ardupilot/archive/ArducopterNG/Navigation.pde

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/*
www.ArduCopter.com - www.DIYDrones.com
Copyright (c) 2010. All rights reserved.
An Open Source Arduino based multicopter.
File : Navigation.pde
Version : v1.0, Aug 27, 2010
Author(s): ArduCopter Team
Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
Jani Hirvinen, Ken McEwans, Roberto Navoni,
Sandro Benigno, Chris Anderson
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
* ************************************************************** *
ChangeLog:
* ************************************************************** *
TODO:
- initial functions.
* ************************************************************** */
void read_GPS_data()
{
#ifdef IsGPS
GPS_timer_old=GPS_timer; // Update GPS timer
GPS_timer = millis();
GPS_Dt = (GPS_timer-GPS_timer_old)*0.001; // GPS_Dt
GPS.NewData=0; // We Reset the flag...
// Write GPS data to DataFlash log
Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
//if (GPS.Fix >= 2)
if (GPS.Fix)
digitalWrite(LED_Red,HIGH); // GPS Fix => RED LED
else
digitalWrite(LED_Red,LOW);
#endif
}
/* GPS based Position control */
void Position_control(long lat_dest, long lon_dest)
{
#ifdef IsGPS
long Lon_diff;
long Lat_diff;
Lon_diff = lon_dest - GPS.Longitude;
Lat_diff = lat_dest - GPS.Lattitude;
//If we have not calculated GEOG_CORRECTION_FACTOR we calculate it here as cos(lattitude)
if (GEOG_CORRECTION_FACTOR==0)
GEOG_CORRECTION_FACTOR = cos(ToRad(GPS.Lattitude/10000000.0));
// ROLL
//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0] [This simplification is valid for low roll angles]
gps_err_roll = (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[0][0] - (float)Lat_diff * DCM_Matrix[1][0];
gps_roll_D = (gps_err_roll-gps_err_roll_old) / GPS_Dt;
gps_err_roll_old = gps_err_roll;
gps_roll_I += gps_err_roll * GPS_Dt;
gps_roll_I = constrain(gps_roll_I, -800, 800);
command_gps_roll = KP_GPS_ROLL * gps_err_roll + KD_GPS_ROLL * gps_roll_D + KI_GPS_ROLL * gps_roll_I;
command_gps_roll = constrain(command_gps_roll, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
//Log_Write_PID(1,KP_GPS_ROLL*gps_err_roll*10,KI_GPS_ROLL*gps_roll_I*10,KD_GPS_ROLL*gps_roll_D*10,command_gps_roll*10);
// PITCH
gps_err_pitch = -(float)Lat_diff * DCM_Matrix[0][0] - (float)Lon_diff * GEOG_CORRECTION_FACTOR * DCM_Matrix[1][0];
gps_pitch_D = (gps_err_pitch - gps_err_pitch_old) / GPS_Dt;
gps_err_pitch_old = gps_err_pitch;
gps_pitch_I += gps_err_pitch * GPS_Dt;
gps_pitch_I = constrain(gps_pitch_I, -800, 800);
command_gps_pitch = KP_GPS_PITCH * gps_err_pitch + KD_GPS_PITCH * gps_pitch_D + KI_GPS_PITCH * gps_pitch_I;
command_gps_pitch = constrain(command_gps_pitch, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
//Log_Write_PID(2,KP_GPS_PITCH*gps_err_pitch*10,KI_GPS_PITCH*gps_pitch_I*10,KD_GPS_PITCH*gps_pitch_D*10,command_gps_pitch*10);
#endif
}
/* GPS based Position control Version 2 - builds up I and D term using lat/lon instead of roll/pitch*/
void Position_control_v2(long lat_dest, long lon_dest)
{
#ifdef IsGPS
//If we have not calculated GEOG_CORRECTION_FACTOR we calculate it here as cos(lattitude)
if (GEOG_CORRECTION_FACTOR==0)
GEOG_CORRECTION_FACTOR = cos(ToRad(GPS.Lattitude/10000000.0));
// store old lat & lon diff for d term?
gps_err_lon_old = gps_err_lon;
gps_err_lat_old = gps_err_lat;
// calculate distance from target - for P term
gps_err_lon = (float)(lon_dest - GPS.Longitude) * GEOG_CORRECTION_FACTOR;
gps_err_lat = lat_dest - GPS.Lattitude;
// add distance to I term
gps_lon_I += gps_err_lon;
gps_lon_I = constrain(gps_lon_I,-1200,1200); // don't let I get too big
gps_lat_I += gps_err_lat;
gps_lat_I = constrain(gps_lat_I,-1200,1200);
// calculate the ground speed - for D term
gps_lon_D = (gps_err_lon - gps_err_lon_old) / GPS_Dt;
gps_lat_D = (gps_err_lat - gps_err_lat_old) / GPS_Dt;
// Now separate lat & lon PID terms into roll & pitch components
// ROLL
//Optimization : cos(yaw) = DCM_Matrix[0][0] ; sin(yaw) = DCM_Matrix[1][0] [This simplification is valid for low roll angles]
gps_err_roll = (gps_err_lon * DCM_Matrix[0][0] - gps_err_lat * DCM_Matrix[1][0]);
gps_roll_I = (gps_lon_I * DCM_Matrix[0][0] - gps_lat_I * DCM_Matrix[1][0]);
gps_roll_D = (gps_lon_D * DCM_Matrix[0][0] - gps_lat_D * DCM_Matrix[1][0]);
command_gps_roll = KP_GPS_ROLL * gps_err_roll + KD_GPS_ROLL * gps_roll_D + KI_GPS_ROLL * gps_roll_I;
command_gps_roll = constrain(command_gps_roll, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
Log_Write_PID(1,KP_GPS_ROLL*gps_err_roll,KI_GPS_ROLL*gps_roll_I,KD_GPS_ROLL*gps_roll_D,command_gps_roll);
// PITCH
gps_err_pitch = (-gps_err_lat * DCM_Matrix[0][0] - gps_err_lon * DCM_Matrix[1][0]);
gps_pitch_I = (-gps_lat_I * DCM_Matrix[0][0] - gps_lon_I * DCM_Matrix[1][0]);
gps_pitch_D = (-gps_lat_D * DCM_Matrix[0][0] - gps_lon_D * DCM_Matrix[1][0]);
command_gps_pitch = KP_GPS_PITCH * gps_err_pitch + KD_GPS_PITCH * gps_pitch_D + KI_GPS_PITCH * gps_pitch_I;
command_gps_pitch = constrain(command_gps_pitch, -GPS_MAX_ANGLE, GPS_MAX_ANGLE); // Limit max command
Log_Write_PID(2,KP_GPS_PITCH*gps_err_pitch,KI_GPS_PITCH*gps_pitch_I,KD_GPS_PITCH*gps_pitch_D,command_gps_pitch);
#endif
}
void Reset_I_terms_navigation()
{
gps_roll_I = 0;
gps_pitch_I = 0;
gps_lon_I = 0; // for position hold ver 2
gps_lat_I = 0;
}
/* ************************************************************ */
/* Altitude control... (based on barometer) */
int Altitude_control_baro(int altitude, int target_altitude)
{
#define ALTITUDE_CONTROL_BARO_OUTPUT_MIN 40
#define ALTITUDE_CONTROL_BARO_OUTPUT_MAX 80
// !!!!! REMOVE THIS !!!!!!!
#define KP_BARO_ALTITUDE 0.25 //0.3
#define KD_BARO_ALTITUDE 0.09 //0.09
#define KI_BARO_ALTITUDE 0.1
int command_altitude;
err_altitude_old = err_altitude;
err_altitude = target_altitude - altitude;
baro_altitude_I += (float)err_altitude*0.05;
baro_altitude_I = constrain(baro_altitude_I,-140,140);
baro_altitude_D = (float)(err_altitude-err_altitude_old)/0.05; // 20Hz
command_altitude = KP_ALTITUDE*err_altitude + KD_ALTITUDE*baro_altitude_D + KI_ALTITUDE*baro_altitude_I;
command_altitude = initial_throttle + constrain(command_altitude,-ALTITUDE_CONTROL_BARO_OUTPUT_MIN,ALTITUDE_CONTROL_BARO_OUTPUT_MAX);
Log_Write_PID(5,KP_ALTITUDE*err_altitude,KI_ALTITUDE*baro_altitude_I,KD_ALTITUDE*baro_altitude_D,command_altitude);
return command_altitude;
}
/* ************************************************************ */
/* Altitude control... (based on sonar) */
#define GdT_SONAR_ALTITUDE 0.05
#define ALTITUDE_CONTROL_SONAR_OUTPUT_MIN 60
#define ALTITUDE_CONTROL_SONAR_OUTPUT_MAX 80
int Altitude_control_Sonar(int altitude, int target_altitude)
{
static int err_altitude = 0;
int command_altitude;
int err_altitude_old;
err_altitude_old = err_altitude;
err_altitude = target_altitude - altitude;
sonar_altitude_I += (float)err_altitude*GdT_SONAR_ALTITUDE;
sonar_altitude_I = constrain(sonar_altitude_I,-1000,1000);
sonar_altitude_D = (float)(err_altitude-err_altitude_old)/GdT_SONAR_ALTITUDE;
command_altitude = KP_SONAR_ALTITUDE*err_altitude + KI_SONAR_ALTITUDE*sonar_altitude_I + KD_SONAR_ALTITUDE*sonar_altitude_D ;
command_altitude = initial_throttle + constrain(command_altitude,-ALTITUDE_CONTROL_SONAR_OUTPUT_MIN,ALTITUDE_CONTROL_SONAR_OUTPUT_MAX);
Log_Write_PID(4,KP_SONAR_ALTITUDE*err_altitude,KI_SONAR_ALTITUDE*sonar_altitude_I,KD_SONAR_ALTITUDE*sonar_altitude_D,command_altitude);
return command_altitude;
}
/* ************************************************************ */
/* Obstacle avoidance routine */
#ifdef IsRANGEFINDER
void Obstacle_avoidance(int safeDistance)
{
int RF_err_roll = 0;
int RF_err_pitch = 0;
int RF_err_throttle = 0;
float RF_roll_P;
float RF_roll_D;
float RF_pitch_P;
float RF_pitch_D;
float RF_throttle_P;
float RF_throttle_D;
static int RF_err_roll_old;
static int RF_err_pitch_old;
static int RF_err_throttle_old;
int err_temp;
// front right
err_temp = max(safeDistance - AP_RangeFinder_frontRight.distance,0);
RF_err_roll += err_temp * AP_RangeFinder_frontRight.orientation_x;
RF_err_pitch += err_temp * AP_RangeFinder_frontRight.orientation_y;
RF_err_throttle += err_temp * AP_RangeFinder_frontRight.orientation_z;
// back right
err_temp = max(safeDistance - AP_RangeFinder_backRight.distance,0);
RF_err_roll += err_temp * AP_RangeFinder_backRight.orientation_x;
RF_err_pitch += err_temp * AP_RangeFinder_backRight.orientation_y;
RF_err_throttle += err_temp * AP_RangeFinder_backRight.orientation_z;
// back left
err_temp = max(safeDistance - AP_RangeFinder_backLeft.distance,0);
RF_err_roll += err_temp * AP_RangeFinder_backLeft.orientation_x;
RF_err_pitch += err_temp * AP_RangeFinder_backLeft.orientation_y;
RF_err_throttle += err_temp * AP_RangeFinder_backLeft.orientation_z;
// front left
err_temp = max(safeDistance - AP_RangeFinder_frontLeft.distance,0);
RF_err_roll += err_temp * AP_RangeFinder_frontLeft.orientation_x;
RF_err_pitch += err_temp * AP_RangeFinder_frontLeft.orientation_y;
RF_err_throttle += err_temp * AP_RangeFinder_frontLeft.orientation_z;
// ROLL - P term
RF_roll_P = RF_err_roll * KP_RF_ROLL;
RF_roll_P = constrain(RF_roll_P,-RF_MAX_ANGLE,RF_MAX_ANGLE);
// ROLL - I term
RF_roll_I += RF_err_roll * 0.05 * KI_RF_ROLL;
RF_roll_I = constrain(RF_roll_I,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
// ROLL - D term
RF_roll_D = (RF_err_roll-RF_err_roll_old) / 0.05 * KD_RF_ROLL; // RF_IR frequency is 20Hz (50ms)
RF_roll_D = constrain(RF_roll_D,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
RF_err_roll_old = RF_err_roll;
// ROLL - full comand
command_RF_roll = RF_roll_P + RF_roll_I + RF_roll_D;
command_RF_roll = constrain(command_RF_roll,-RF_MAX_ANGLE,RF_MAX_ANGLE); // Limit max command
// PITCH - P term
RF_pitch_P = RF_err_pitch * KP_RF_PITCH;
RF_pitch_P = constrain(RF_pitch_P,-RF_MAX_ANGLE,RF_MAX_ANGLE);
// PITCH - I term
RF_pitch_I += RF_err_pitch * 0.05 * KI_RF_PITCH;
RF_pitch_I = constrain(RF_pitch_I,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
// PITCH - D term
RF_pitch_D = (RF_err_pitch-RF_err_pitch_old) / 0.05 * KD_RF_PITCH; // RF_IR frequency is 20Hz (50ms)
RF_pitch_D = constrain(RF_pitch_D,-RF_MAX_ANGLE/2,RF_MAX_ANGLE/2);
RF_err_pitch_old = RF_err_pitch;
// PITCH - full comand
command_RF_pitch = RF_pitch_P + RF_pitch_I + RF_pitch_D;
command_RF_pitch = constrain(command_RF_pitch,-RF_MAX_ANGLE,RF_MAX_ANGLE); // Limit max command
// THROTTLE - not yet implemented
command_RF_throttle = 0;
}
#endif