_throttle.reset_I();
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}
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static void reset_stability_I(void)
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{
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// Used to balance a quad
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// This only needs to be reset during Auto-leveling in flight
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g.pi_stabilize_roll.reset_I();
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g.pi_stabilize_pitch.reset_I();
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}
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/*************************************************************
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throttle control
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****************************************************************/
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static long
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get_nav_yaw_offset(int yaw_input, int reset)
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{
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int32_t _yaw;
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if(reset == 0){
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// we are on the ground
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return dcm.yaw_sensor;
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}else{
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// re-define nav_yaw if we have stick input
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if(yaw_input != 0){
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// set nav_yaw + or - the current location
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_yaw = yaw_input + dcm.yaw_sensor;
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// we need to wrap our value so we can be 0 to 360 (*100)
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return wrap_360(_yaw);
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}else{
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// no stick input, lets not change nav_yaw
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return nav_yaw;
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}
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}
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}
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static int get_angle_boost(int value)
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{
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float temp = cos_pitch_x * cos_roll_x;
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temp = 1.0 - constrain(temp, .5, 1.0);
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int16_t output = temp * value;
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return constrain(output, 0, 200);
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// return (int)(temp * value);
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}
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#define NUM_G_SAMPLES 40
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#if ACCEL_ALT_HOLD == 2
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// z -14.4306 = going up
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// z -6.4306 = going down
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static int get_z_damping()
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{
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int output;
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Z_integrator += get_world_Z_accel() - Z_offset;
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output = Z_integrator * 3;
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Z_integrator = Z_integrator * .8;
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output = constrain(output, -100, 100);
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return output;
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}
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float get_world_Z_accel()
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{
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accels_rot = dcm.get_dcm_matrix() * imu.get_accel();
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//Serial.printf("z %1.4f\n", accels_rot.z);
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return accels_rot.z;
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}
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static void init_z_damper()
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{
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Z_offset = 0;
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for (int i = 0; i < NUM_G_SAMPLES; i++){
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delay(5);
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read_AHRS();
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Z_offset += get_world_Z_accel();
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}
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Z_offset /= (float)NUM_G_SAMPLES;
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}
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// Accelerometer Z dampening by Aurelio R. Ramos
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// ---------------------------------------------
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#elif ACCEL_ALT_HOLD == 1
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// contains G and any other DC offset
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static float estimatedAccelOffset = 0;
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// state
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static float synVelo = 0;
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static float synPos = 0;
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static float synPosFiltered = 0;
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static float posError = 0;
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static float prevSensedPos = 0;
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// tuning for dead reckoning
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static const float dt_50hz = 0.02;
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static float synPosP = 10 * dt_50hz;
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static float synPosI = 15 * dt_50hz;
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static float synVeloP = 1.5 * dt_50hz;
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static float maxVeloCorrection = 5 * dt_50hz;
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static float maxSensedVelo = 1;
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static float synPosFilter = 0.5;
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// Z damping term.
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static float fullDampP = 0.100;
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float get_world_Z_accel()
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{
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accels_rot = dcm.get_dcm_matrix() * imu.get_accel();
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return accels_rot.z;
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}
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static void init_z_damper()
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{
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estimatedAccelOffset = 0;
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for (int i = 0; i < NUM_G_SAMPLES; i++){
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delay(5);
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read_AHRS();
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estimatedAccelOffset += get_world_Z_accel();
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}
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estimatedAccelOffset /= (float)NUM_G_SAMPLES;
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}
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float dead_reckon_Z(float sensedPos, float sensedAccel)
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{
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// the following algorithm synthesizes position and velocity from
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// a noisy altitude and accelerometer data.
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// synthesize uncorrected velocity by integrating acceleration
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synVelo += (sensedAccel - estimatedAccelOffset) * dt_50hz;
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// synthesize uncorrected position by integrating uncorrected velocity
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synPos += synVelo * dt_50hz;
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// filter synPos, the better this filter matches the filtering and dead time
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// of the sensed position, the less the position estimate will lag.
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synPosFiltered = synPosFiltered * (1 - synPosFilter) + synPos * synPosFilter;
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// calculate error against sensor position
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posError = sensedPos - synPosFiltered;
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// correct altitude
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synPos += synPosP * posError;
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// correct integrated velocity by posError
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synVelo = synVelo + constrain(posError, -maxVeloCorrection, maxVeloCorrection) * synPosI;
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// correct integrated velocity by the sensed position delta in a small proportion
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// (i.e., the low frequency of the delta)
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float sensedVelo = (sensedPos - prevSensedPos) / dt_50hz;
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synVelo += constrain(sensedVelo - synVelo, -maxSensedVelo, maxSensedVelo) * synVeloP;
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prevSensedPos = sensedPos;
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return synVelo;
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}
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static int get_z_damping()
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{
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float sensedAccel = get_world_Z_accel();
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float sensedPos = current_loc.alt / 100.0;
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float synVelo = dead_reckon_Z(sensedPos, sensedAccel);
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return constrain(fullDampP * synVelo * (-1), -300, 300);
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}
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#else
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static int get_z_damping()
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{
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return 0;
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}
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static void init_z_damper()
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{
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}
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#endif
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// calculate modified roll/pitch depending upon optical flow calculated position
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static int32_t
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get_of_roll(int32_t control_roll)
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{
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#ifdef OPTFLOW_ENABLED
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static float tot_x_cm = 0; // total distance from target
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static unsigned long last_of_roll_update = 0;
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int32_t new_roll = 0;
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// check if new optflow data available
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if( optflow.last_update != last_of_roll_update) {
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last_of_roll_update = optflow.last_update;
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// add new distance moved
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tot_x_cm += optflow.x_cm;
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// only stop roll if caller isn't modifying roll
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if( control_roll == 0 && current_loc.alt < 1500) {
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new_roll = g.pid_optflow_roll.get_pid(-tot_x_cm, 1.0); // we could use the last update time to calculate the time change
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}else{
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g.pid_optflow_roll.reset_I();
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tot_x_cm = 0;
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}
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// limit amount of change and maximum angle
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of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
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}
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// limit max angle
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of_roll = constrain(of_roll, -1000, 1000);
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return control_roll+of_roll;
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#else
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return control_roll;
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#endif
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}
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static int32_t
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get_of_pitch(int32_t control_pitch)
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{
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#ifdef OPTFLOW_ENABLED
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static float tot_y_cm = 0; // total distance from target
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static unsigned long last_of_pitch_update = 0;
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int32_t new_pitch = 0;
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// check if new optflow data available
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if( optflow.last_update != last_of_pitch_update ) {
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last_of_pitch_update = optflow.last_update;
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// add new distance moved
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tot_y_cm += optflow.y_cm;
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// only stop roll if caller isn't modifying pitch
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if( control_pitch == 0 && current_loc.alt < 1500 ) {
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new_pitch = g.pid_optflow_pitch.get_pid(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
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}else{
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tot_y_cm = 0;
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g.pid_optflow_pitch.reset_I();
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}
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// limit amount of change
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of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
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}
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// limit max angle
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of_pitch = constrain(of_pitch, -1000, 1000);
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return control_pitch+of_pitch;
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#else
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return control_pitch;
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#endif
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}
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