mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
1340 lines
49 KiB
Plaintext
1340 lines
49 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void
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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 - ahrs.roll_sensor);
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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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int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);
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int16_t i_stab;
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if(labs(ahrs.roll_sensor) < 500) {
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target_angle = constrain(target_angle, -500, 500);
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i_stab = g.pi_stabilize_roll.get_i(target_angle, G_Dt);
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}else{
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i_stab = g.pi_stabilize_roll.get_integrator();
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}
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// set targets for rate controller
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set_roll_rate_target(target_rate+i_stab, EARTH_FRAME);
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}
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static void
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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 - ahrs.pitch_sensor);
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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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int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle);
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int16_t i_stab;
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if(labs(ahrs.pitch_sensor) < 500) {
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target_angle = constrain(target_angle, -500, 500);
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i_stab = g.pi_stabilize_pitch.get_i(target_angle, G_Dt);
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}else{
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i_stab = g.pi_stabilize_pitch.get_integrator();
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}
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// set targets for rate controller
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set_pitch_rate_target(target_rate + i_stab, EARTH_FRAME);
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}
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static void
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get_stabilize_yaw(int32_t target_angle)
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{
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int32_t target_rate,i_term;
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int32_t angle_error;
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int32_t output = 0;
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// angle error
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angle_error = wrap_180(target_angle - ahrs.yaw_sensor);
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// limit the error we're feeding to the PID
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angle_error = constrain(angle_error, -4500, 4500);
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// convert angle error to desired Rate:
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target_rate = g.pi_stabilize_yaw.get_p(angle_error);
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i_term = g.pi_stabilize_yaw.get_i(angle_error, G_Dt);
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// do not use rate controllers for helicotpers with external gyros
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#if FRAME_CONFIG == HELI_FRAME
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if(motors.ext_gyro_enabled) {
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g.rc_4.servo_out = constrain((target_rate + i_term), -4500, 4500);
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}
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#endif
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the yaw
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if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_YAW_KP ) {
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pid_log_counter++;
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if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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pid_log_counter = 0;
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Log_Write_PID(CH6_YAW_KP, angle_error, target_rate, i_term, 0, output, tuning_value);
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}
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}
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#endif
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// set targets for rate controller
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set_yaw_rate_target(target_rate+i_term, EARTH_FRAME);
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}
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static void
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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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// set targets for rate controller
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set_roll_rate_target(target_rate, BODY_FRAME);
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}
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static void
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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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// set targets for rate controller
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set_pitch_rate_target(target_rate, BODY_FRAME);
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}
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static void
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get_acro_yaw(int32_t target_rate)
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{
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target_rate = target_rate * g.acro_p;
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// set targets for rate controller
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set_yaw_rate_target(target_rate, BODY_FRAME);
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}
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// Roll with rate input and stabilized in the earth frame
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static void
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get_roll_rate_stabilized_ef(int32_t stick_angle)
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{
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int32_t angle_error = 0;
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// convert the input to the desired roll rate
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int32_t target_rate = stick_angle * g.acro_p - (roll_axis * g.acro_balance_roll)/100;
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// convert the input to the desired roll rate
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roll_axis += target_rate * G_Dt;
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roll_axis = wrap_180(roll_axis);
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// ensure that we don't reach gimbal lock
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if (labs(roll_axis > 4500) && g.acro_trainer_enabled) {
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roll_axis = constrain(roll_axis, -4500, 4500);
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angle_error = wrap_180(roll_axis - ahrs.roll_sensor);
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} else {
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// angle error with maximum of +- max_angle_overshoot
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angle_error = wrap_180(roll_axis - ahrs.roll_sensor);
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angle_error = constrain(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
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}
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if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) {
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angle_error = 0;
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}
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// update roll_axis to be within max_angle_overshoot of our current heading
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roll_axis = wrap_180(angle_error + ahrs.roll_sensor);
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// set earth frame targets for rate controller
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// set earth frame targets for rate controller
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set_roll_rate_target(g.pi_stabilize_roll.get_p(angle_error) + target_rate, EARTH_FRAME);
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}
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// Pitch with rate input and stabilized in the earth frame
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static void
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get_pitch_rate_stabilized_ef(int32_t stick_angle)
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{
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int32_t angle_error = 0;
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// convert the input to the desired pitch rate
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int32_t target_rate = stick_angle * g.acro_p - (pitch_axis * g.acro_balance_pitch)/100;
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// convert the input to the desired pitch rate
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pitch_axis += target_rate * G_Dt;
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pitch_axis = wrap_180(pitch_axis);
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// ensure that we don't reach gimbal lock
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if (labs(pitch_axis) > 4500) {
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pitch_axis = constrain(pitch_axis, -4500, 4500);
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angle_error = wrap_180(pitch_axis - ahrs.pitch_sensor);
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} else {
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// angle error with maximum of +- max_angle_overshoot
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angle_error = wrap_180(pitch_axis - ahrs.pitch_sensor);
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angle_error = constrain(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
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}
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if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) {
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angle_error = 0;
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}
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// update pitch_axis to be within max_angle_overshoot of our current heading
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pitch_axis = wrap_180(angle_error + ahrs.pitch_sensor);
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// set earth frame targets for rate controller
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set_pitch_rate_target(g.pi_stabilize_pitch.get_p(angle_error) + target_rate, EARTH_FRAME);
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}
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// Yaw with rate input and stabilized in the earth frame
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static void
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get_yaw_rate_stabilized_ef(int32_t stick_angle)
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{
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int32_t angle_error = 0;
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// convert the input to the desired yaw rate
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int32_t target_rate = stick_angle * g.acro_p;
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// convert the input to the desired yaw rate
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nav_yaw += target_rate * G_Dt;
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nav_yaw = wrap_360(nav_yaw);
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// calculate difference between desired heading and current heading
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angle_error = wrap_180(nav_yaw - ahrs.yaw_sensor);
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// limit the maximum overshoot
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angle_error = constrain(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
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if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) {
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angle_error = 0;
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}
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// update nav_yaw to be within max_angle_overshoot of our current heading
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nav_yaw = wrap_360(angle_error + ahrs.yaw_sensor);
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// set earth frame targets for rate controller
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set_yaw_rate_target(g.pi_stabilize_yaw.get_p(angle_error)+target_rate, EARTH_FRAME);
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}
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// Accel controled Roll and Pitch
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static void
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get_roll_pitch_accel(int16_t accel_forward, int16_t accel_right)
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{
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static float z_accel_meas = 0; // The acceleration error in cm.
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int16_t desired_roll;
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int16_t desired_pitch;
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// int16_t forward_accel_meas;
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// int16_t right_accel_meas;
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// int16_t accel_forward_error;
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// int16_t accel_right_error;
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Vector3f accel = ins.get_accel();
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// calculate accel error and Filter with fc = 2 Hz
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z_accel_meas = z_accel_meas + 0.11164 * (accel.z*100 - z_accel_meas);
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// Matrix3f dcm_matrix = ahrs.get_dcm_matrix();
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// Calculate Earth Frame Z acceleration
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// forward_accel_meas = (accel.x * cos_pitch_x + accel.y * sin_roll * sin_pitch + accel.z * cos_roll_x * sin_pitch)* 100.0;
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// right_accel_meas = (accel.y * cos_roll_x - accel.z * sin_roll)* 100.0;
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// accel_forward_error = accel_forward - forward_accel_meas;
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// accel_right_error = accel_right - right_accel_meas;
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// forward_p = g.pid_loiter_accel_forward.get_p(lat_speed_error);
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// forward_i = g.pid_loiter_accel_forward.get_i(lat_speed_error, .01);
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// forward_d = g.pid_loiter_accel_forward.get_d(lat_speed_error, .01);
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// right_p = g.pid_loiter_accel_right.get_p(lon_speed_error);
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// right_i = g.pid_loiter_accel_right.get_i(lon_speed_error, .01);
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// right_d = g.pid_loiter_accel_right.get_d(lon_speed_error, .01);
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desired_roll = constrain((accel_right/(-z_accel_meas))*(18000/M_PI), -4500, 4500);
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desired_pitch = constrain((-accel_forward/(-z_accel_meas*cos_roll_x))*(18000/M_PI), -4500, 4500);
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get_stabilize_roll(desired_roll);
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get_stabilize_pitch(desired_pitch);
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// for logging purposes only
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nav_roll = desired_roll;
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nav_pitch = desired_pitch;
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//Serial.printf("Test: accel_x:%4.2f accel_y:%4.2f z_accel_meas:%4.2f desired_roll:%4.2f desired_pitch:%4.2f M_PI:%4.2f \n", 1.0*accel_x, 1.0*accel_y, 1.0*z_accel_meas, 1.0*control_roll, 1.0*control_pitch, 1.0*M_PI);
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}
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// Velocity controled Roll and Pitch
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static void
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get_roll_pitch_vel(int16_t vel_x, int16_t vel_y)
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{
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static float lat_speed_error = 0; // The velocity in cm/s.
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static float lon_speed_error = 0; // The velocity in cm/s.
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float lat_speed = inertial_nav.get_latitude_velocity();
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float lon_speed = inertial_nav.get_longitude_velocity();
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int16_t lat_vel;
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int16_t lon_vel;
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int16_t accel_x;
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int16_t accel_y;
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float accel_total;
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int16_t lat_p,lat_i,lat_d;
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int16_t lon_p,lon_i,lon_d;
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lat_vel = vel_x*cos_yaw - vel_y*sin_yaw;
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lon_vel = vel_x*sin_yaw + vel_y*cos_yaw;
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// calculate vel error and Filter with fc = 2 Hz
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lat_speed_error = lat_speed_error + 0.11164 * ((lat_vel -lat_speed) - lat_speed_error);
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lon_speed_error = lon_speed_error + 0.11164 * ((lon_vel - lon_speed) - lon_speed_error);
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lat_p = g.pid_loiter_rate_lat.get_p(lat_speed_error);
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lat_i = g.pid_loiter_rate_lat.get_i(lat_speed_error, .01);
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lat_d = g.pid_loiter_rate_lat.get_d(lat_speed_error, .01);
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lon_p = g.pid_loiter_rate_lon.get_p(lon_speed_error);
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lon_i = g.pid_loiter_rate_lon.get_i(lon_speed_error, .01);
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lon_d = g.pid_loiter_rate_lon.get_d(lon_speed_error, .01);
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accel_x = (lat_p+lat_i+lat_d)*cos_yaw + (lon_p+lon_i+lon_d)*sin_yaw;
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accel_y = -(lat_p+lat_i+lat_d)*sin_yaw + (lon_p+lon_i+lon_d)*cos_yaw;
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accel_total = safe_sqrt(accel_x*accel_x + accel_y*accel_y);
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if( accel_total > 300 ) {
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accel_x = 300 * accel_x/accel_total;
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accel_y = 300 * accel_x/accel_total;
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}
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get_roll_pitch_accel(accel_x, accel_y);
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// log output if PID logging is on and we are tuning the yaw
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/*pid_log_counter++;
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if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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pid_log_counter = 0;
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Log_Write_PID(1, lat_speed_error, lat_p, lat_i, lat_d, (lat_p+lat_i+lat_d), accel_x);
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Log_Write_PID(2, lon_speed_error, lon_p, lon_i, lon_d, (lon_p+lon_i+lon_d), accel_y);
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}*/
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//Serial.printf("Test: vel_x:%4.2f vel_y:%4.2f sin_yaw:%4.2f cos_yaw:%4.2f accel_x:%4.2f accel_y:%4.2f \n", 1.0*vel_x, 1.0*vel_y, 1.0*sin_yaw, 1.0*cos_yaw, 1.0*accel_x, 1.0*accel_y);
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}
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// Velocity controled Roll and Pitch
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static void
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get_roll_pitch_pos(int32_t target_lat, int32_t target_lon)
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{
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static float lat_error;
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int16_t desired_lat_vel;
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static float lon_error;
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int16_t desired_lon_vel;
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float total_error;
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int16_t sqrt_vel;
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int16_t vel_x;
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int16_t vel_y;
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int16_t linear_distance; // the distace we swap between linear and sqrt.
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// calculate distance error and Filter with fc = 2 Hz
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lat_error = lat_error + 0.11164 * ((target_lat - inertial_nav.get_latitude_diff()) - lat_error);
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lon_error = lon_error + 0.11164 * ((target_lon - inertial_nav.get_longitude_diff()) - lon_error);
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linear_distance = 250/(2*g.pi_loiter_lat.kP()*g.pi_loiter_lat.kP());
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total_error = safe_sqrt(lat_error*lat_error + lon_error*lon_error);
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if( total_error > 2*linear_distance ) {
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sqrt_vel = constrain(safe_sqrt(2*250*(total_error-linear_distance)),0,1000);
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desired_lat_vel = sqrt_vel * lat_error/total_error;
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desired_lon_vel = sqrt_vel * lon_error/total_error;
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}else{
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desired_lat_vel = g.pi_loiter_lat.get_p(lat_error);
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desired_lon_vel = g.pi_loiter_lon.get_p(lon_error);
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}
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vel_x = constrain(desired_lat_vel*cos_yaw + desired_lon_vel*sin_yaw, -3000, 3000);
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vel_y = constrain(-desired_lat_vel*sin_yaw + desired_lon_vel*cos_yaw, -3000, 3000);
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get_roll_pitch_vel(vel_x, vel_y);
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// log output if PID logging is on and we are tuning the yaw
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/*pid_log_counter++;
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if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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pid_log_counter = 0;
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Log_Write_PID(3, lat_error, lon_error, desired_lat_vel, desired_lon_vel, total_error, linear_distance);
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}*/
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// Serial.printf("Test: target_lat:%4.2f inertial_nav.get_latitude_diff():%4.2f linear_distance:%4.2f desired_lat_vel:%4.2f vel_x:%4.2f \n", 1.0*target_lat, 1.0*inertial_nav.get_latitude_diff(), 1.0*linear_distance, 1.0*desired_lat_vel, 1.0*vel_x);
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// Serial.printf("Test: target_lon:%4.2f inertial_nav.get_longitude_diff():%4.2f linear_distance:%4.2f desired_lon_vel:%4.2f vel_y:%4.2f \n", 1.0*target_lon, 1.0*inertial_nav.get_longitude_diff(), 1.0*linear_distance, 1.0*desired_lon_vel, 1.0*vel_y);
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}
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// set_roll_rate_target - to be called by upper controllers to set roll rate targets in the earth frame
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void set_roll_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
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rate_targets_frame = earth_or_body_frame;
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if( earth_or_body_frame == BODY_FRAME ) {
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roll_rate_target_bf = desired_rate;
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}else{
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roll_rate_target_ef = desired_rate;
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}
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}
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// set_pitch_rate_target - to be called by upper controllers to set pitch rate targets in the earth frame
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void set_pitch_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
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rate_targets_frame = earth_or_body_frame;
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if( earth_or_body_frame == BODY_FRAME ) {
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pitch_rate_target_bf = desired_rate;
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}else{
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pitch_rate_target_ef = desired_rate;
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}
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}
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// set_yaw_rate_target - to be called by upper controllers to set yaw rate targets in the earth frame
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void set_yaw_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
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rate_targets_frame = earth_or_body_frame;
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if( earth_or_body_frame == BODY_FRAME ) {
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yaw_rate_target_bf = desired_rate;
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}else{
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yaw_rate_target_ef = desired_rate;
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}
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}
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// update_rate_contoller_targets - converts earth frame rates to body frame rates for rate controllers
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void
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update_rate_contoller_targets()
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{
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if( rate_targets_frame == EARTH_FRAME ) {
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// convert earth frame rates to body frame rates
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roll_rate_target_bf = roll_rate_target_ef - sin_pitch * yaw_rate_target_ef;
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pitch_rate_target_bf = cos_roll_x * pitch_rate_target_ef + sin_roll * cos_pitch_x * yaw_rate_target_ef;
|
|
yaw_rate_target_bf = cos_pitch_x * cos_roll_x * yaw_rate_target_ef - sin_roll * pitch_rate_target_ef;
|
|
}
|
|
}
|
|
|
|
// run roll, pitch and yaw rate controllers and send output to motors
|
|
// targets for these controllers comes from stabilize controllers
|
|
void
|
|
run_rate_controllers()
|
|
{
|
|
#if FRAME_CONFIG == HELI_FRAME // helicopters only use rate controllers for yaw and only when not using an external gyro
|
|
if(!motors.ext_gyro_enabled) {
|
|
g.rc_1.servo_out = get_heli_rate_roll(roll_rate_target_bf);
|
|
g.rc_2.servo_out = get_heli_rate_pitch(pitch_rate_target_bf);
|
|
g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf);
|
|
}
|
|
#else
|
|
// call rate controllers
|
|
g.rc_1.servo_out = get_rate_roll(roll_rate_target_bf);
|
|
g.rc_2.servo_out = get_rate_pitch(pitch_rate_target_bf);
|
|
g.rc_4.servo_out = get_rate_yaw(yaw_rate_target_bf);
|
|
#endif
|
|
|
|
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
|
|
if( g.throttle_accel_enabled && throttle_accel_controller_active ) {
|
|
set_throttle_out(get_throttle_accel(throttle_accel_target_ef), true);
|
|
}
|
|
}
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// init_rate_controllers - set-up filters for rate controller inputs
|
|
void init_rate_controllers()
|
|
{
|
|
// initalise low pass filters on rate controller inputs
|
|
// 1st parameter is time_step, 2nd parameter is time_constant
|
|
rate_roll_filter.set_cutoff_frequency(0.01, 2.0);
|
|
rate_pitch_filter.set_cutoff_frequency(0.01, 2.0);
|
|
// rate_yaw_filter.set_cutoff_frequency(0.01, 2.0);
|
|
// other option for initialisation is rate_roll_filter.set_cutoff_frequency(<time_step>,<cutoff_freq>);
|
|
}
|
|
|
|
static int16_t
|
|
get_heli_rate_roll(int32_t target_rate)
|
|
{
|
|
int32_t p,i,d,ff; // used to capture pid values for logging
|
|
int32_t current_rate; // this iteration's rate
|
|
int32_t rate_error; // simply target_rate - current_rate
|
|
int32_t output; // output from pid controller
|
|
|
|
// get current rate
|
|
current_rate = (omega.x * DEGX100);
|
|
|
|
// filter input
|
|
current_rate = rate_roll_filter.apply(current_rate);
|
|
|
|
// call pid controller
|
|
rate_error = target_rate - current_rate;
|
|
p = g.pid_rate_roll.get_p(rate_error);
|
|
|
|
if (motors.flybar_mode == 1) { // Mechanical Flybars get regular integral for rate auto trim
|
|
if (target_rate > -50 && target_rate < 50){ // Frozen at high rates
|
|
i = g.pid_rate_roll.get_i(rate_error, G_Dt);
|
|
} else {
|
|
i = g.pid_rate_roll.get_integrator();
|
|
}
|
|
} else {
|
|
i = g.pid_rate_roll.get_leaky_i(rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
|
|
}
|
|
|
|
d = g.pid_rate_roll.get_d(rate_error, G_Dt);
|
|
|
|
ff = g.heli_roll_ff * target_rate;
|
|
|
|
output = p + i + d + ff;
|
|
|
|
// constrain output
|
|
output = constrain(output, -4500, 4500);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
|
|
pid_log_counter++;
|
|
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_RATE_KP, rate_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// output control
|
|
return output;
|
|
}
|
|
|
|
static int16_t
|
|
get_heli_rate_pitch(int32_t target_rate)
|
|
{
|
|
int32_t p,i,d,ff; // used to capture pid values for logging
|
|
int32_t current_rate; // this iteration's rate
|
|
int32_t rate_error; // simply target_rate - current_rate
|
|
int32_t output; // output from pid controller
|
|
|
|
// get current rate
|
|
current_rate = (omega.y * DEGX100);
|
|
|
|
// filter input
|
|
current_rate = rate_pitch_filter.apply(current_rate);
|
|
|
|
// call pid controller
|
|
rate_error = target_rate - current_rate;
|
|
p = g.pid_rate_pitch.get_p(rate_error); // Helicopters get huge feed-forward
|
|
|
|
if (motors.flybar_mode == 1) { // Mechanical Flybars get regular integral for rate auto trim
|
|
if (target_rate > -50 && target_rate < 50){ // Frozen at high rates
|
|
i = g.pid_rate_pitch.get_i(rate_error, G_Dt);
|
|
} else {
|
|
i = g.pid_rate_pitch.get_integrator();
|
|
}
|
|
} else {
|
|
i = g.pid_rate_pitch.get_leaky_i(rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
|
|
}
|
|
|
|
d = g.pid_rate_pitch.get_d(rate_error, G_Dt);
|
|
|
|
ff = g.heli_pitch_ff*target_rate;
|
|
|
|
output = p + i + d + ff;
|
|
|
|
// constrain output
|
|
output = constrain(output, -4500, 4500);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
|
|
if( pid_log_counter == 0 ) { // relies on get_heli_rate_roll to update pid_log_counter
|
|
Log_Write_PID(CH6_RATE_KP+100, rate_error, p, i, 0, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// output control
|
|
return output;
|
|
}
|
|
|
|
static int16_t
|
|
get_heli_rate_yaw(int32_t target_rate)
|
|
{
|
|
int32_t p,i,d,ff; // used to capture pid values for logging
|
|
int32_t current_rate; // this iteration's rate
|
|
int32_t rate_error;
|
|
int32_t output;
|
|
|
|
// get current rate
|
|
current_rate = (omega.z * DEGX100);
|
|
|
|
// filter input
|
|
// current_rate = rate_yaw_filter.apply(current_rate);
|
|
|
|
// rate control
|
|
rate_error = target_rate - current_rate;
|
|
|
|
// separately calculate p, i, d values for logging
|
|
p = g.pid_rate_yaw.get_p(rate_error);
|
|
|
|
i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
|
|
|
|
d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
|
|
|
|
ff = g.heli_yaw_ff*target_rate;
|
|
|
|
output = p + i + d + ff;
|
|
output = constrain(output, -4500, 4500);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID loggins is on and we are tuning the yaw
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_RATE_KP || g.radio_tuning == CH6_YAW_RATE_KD) ) {
|
|
pid_log_counter++;
|
|
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
|
|
#endif
|
|
|
|
// output control
|
|
return output;
|
|
}
|
|
#endif // HELI_FRAME
|
|
|
|
#if FRAME_CONFIG != HELI_FRAME
|
|
static int16_t
|
|
get_rate_roll(int32_t target_rate)
|
|
{
|
|
int32_t p,i,d; // used to capture pid values for logging
|
|
int32_t current_rate; // this iteration's rate
|
|
int32_t rate_error; // simply target_rate - current_rate
|
|
int32_t output; // output from pid controller
|
|
|
|
// get current rate
|
|
current_rate = (omega.x * DEGX100);
|
|
|
|
// call pid controller
|
|
rate_error = target_rate - current_rate;
|
|
p = g.pid_rate_roll.get_p(rate_error);
|
|
|
|
// freeze I term if we've breached roll-pitch limits
|
|
if( motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) ) {
|
|
i = g.pid_rate_roll.get_integrator();
|
|
}else{
|
|
i = g.pid_rate_roll.get_i(rate_error, G_Dt);
|
|
}
|
|
|
|
d = g.pid_rate_roll.get_d(rate_error, G_Dt);
|
|
output = p + i + d;
|
|
|
|
// constrain output
|
|
output = constrain(output, -5000, 5000);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
|
|
pid_log_counter++; // Note: get_rate_pitch pid logging relies on this function to update pid_log_counter so if you change the line above you must change the equivalent line in get_rate_pitch
|
|
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_RATE_KP, rate_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// output control
|
|
return output;
|
|
}
|
|
|
|
static int16_t
|
|
get_rate_pitch(int32_t target_rate)
|
|
{
|
|
int32_t p,i,d; // used to capture pid values for logging
|
|
int32_t current_rate; // this iteration's rate
|
|
int32_t rate_error; // simply target_rate - current_rate
|
|
int32_t output; // output from pid controller
|
|
|
|
// get current rate
|
|
current_rate = (omega.y * DEGX100);
|
|
|
|
// call pid controller
|
|
rate_error = target_rate - current_rate;
|
|
p = g.pid_rate_pitch.get_p(rate_error);
|
|
// freeze I term if we've breached roll-pitch limits
|
|
if( motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) ) {
|
|
i = g.pid_rate_pitch.get_integrator();
|
|
}else{
|
|
i = g.pid_rate_pitch.get_i(rate_error, G_Dt);
|
|
}
|
|
d = g.pid_rate_pitch.get_d(rate_error, G_Dt);
|
|
output = p + i + d;
|
|
|
|
// constrain output
|
|
output = constrain(output, -5000, 5000);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
|
|
if( pid_log_counter == 0 ) { // relies on get_rate_roll having updated pid_log_counter
|
|
Log_Write_PID(CH6_RATE_KP+100, rate_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// output control
|
|
return output;
|
|
}
|
|
|
|
static int16_t
|
|
get_rate_yaw(int32_t target_rate)
|
|
{
|
|
int32_t p,i,d; // used to capture pid values for logging
|
|
int32_t rate_error;
|
|
int32_t output;
|
|
|
|
// rate control
|
|
rate_error = target_rate - (omega.z * DEGX100);
|
|
|
|
// separately calculate p, i, d values for logging
|
|
p = g.pid_rate_yaw.get_p(rate_error);
|
|
// freeze I term if we've breached yaw limits
|
|
if( motors.reached_limit(AP_MOTOR_YAW_LIMIT) ) {
|
|
i = g.pid_rate_yaw.get_integrator();
|
|
}else{
|
|
i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
|
|
}
|
|
d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
|
|
|
|
output = p+i+d;
|
|
output = constrain(output, -4500, 4500);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID loggins is on and we are tuning the yaw
|
|
if( g.log_bitmask & MASK_LOG_PID && g.radio_tuning == CH6_YAW_RATE_KP ) {
|
|
pid_log_counter++;
|
|
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if FRAME_CONFIG == TRI_FRAME
|
|
// constrain output
|
|
return output;
|
|
#else // !TRI_FRAME
|
|
// output control:
|
|
int16_t yaw_limit = 2200 + abs(g.rc_4.control_in);
|
|
|
|
// smoother Yaw control:
|
|
return constrain(output, -yaw_limit, yaw_limit);
|
|
#endif // TRI_FRAME
|
|
}
|
|
#endif // !HELI_FRAME
|
|
|
|
// calculate modified roll/pitch depending upon optical flow calculated position
|
|
static int32_t
|
|
get_of_roll(int32_t input_roll)
|
|
{
|
|
#if OPTFLOW == ENABLED
|
|
static float tot_x_cm = 0; // total distance from target
|
|
static uint32_t last_of_roll_update = 0;
|
|
int32_t new_roll = 0;
|
|
int32_t p,i,d;
|
|
|
|
// check if new optflow data available
|
|
if( optflow.last_update != last_of_roll_update) {
|
|
last_of_roll_update = optflow.last_update;
|
|
|
|
// add new distance moved
|
|
tot_x_cm += optflow.x_cm;
|
|
|
|
// only stop roll if caller isn't modifying roll
|
|
if( input_roll == 0 && current_loc.alt < 1500) {
|
|
p = g.pid_optflow_roll.get_p(-tot_x_cm);
|
|
i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0); // we could use the last update time to calculate the time change
|
|
d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0);
|
|
new_roll = p+i+d;
|
|
}else{
|
|
g.pid_optflow_roll.reset_I();
|
|
tot_x_cm = 0;
|
|
p = 0; // for logging
|
|
i = 0;
|
|
d = 0;
|
|
}
|
|
// limit amount of change and maximum angle
|
|
of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
|
|
pid_log_counter++; // Note: get_of_pitch pid logging relies on this function updating pid_log_counter so if you change the line above you must change the equivalent line in get_of_pitch
|
|
if( pid_log_counter >= 5 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value);
|
|
}
|
|
}
|
|
#endif // LOGGING_ENABLED == ENABLED
|
|
}
|
|
|
|
// limit max angle
|
|
of_roll = constrain(of_roll, -1000, 1000);
|
|
|
|
return input_roll+of_roll;
|
|
#else
|
|
return input_roll;
|
|
#endif
|
|
}
|
|
|
|
static int32_t
|
|
get_of_pitch(int32_t input_pitch)
|
|
{
|
|
#if OPTFLOW == ENABLED
|
|
static float tot_y_cm = 0; // total distance from target
|
|
static uint32_t last_of_pitch_update = 0;
|
|
int32_t new_pitch = 0;
|
|
int32_t p,i,d;
|
|
|
|
// check if new optflow data available
|
|
if( optflow.last_update != last_of_pitch_update ) {
|
|
last_of_pitch_update = optflow.last_update;
|
|
|
|
// add new distance moved
|
|
tot_y_cm += optflow.y_cm;
|
|
|
|
// only stop roll if caller isn't modifying pitch
|
|
if( input_pitch == 0 && current_loc.alt < 1500 ) {
|
|
p = g.pid_optflow_pitch.get_p(tot_y_cm);
|
|
i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
|
|
d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0);
|
|
new_pitch = p + i + d;
|
|
}else{
|
|
tot_y_cm = 0;
|
|
g.pid_optflow_pitch.reset_I();
|
|
p = 0; // for logging
|
|
i = 0;
|
|
d = 0;
|
|
}
|
|
|
|
// limit amount of change
|
|
of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID logging is on and we are tuning the rate P, I or D gains
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
|
|
if( pid_log_counter == 0 ) { // relies on get_of_roll having updated the pid_log_counter
|
|
Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value);
|
|
}
|
|
}
|
|
#endif // LOGGING_ENABLED == ENABLED
|
|
}
|
|
|
|
// limit max angle
|
|
of_pitch = constrain(of_pitch, -1000, 1000);
|
|
|
|
return input_pitch+of_pitch;
|
|
#else
|
|
return input_pitch;
|
|
#endif
|
|
}
|
|
|
|
/*************************************************************
|
|
* yaw controllers
|
|
*************************************************************/
|
|
|
|
static void get_look_ahead_yaw(int16_t pilot_yaw)
|
|
{
|
|
// Commanded Yaw to automatically look ahead.
|
|
if (g_gps->fix && g_gps->ground_course > YAW_LOOK_AHEAD_MIN_SPEED) {
|
|
nav_yaw = get_yaw_slew(nav_yaw, g_gps->ground_course, AUTO_YAW_SLEW_RATE);
|
|
get_stabilize_yaw(wrap_360(nav_yaw + pilot_yaw)); // Allow pilot to "skid" around corners up to 45 degrees
|
|
}else{
|
|
nav_yaw += pilot_yaw * g.acro_p * G_Dt;
|
|
nav_yaw = wrap_360(nav_yaw);
|
|
get_stabilize_yaw(nav_yaw);
|
|
}
|
|
}
|
|
|
|
/*************************************************************
|
|
* throttle control
|
|
****************************************************************/
|
|
|
|
// update_throttle_cruise - update throttle cruise if necessary
|
|
static void update_throttle_cruise(int16_t throttle)
|
|
{
|
|
// ensure throttle_avg has been initialised
|
|
if( throttle_avg == 0 ) {
|
|
throttle_avg = g.throttle_cruise;
|
|
}
|
|
// calc average throttle if we are in a level hover
|
|
if (throttle > g.throttle_min && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
|
|
throttle_avg = throttle_avg * 0.99f + (float)throttle * 0.01f;
|
|
g.throttle_cruise = throttle_avg;
|
|
}
|
|
}
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// get_angle_boost - returns a throttle including compensation for roll/pitch angle
|
|
// throttle value should be 0 ~ 1000
|
|
// for traditional helicopters
|
|
static int16_t get_angle_boost(int16_t throttle)
|
|
{
|
|
float angle_boost_factor = cos_pitch_x * cos_roll_x;
|
|
angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
|
|
int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0);
|
|
|
|
// to allow logging of angle boost
|
|
angle_boost = throttle_above_mid*angle_boost_factor;
|
|
|
|
return throttle + angle_boost;
|
|
}
|
|
#else // all multicopters
|
|
// get_angle_boost - returns a throttle including compensation for roll/pitch angle
|
|
// throttle value should be 0 ~ 1000
|
|
static int16_t get_angle_boost(int16_t throttle)
|
|
{
|
|
float temp = cos_pitch_x * cos_roll_x;
|
|
int16_t throttle_out;
|
|
|
|
temp = constrain(temp, .5, 1.0);
|
|
temp = constrain(9000-max(labs(roll_axis),labs(pitch_axis)), 0, 3000) / (3000 * temp);
|
|
throttle_out = constrain((float)(throttle-g.throttle_min) * temp + g.throttle_min, g.throttle_min, 1000);
|
|
//Serial.printf("Thin:%4.2f sincos:%4.2f temp:%4.2f roll_axis:%4.2f Out:%4.2f \n", 1.0*throttle, 1.0*cos_pitch_x * cos_roll_x, 1.0*temp, 1.0*roll_axis, 1.0*constrain((float)value * temp, 0, 1000));
|
|
|
|
// to allow logging of angle boost
|
|
angle_boost = throttle_out - throttle;
|
|
|
|
return throttle_out;
|
|
}
|
|
#endif // FRAME_CONFIG == HELI_FRAME
|
|
|
|
// set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
|
|
// provide 0 to cut motors
|
|
void set_throttle_out( int16_t throttle_out, bool apply_angle_boost )
|
|
{
|
|
if( apply_angle_boost ) {
|
|
g.rc_3.servo_out = get_angle_boost(throttle_out);
|
|
}else{
|
|
g.rc_3.servo_out = throttle_out;
|
|
// clear angle_boost for logging purposes
|
|
angle_boost = 0;
|
|
}
|
|
}
|
|
|
|
// set_throttle_accel_target - to be called by upper throttle controllers to set desired vertical acceleration in earth frame
|
|
void set_throttle_accel_target( int16_t desired_acceleration )
|
|
{
|
|
if( g.throttle_accel_enabled ) {
|
|
throttle_accel_target_ef = desired_acceleration;
|
|
throttle_accel_controller_active = true;
|
|
}else{
|
|
// To-Do log dataflash or tlog error
|
|
cliSerial->print_P(PSTR("Err: target sent to inactive acc thr controller!\n"));
|
|
}
|
|
}
|
|
|
|
// disable_throttle_accel - disables the accel based throttle controller
|
|
// it will be re-enasbled on the next set_throttle_accel_target
|
|
// required when we wish to set motors to zero when pilot inputs zero throttle
|
|
void throttle_accel_deactivate()
|
|
{
|
|
throttle_accel_controller_active = false;
|
|
}
|
|
|
|
// get_throttle_accel - accelerometer based throttle controller
|
|
// returns an actual throttle output (0 ~ 1000) to be sent to the motors
|
|
static int16_t
|
|
get_throttle_accel(int16_t z_target_accel)
|
|
{
|
|
static float z_accel_error = 0; // The acceleration error in cm.
|
|
static uint32_t last_call_ms = 0; // the last time this controller was called
|
|
int32_t p,i,d; // used to capture pid values for logging
|
|
int16_t output;
|
|
float z_accel_meas;
|
|
uint32_t now = millis();
|
|
|
|
// Calculate Earth Frame Z acceleration
|
|
z_accel_meas = -(ahrs.get_accel_ef().z + GRAVITY_MSS) * 100;
|
|
|
|
// reset target altitude if this controller has just been engaged
|
|
if( now - last_call_ms > 100 ) {
|
|
// Reset Filter
|
|
z_accel_error = 0;
|
|
} else {
|
|
// calculate accel error and Filter with fc = 2 Hz
|
|
z_accel_error = z_accel_error + 0.11164f * (constrain(z_target_accel - z_accel_meas, -32000, 32000) - z_accel_error);
|
|
}
|
|
last_call_ms = now;
|
|
|
|
// separately calculate p, i, d values for logging
|
|
p = g.pid_throttle_accel.get_p(z_accel_error);
|
|
// freeze I term if we've breached throttle limits
|
|
if( motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT) ) {
|
|
i = g.pid_throttle_accel.get_integrator();
|
|
}else{
|
|
i = g.pid_throttle_accel.get_i(z_accel_error, .01);
|
|
}
|
|
d = g.pid_throttle_accel.get_d(z_accel_error, .01);
|
|
|
|
//
|
|
// limit the rate
|
|
output = constrain(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID loggins is on and we are tuning the yaw
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_THR_ACCEL_KP || g.radio_tuning == CH6_THR_ACCEL_KI || g.radio_tuning == CH6_THR_ACCEL_KD) ) {
|
|
pid_log_counter++;
|
|
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_THR_ACCEL_KP, z_accel_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
return output;
|
|
}
|
|
|
|
// get_pilot_desired_climb_rate - transform pilot's throttle input to
|
|
// climb rate in cm/s. we use radio_in instead of control_in to get the full range
|
|
// without any deadzone at the bottom
|
|
#define THROTTLE_IN_MIDDLE 500 // the throttle mid point
|
|
#define THROTTLE_IN_DEADBAND 100 // the throttle input channel's deadband in PWM
|
|
#define THROTTLE_IN_DEADBAND_TOP (THROTTLE_IN_MIDDLE+THROTTLE_IN_DEADBAND) // top of the deadband
|
|
#define THROTTLE_IN_DEADBAND_BOTTOM (THROTTLE_IN_MIDDLE-THROTTLE_IN_DEADBAND) // bottom of the deadband
|
|
static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
|
|
{
|
|
int16_t desired_rate = 0;
|
|
|
|
// throttle failsafe check
|
|
if( ap.failsafe ) {
|
|
return 0;
|
|
}
|
|
|
|
// ensure a reasonable throttle value
|
|
throttle_control = constrain(throttle_control,0,1000);
|
|
|
|
// check throttle is above, below or in the deadband
|
|
if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
|
|
// below the deadband
|
|
desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
|
|
}else if (throttle_control > THROTTLE_IN_DEADBAND_TOP) {
|
|
// above the deadband
|
|
desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
|
|
}else{
|
|
// must be in the deadband
|
|
desired_rate = 0;
|
|
}
|
|
|
|
// desired climb rate for logging
|
|
desired_climb_rate = desired_rate;
|
|
|
|
return desired_rate;
|
|
}
|
|
|
|
// get_pilot_desired_acceleration - transform pilot's throttle input to a desired acceleration
|
|
// default upper and lower bounds are 500 cm/s/s (roughly 1/2 a G)
|
|
// returns acceleration in cm/s/s
|
|
static int16_t get_pilot_desired_acceleration(int16_t throttle_control)
|
|
{
|
|
int32_t desired_accel = 0;
|
|
|
|
// throttle failsafe check
|
|
if( ap.failsafe ) {
|
|
return 0;
|
|
}
|
|
|
|
// ensure a reasonable throttle value
|
|
throttle_control = constrain(throttle_control,0,1000);
|
|
|
|
// check throttle is above, below or in the deadband
|
|
if (throttle_control < THROTTLE_IN_DEADBAND_BOTTOM) {
|
|
// below the deadband
|
|
desired_accel = (int32_t)ACCELERATION_MAX_Z * (throttle_control-THROTTLE_IN_DEADBAND_BOTTOM) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
|
|
}else if(throttle_control > THROTTLE_IN_DEADBAND_TOP) {
|
|
// above the deadband
|
|
desired_accel = (int32_t)ACCELERATION_MAX_Z * (throttle_control-THROTTLE_IN_DEADBAND_TOP) / (THROTTLE_IN_MIDDLE - THROTTLE_IN_DEADBAND);
|
|
}else{
|
|
// must be in the deadband
|
|
desired_accel = 0;
|
|
}
|
|
|
|
return desired_accel;
|
|
}
|
|
|
|
// get_pilot_desired_direct_alt - transform pilot's throttle input to a desired altitude
|
|
// return altitude in cm between 0 to 10m
|
|
static int32_t get_pilot_desired_direct_alt(int16_t throttle_control)
|
|
{
|
|
int32_t desired_alt = 0;
|
|
|
|
// throttle failsafe check
|
|
if( ap.failsafe ) {
|
|
return 0;
|
|
}
|
|
|
|
// ensure a reasonable throttle value
|
|
throttle_control = constrain(throttle_control,0,1000);
|
|
|
|
desired_alt = throttle_control;
|
|
|
|
return desired_alt;
|
|
}
|
|
|
|
// get_throttle_rate - calculates desired accel required to achieve desired z_target_speed
|
|
// sets accel based throttle controller target
|
|
static void
|
|
get_throttle_rate(int16_t z_target_speed)
|
|
{
|
|
static uint32_t last_call_ms = 0;
|
|
static float z_rate_error = 0; // The velocity error in cm.
|
|
int32_t p,i,d; // used to capture pid values for logging
|
|
int16_t output; // the target acceleration if the accel based throttle is enabled, otherwise the output to be sent to the motors
|
|
uint32_t now = millis();
|
|
|
|
// reset target altitude if this controller has just been engaged
|
|
if( now - last_call_ms > 100 ) {
|
|
// Reset Filter
|
|
z_rate_error = 0;
|
|
} else {
|
|
// calculate rate error and filter with cut off frequency of 2 Hz
|
|
z_rate_error = z_rate_error + 0.20085f * ((z_target_speed - climb_rate) - z_rate_error);
|
|
}
|
|
last_call_ms = now;
|
|
|
|
// separately calculate p, i, d values for logging
|
|
p = g.pid_throttle.get_p(z_rate_error);
|
|
|
|
// freeze I term if we've breached throttle limits
|
|
if(motors.reached_limit(AP_MOTOR_THROTTLE_LIMIT)) {
|
|
i = g.pid_throttle.get_integrator();
|
|
}else{
|
|
i = g.pid_throttle.get_i(z_rate_error, .02);
|
|
}
|
|
d = g.pid_throttle.get_d(z_rate_error, .02);
|
|
|
|
// consolidate target acceleration
|
|
output = p+i+d;
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// log output if PID loggins is on and we are tuning the yaw
|
|
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_THROTTLE_KP || g.radio_tuning == CH6_THROTTLE_KI || g.radio_tuning == CH6_THROTTLE_KD) ) {
|
|
pid_log_counter++;
|
|
if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (50hz / 10hz) = 5hz
|
|
pid_log_counter = 0;
|
|
Log_Write_PID(CH6_THROTTLE_KP, z_rate_error, p, i, d, output, tuning_value);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// send output to accelerometer based throttle controller if enabled otherwise send directly to motors
|
|
if( g.throttle_accel_enabled ) {
|
|
// set target for accel based throttle controller
|
|
set_throttle_accel_target(output);
|
|
}else{
|
|
set_throttle_out(g.throttle_cruise+output, true);
|
|
}
|
|
|
|
// update throttle cruise
|
|
// TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration
|
|
if( z_target_speed == 0 ) {
|
|
update_throttle_cruise(g.rc_3.servo_out);
|
|
}
|
|
}
|
|
|
|
// get_throttle_althold - hold at the desired altitude in cm
|
|
// updates accel based throttle controller targets
|
|
// Note: max_climb_rate is an optional parameter to allow reuse of this function by landing controller
|
|
static void
|
|
get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate)
|
|
{
|
|
int32_t alt_error;
|
|
int16_t desired_rate;
|
|
int32_t linear_distance; // the distace we swap between linear and sqrt.
|
|
|
|
// calculate altitude error
|
|
alt_error = target_alt - current_loc.alt;
|
|
|
|
// check kP to avoid division by zero
|
|
if( g.pi_alt_hold.kP() != 0 ) {
|
|
linear_distance = 250/(2*g.pi_alt_hold.kP()*g.pi_alt_hold.kP());
|
|
if( alt_error > 2*linear_distance ) {
|
|
desired_rate = safe_sqrt(2*250*(alt_error-linear_distance));
|
|
}else if( alt_error < -2*linear_distance ) {
|
|
desired_rate = -safe_sqrt(2*250*(-alt_error-linear_distance));
|
|
}else{
|
|
desired_rate = g.pi_alt_hold.get_p(alt_error);
|
|
}
|
|
}else{
|
|
desired_rate = 0;
|
|
}
|
|
|
|
desired_rate = constrain(desired_rate, min_climb_rate, max_climb_rate);
|
|
|
|
// call rate based throttle controller which will update accel based throttle controller targets
|
|
get_throttle_rate(desired_rate);
|
|
|
|
// update altitude error reported to GCS
|
|
altitude_error = alt_error;
|
|
|
|
// TO-DO: enabled PID logging for this controller
|
|
}
|
|
|
|
// get_throttle_althold_with_slew - altitude controller with slew to avoid step changes in altitude target
|
|
// calls normal althold controller which updates accel based throttle controller targets
|
|
static void
|
|
get_throttle_althold_with_slew(int16_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate)
|
|
{
|
|
// limit target altitude change
|
|
controller_desired_alt += constrain(target_alt-controller_desired_alt, min_climb_rate*0.02, max_climb_rate*0.02);
|
|
|
|
// do not let target altitude get too far from current altitude
|
|
controller_desired_alt = constrain(controller_desired_alt,current_loc.alt-750,current_loc.alt+750);
|
|
|
|
get_throttle_althold(controller_desired_alt, min_climb_rate-250, max_climb_rate+250); // 250 is added to give head room to alt hold controller
|
|
}
|
|
|
|
// get_throttle_rate_stabilized - rate controller with additional 'stabilizer'
|
|
// 'stabilizer' ensure desired rate is being met
|
|
// calls normal throttle rate controller which updates accel based throttle controller targets
|
|
static void
|
|
get_throttle_rate_stabilized(int16_t target_rate)
|
|
{
|
|
controller_desired_alt += target_rate * 0.02f;
|
|
|
|
// do not let target altitude get too far from current altitude
|
|
controller_desired_alt = constrain(controller_desired_alt,current_loc.alt-750,current_loc.alt+750);
|
|
|
|
set_new_altitude(controller_desired_alt);
|
|
|
|
get_throttle_althold(controller_desired_alt, -g.pilot_velocity_z_max-250, g.pilot_velocity_z_max+250); // 250 is added to give head room to alt hold controller
|
|
}
|
|
|
|
// get_throttle_land - high level landing logic
|
|
// sends the desired acceleration in the accel based throttle controller
|
|
// called at 50hz
|
|
static void
|
|
get_throttle_land()
|
|
{
|
|
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
|
|
if (current_loc.alt >= LAND_START_ALT && !(g.sonar_enabled && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
|
|
get_throttle_althold_with_slew(LAND_START_ALT, g.auto_velocity_z_min, -abs(g.land_speed));
|
|
}else{
|
|
get_throttle_rate_stabilized(-abs(g.land_speed));
|
|
|
|
// detect whether we have landed by watching for minimum throttle and now movement
|
|
if (abs(climb_rate) < 20 && (g.rc_3.servo_out <= get_angle_boost(g.throttle_min) || g.pid_throttle_accel.get_integrator() <= -150)) {
|
|
if( land_detector < LAND_DETECTOR_TRIGGER ) {
|
|
land_detector++;
|
|
}else{
|
|
set_land_complete(true);
|
|
if( g.rc_3.control_in == 0 || ap.failsafe ) {
|
|
init_disarm_motors();
|
|
}
|
|
}
|
|
}else{
|
|
// we've sensed movement up or down so decrease land_detector
|
|
if (land_detector > 0 ) {
|
|
land_detector--;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// get_throttle_surface_tracking - hold copter at the desired distance above the ground
|
|
// updates accel based throttle controller targets
|
|
static void
|
|
get_throttle_surface_tracking(int16_t target_rate)
|
|
{
|
|
static float target_sonar_alt = 0; // The desired altitude in cm above the ground
|
|
static uint32_t last_call_ms = 0;
|
|
float distance_error;
|
|
float sonar_induced_slew_rate;
|
|
|
|
uint32_t now = millis();
|
|
|
|
// reset target altitude if this controller has just been engaged
|
|
if( now - last_call_ms > 200 ) {
|
|
target_sonar_alt = sonar_alt + controller_desired_alt - current_loc.alt;
|
|
}
|
|
last_call_ms = now;
|
|
|
|
target_sonar_alt += target_rate * 0.02f;
|
|
|
|
distance_error = (target_sonar_alt-sonar_alt);
|
|
sonar_induced_slew_rate = constrain(fabs(THR_SURFACE_TRACKING_P * distance_error),0,THR_SURFACE_TRACKING_VELZ_MAX);
|
|
|
|
// do not let target altitude get too far from current altitude above ground
|
|
// Note: the 750cm limit is perhaps too wide but is consistent with the regular althold limits and helps ensure a smooth transition
|
|
target_sonar_alt = constrain(target_sonar_alt,sonar_alt-750,sonar_alt+750);
|
|
controller_desired_alt = current_loc.alt+(target_sonar_alt-sonar_alt);
|
|
set_new_altitude(controller_desired_alt);
|
|
|
|
get_throttle_althold_with_slew(controller_desired_alt, target_rate-sonar_induced_slew_rate, target_rate+sonar_induced_slew_rate); // VELZ_MAX limits how quickly we react
|
|
}
|
|
|
|
/*
|
|
* 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_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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// this i is not currently being used, but we reset it anyway
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// because someone may modify it and not realize it, causing a bug
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g.pi_loiter_lat.reset_I();
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g.pi_loiter_lon.reset_I();
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g.pid_loiter_rate_lat.reset_I();
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g.pid_loiter_rate_lon.reset_I();
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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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g.pid_throttle_accel.reset_I();
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}
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static void set_accel_throttle_I_from_pilot_throttle(void)
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{
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// shift difference between pilot's throttle and hover throttle into accelerometer I
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g.pid_throttle_accel.set_integrator(g.rc_3.control_in-g.throttle_cruise);
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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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