mirror of https://github.com/ArduPilot/ardupilot
106 lines
4.7 KiB
C++
106 lines
4.7 KiB
C++
#include "AC_PosControl_Sub.h"
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AC_PosControl_Sub::AC_PosControl_Sub(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
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const AP_Motors& motors, AC_AttitudeControl& attitude_control) :
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AC_PosControl(ahrs, inav, motors, attitude_control),
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_alt_max(0.0f),
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_alt_min(0.0f)
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{}
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/// set_alt_target_from_climb_rate - adjusts target up or down using a climb rate in cm/s
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/// should be called continuously (with dt set to be the expected time between calls)
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/// actual position target will be moved no faster than the speed_down and speed_up
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/// target will also be stopped if the motors hit their limits or leash length is exceeded
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void AC_PosControl_Sub::set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend)
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{
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// adjust desired alt if motors have not hit their limits
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// To-Do: add check of _limit.pos_down?
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if ((climb_rate_cms<0 && (!_motors.limit.throttle_lower || force_descend)) || (climb_rate_cms>0 && !_motors.limit.throttle_upper && !_limit.pos_up)) {
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_pos_target.z += climb_rate_cms * dt;
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}
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// do not let target alt get above limit
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if (_alt_max < 100 && _pos_target.z > _alt_max) {
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_pos_target.z = _alt_max;
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_limit.pos_up = true;
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}
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// do not let target alt get below limit
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if (_alt_min < 0 && _alt_min < _alt_max && _pos_target.z < _alt_min) {
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_pos_target.z = _alt_min;
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_limit.pos_down = true;
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}
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// do not use z-axis desired velocity feed forward
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// vel_desired set to desired climb rate for reporting and land-detector
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_flags.use_desvel_ff_z = false;
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_vel_desired.z = climb_rate_cms;
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}
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/// set_alt_target_from_climb_rate_ff - adjusts target up or down using a climb rate in cm/s using feed-forward
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/// should be called continuously (with dt set to be the expected time between calls)
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/// actual position target will be moved no faster than the speed_down and speed_up
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/// target will also be stopped if the motors hit their limits or leash length is exceeded
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/// set force_descend to true during landing to allow target to move low enough to slow the motors
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void AC_PosControl_Sub::set_alt_target_from_climb_rate_ff(float climb_rate_cms, float dt, bool force_descend)
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{
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// calculated increased maximum acceleration if over speed
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float accel_z_cms = _accel_z_cms;
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if (_vel_desired.z < _speed_down_cms && !is_zero(_speed_down_cms)) {
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accel_z_cms *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _speed_down_cms;
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}
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if (_vel_desired.z > _speed_up_cms && !is_zero(_speed_up_cms)) {
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accel_z_cms *= POSCONTROL_OVERSPEED_GAIN_Z * _vel_desired.z / _speed_up_cms;
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}
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accel_z_cms = constrain_float(accel_z_cms, 0.0f, 750.0f);
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// jerk_z is calculated to reach full acceleration in 1000ms.
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float jerk_z = accel_z_cms * POSCONTROL_JERK_RATIO;
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float accel_z_max = MIN(accel_z_cms, safe_sqrt(2.0f*fabsf(_vel_desired.z - climb_rate_cms)*jerk_z));
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_accel_last_z_cms += jerk_z * dt;
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_accel_last_z_cms = MIN(accel_z_max, _accel_last_z_cms);
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float vel_change_limit = _accel_last_z_cms * dt;
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_vel_desired.z = constrain_float(climb_rate_cms, _vel_desired.z-vel_change_limit, _vel_desired.z+vel_change_limit);
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_flags.use_desvel_ff_z = true;
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// adjust desired alt if motors have not hit their limits
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// To-Do: add check of _limit.pos_down?
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if ((_vel_desired.z<0 && (!_motors.limit.throttle_lower || force_descend)) || (_vel_desired.z>0 && !_motors.limit.throttle_upper && !_limit.pos_up)) {
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_pos_target.z += _vel_desired.z * dt;
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}
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// do not let target alt get above limit
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if (_alt_max < 100 && _pos_target.z > _alt_max) {
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_pos_target.z = _alt_max;
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_limit.pos_up = true;
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// decelerate feed forward to zero
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_vel_desired.z = constrain_float(0.0f, _vel_desired.z-vel_change_limit, _vel_desired.z+vel_change_limit);
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}
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// do not let target alt get below limit
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if (_alt_min < 0 && _alt_min < _alt_max && _pos_target.z < _alt_min) {
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_pos_target.z = _alt_min;
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_limit.pos_down = true;
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// decelerate feed forward to zero
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_vel_desired.z = constrain_float(0.0f, _vel_desired.z-vel_change_limit, _vel_desired.z+vel_change_limit);
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}
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}
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/// relax_alt_hold_controllers - set all desired and targets to measured
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void AC_PosControl_Sub::relax_alt_hold_controllers()
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{
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_pos_target.z = _inav.get_altitude();
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_vel_desired.z = 0.0f;
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_flags.use_desvel_ff_z = false;
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_vel_target.z = _inav.get_velocity_z();
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_vel_last.z = _inav.get_velocity_z();
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_accel_desired.z = 0.0f;
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_accel_last_z_cms = 0.0f;
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_flags.reset_rate_to_accel_z = true;
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_accel_target.z = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
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_pid_accel_z.reset_filter();
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}
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