mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
#include "Rover.h"
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// start cruise throttle and speed learning
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void Rover::cruise_learn_start()
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{
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// if disarmed or no speed available do nothing
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float speed;
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if (!arming.is_armed() || !g2.attitude_control.get_forward_speed(speed)) {
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cruise_learn.learn_start_ms = 0;
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning NOT started");
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return;
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}
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// start learning
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cruise_learn.speed_filt.reset(speed);
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cruise_learn.throttle_filt.reset(g2.motors.get_throttle());
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cruise_learn.learn_start_ms = AP_HAL::millis();
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cruise_learn.log_count = 0;
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#if HAL_LOGGING_ENABLED
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log_write_cruise_learn();
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#endif
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning started");
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}
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// update cruise learning with latest speed and throttle
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// should be called at 50hz
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void Rover::cruise_learn_update()
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{
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float speed;
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if (cruise_learn.learn_start_ms > 0 && g2.attitude_control.get_forward_speed(speed)) {
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// update filters with latest speed and throttle
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cruise_learn.speed_filt.apply(speed, 0.02f);
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cruise_learn.throttle_filt.apply(g2.motors.get_throttle(), 0.02f);
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// 10Hz logging
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#if HAL_LOGGING_ENABLED
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if (cruise_learn.log_count % 5 == 0) {
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log_write_cruise_learn();
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}
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cruise_learn.log_count += 1;
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#endif
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// check how long it took to learn
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if (AP_HAL::millis() - cruise_learn.learn_start_ms >= 2000) {
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cruise_learn_complete();
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}
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return;
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}
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}
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// complete cruise learning and save results
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void Rover::cruise_learn_complete()
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{
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// when switch is moved low, save learned cruise value
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if (cruise_learn.learn_start_ms > 0) {
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const float thr = cruise_learn.throttle_filt.get();
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const float speed = cruise_learn.speed_filt.get();
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if (thr >= 10.0f && thr <= 100.0f && is_positive(speed)) {
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g.throttle_cruise.set_and_save(thr);
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g.speed_cruise.set_and_save(speed);
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learned: Thr:%d Speed:%3.1f", (int)g.throttle_cruise, (double)g.speed_cruise);
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} else {
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning failed");
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}
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cruise_learn.learn_start_ms = 0;
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#if HAL_LOGGING_ENABLED
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log_write_cruise_learn();
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#endif
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}
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}
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#if HAL_LOGGING_ENABLED
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// logging for cruise learn
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void Rover::log_write_cruise_learn() const
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{
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// @LoggerMessage: CRSE
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// @Description: Cruise Learn messages
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// @URL: https://ardupilot.org/rover/docs/rover-tuning-throttle-and-speed.html
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// @Field: TimeUS: Time since system startup
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// @Field: State: True if Cruise Learn has started
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// @Field: Speed: Determined target Cruise speed in auto missions
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// @Field: Throttle: Determined base throttle percentage to be used in auto missions
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AP::logger().WriteStreaming("CRSE", "TimeUS,State,Speed,Throttle", "Qbff",
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AP_HAL::micros64(),
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cruise_learn.learn_start_ms > 0,
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cruise_learn.speed_filt.get(),
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cruise_learn.throttle_filt.get());
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}
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#endif
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