mirror of https://github.com/ArduPilot/ardupilot
302 lines
16 KiB
C++
302 lines
16 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AC_AttitudeControl.h
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/// @brief ArduCopter attitude control library
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#ifndef AC_AttitudeControl_H
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#define AC_AttitudeControl_H
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Motors/AP_Motors.h>
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#include <AC_PID/AC_PID.h>
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#include <AC_PID/AC_P.h>
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// To-Do: change the name or move to AP_Math?
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#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centi-degrees
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#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN 36000.0f // minimum body-frame acceleration limit for the stability controller (for roll and pitch axis)
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#define AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX 72000.0f // maximum body-frame acceleration limit for the stability controller (for roll and pitch axis)
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#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN 9000.0f // minimum body-frame acceleration limit for the stability controller (for yaw axis)
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#define AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX 36000.0f // maximum body-frame acceleration limit for the stability controller (for yaw axis)
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#define AC_ATTITUDE_CONTROL_SLEW_YAW_DEFAULT 1000 // constraint on yaw angle error in degrees. This should lead to maximum turn rate of 10deg/sed * Stab Rate P so by default will be 45deg/sec.
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#define AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT 110000.0f // default maximum acceleration for roll/pitch axis in centi-degrees/sec/sec
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#define AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT 27000.0f // default maximum acceleration for yaw axis in centi-degrees/sec/sec
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#define AC_ATTITUDE_RATE_CONTROLLER_TIMEOUT 1.0f // body-frame rate controller timeout in seconds
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#define AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX 5000.0f // body-frame rate controller maximum output (for roll-pitch axis)
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#define AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX 4500.0f // body-frame rate controller maximum output (for yaw axis)
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#define AC_ATTITUDE_ANGLE_YAW_CONTROLLER_OUT_MAX 4500.0f // earth-frame angle controller maximum output (for yaw axis)
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#define AC_ATTITUDE_ANGLE_CONTROLLER_ANGLE_MAX 4500.0f // earth-frame angle controller maximum input angle (To-Do: replace with reference to aparm.angle_max)
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#define AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX 30000.0f // earth-frame rate stabilize controller's maximum overshoot angle (never limited)
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#define AC_ATTITUDE_RATE_STAB_PITCH_OVERSHOOT_ANGLE_MAX 30000.0f // earth-frame rate stabilize controller's maximum overshoot angle (never limited)
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#define AC_ATTITUDE_RATE_STAB_YAW_OVERSHOOT_ANGLE_MAX 1000.0f // earth-frame rate stabilize controller's maximum overshoot angle
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#define AC_ATTITUDE_RATE_STAB_ACRO_OVERSHOOT_ANGLE_MAX 3000.0f // earth-frame rate stabilize controller's maximum overshoot angle
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#define AC_ATTITUDE_100HZ_DT 0.0100f // delta time in seconds for 100hz update rate
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#define AC_ATTITUDE_400HZ_DT 0.0025f // delta time in seconds for 400hz update rate
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#define AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT 1 // body-frame rate feedforward enabled by default
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class AC_AttitudeControl {
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public:
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AC_AttitudeControl( AP_AHRS &ahrs,
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const AP_Vehicle::MultiCopter &aparm,
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AP_Motors& motors,
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AC_P& pi_angle_roll, AC_P& pi_angle_pitch, AC_P& pi_angle_yaw,
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AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw
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) :
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_ahrs(ahrs),
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_aparm(aparm),
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_motors(motors),
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_p_angle_roll(pi_angle_roll),
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_p_angle_pitch(pi_angle_pitch),
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_p_angle_yaw(pi_angle_yaw),
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_pid_rate_roll(pid_rate_roll),
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_pid_rate_pitch(pid_rate_pitch),
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_pid_rate_yaw(pid_rate_yaw),
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_dt(AC_ATTITUDE_100HZ_DT),
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_angle_boost(0),
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_acro_angle_switch(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// initialise flags
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_flags.limit_angle_to_rate_request = true;
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}
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// empty destructor to suppress compiler warning
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virtual ~AC_AttitudeControl() {}
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//
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// initialisation functions
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//
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// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
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void set_dt(float delta_sec);
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// get_accel_roll_max - gets the roll acceleration limit
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float get_accel_roll_max() { return _accel_roll_max; }
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// set_accel_roll_max - sets the roll acceleration limit
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void set_accel_roll_max(float accel_roll_max) { _accel_roll_max = accel_roll_max; }
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// save_accel_roll_max - sets and saves the roll acceleration limit
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void save_accel_roll_max(float accel_roll_max) { _accel_roll_max = accel_roll_max; _accel_roll_max.save(); }
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// get_accel_pitch_max - gets the pitch acceleration limit
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float get_accel_pitch_max() { return _accel_pitch_max; }
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// set_accel_pitch_max - sets the pitch acceleration limit
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void set_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; }
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// save_accel_pitch_max - sets and saves the pitch acceleration limit
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void save_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; _accel_pitch_max.save(); }
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// get_accel_yaw_max - gets the yaw acceleration limit
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float get_accel_yaw_max() { return _accel_yaw_max; }
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// set_accel_yaw_max - sets the yaw acceleration limit
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void set_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; }
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// save_accel_yaw_max - sets and saves the yaw acceleration limit
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void save_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; _accel_yaw_max.save(); }
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// relax_bf_rate_controller - ensure body-frame rate controller has zero errors to relax rate controller output
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void relax_bf_rate_controller();
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// set_yaw_target_to_current_heading - sets yaw target to current heading
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void set_yaw_target_to_current_heading() { _angle_ef_target.z = _ahrs.yaw_sensor; }
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// shifts earth frame yaw target by yaw_shift_cd. yaw_shift_cd should be in centi-degreesa and is added to the current target heading
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void shift_ef_yaw_target(float yaw_shift_cd);
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//
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// methods to be called by upper controllers to request and implement a desired attitude
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//
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// angle_ef_roll_pitch_rate_ef_yaw_smooth - attempts to maintain a roll and pitch angle and yaw rate (all earth frame) while smoothing the attitude based on the feel parameter
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// smoothing_gain : a number from 1 to 50 with 1 being sluggish and 50 being very crisp
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void angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef, float smoothing_gain);
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// angle_ef_roll_pitch_rate_ef_yaw - attempts to maintain a roll and pitch angle and yaw rate (all earth frame)
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void angle_ef_roll_pitch_rate_ef_yaw(float roll_angle_ef, float pitch_angle_ef, float yaw_rate_ef);
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// angle_ef_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw angle (all earth frame)
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// if yaw_slew is true then target yaw movement will be gradually moved to the new target based on the YAW_SLEW parameter
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void angle_ef_roll_pitch_yaw(float roll_angle_ef, float pitch_angle_ef, float yaw_angle_ef, bool slew_yaw);
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// rate_ef_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw rate (all earth frame)
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void rate_ef_roll_pitch_yaw(float roll_rate_ef, float pitch_rate_ef, float yaw_rate_ef);
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// rate_bf_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw rate (all body frame)
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void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf);
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//
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// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
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// should be called at 100hz or more
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//
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virtual void rate_controller_run();
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//
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// earth-frame <-> body-frame conversion functions
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//
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// frame_conversion_ef_to_bf - converts earth frame angles or rates to body frame
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void frame_conversion_ef_to_bf(const Vector3f& ef_vector, Vector3f &bf_vector);
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// frame_conversion_bf_to_ef - converts body frame angles or rates to earth frame
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// returns false if conversion fails due to gimbal lock
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bool frame_conversion_bf_to_ef(const Vector3f& bf_vector, Vector3f &ef_vector);
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//
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// public accessor functions
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//
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// limit_angle_to_rate_request
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void limit_angle_to_rate_request(bool limit_request) { _flags.limit_angle_to_rate_request = limit_request; }
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// angle_ef_targets - returns angle controller earth-frame targets (for reporting)
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const Vector3f& angle_ef_targets() const { return _angle_ef_target; }
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// angle_bf_error - returns angle controller body-frame errors (for stability checking)
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const Vector3f& angle_bf_error() const { return _angle_bf_error; }
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// rate_bf_targets - sets rate controller body-frame targets
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void rate_bf_roll_target(float rate_cds) { _rate_bf_target.x = rate_cds; }
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void rate_bf_pitch_target(float rate_cds) { _rate_bf_target.y = rate_cds; }
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void rate_bf_yaw_target(float rate_cds) { _rate_bf_target.z = rate_cds; }
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// Maximum roll rate step size that results in maximum output after 4 time steps
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float max_rate_step_bf_roll();
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// Maximum pitch rate step size that results in maximum output after 4 time steps
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float max_rate_step_bf_pitch();
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// Maximum yaw rate step size that results in maximum output after 4 time steps
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float max_rate_step_bf_yaw();
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// Maximum roll step size that results in maximum output after 4 time steps
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float max_angle_step_bf_roll() { return max_rate_step_bf_roll()/_p_angle_roll.kP(); }
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// Maximum pitch step size that results in maximum output after 4 time steps
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float max_angle_step_bf_pitch() { return max_rate_step_bf_pitch()/_p_angle_pitch.kP(); }
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// Maximum yaw step size that results in maximum output after 4 time steps
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float max_angle_step_bf_yaw() { return max_rate_step_bf_yaw()/_p_angle_yaw.kP(); }
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// rate_ef_targets - returns rate controller body-frame targets (for reporting)
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const Vector3f& rate_bf_targets() const { return _rate_bf_target; }
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// bf_feedforward - enable or disable body-frame feed forward
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void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
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// bf_feedforward - enable or disable body-frame feed forward and save
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void bf_feedforward_save(bool enable_or_disable) { _rate_bf_ff_enabled.set_and_save(enable_or_disable); }
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// get_bf_feedforward - return body-frame feed forward setting
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bool get_bf_feedforward() { return _rate_bf_ff_enabled; }
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// enable_bf_feedforward - enable or disable body-frame feed forward
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void accel_limiting(bool enable_or_disable);
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//
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// throttle functions
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//
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// set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
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void set_throttle_out(float throttle_pwm, bool apply_angle_boost, float filt_cutoff);
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// outputs a throttle to all motors evenly with no stabilization
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void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control, float filt_cutoff);
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// angle_boost - accessor for angle boost so it can be logged
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int16_t angle_boost() const { return _angle_boost; }
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//
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// helper functions
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//
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// lean_angle_max - maximum lean angle of the copter in centi-degrees
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int16_t lean_angle_max() const { return _aparm.angle_max; }
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// sqrt_controller - response based on the sqrt of the error instead of the more common linear response
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static float sqrt_controller(float error, float p, float second_ord_lim);
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// user settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// attitude control flags
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struct AttControlFlags {
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uint8_t limit_angle_to_rate_request : 1; // 1 if the earth frame angle controller is limiting it's maximum rate request
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} _flags;
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// update_ef_roll_angle_and_error - update _angle_ef_target.x using an earth frame roll rate request
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void update_ef_roll_angle_and_error(float roll_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
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// update_ef_pitch_angle_and_error - update _angle_ef_target.y using an earth frame pitch rate request
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void update_ef_pitch_angle_and_error(float pitch_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
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// update_ef_yaw_angle_and_error - update _angle_ef_target.z using an earth frame yaw rate request
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void update_ef_yaw_angle_and_error(float yaw_rate_ef, Vector3f &angle_ef_error, float overshoot_max);
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// integrate_bf_rate_error_to_angle_errors - calculates body frame angle errors
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// body-frame feed forward rates (centi-degrees / second) taken from _angle_bf_error
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// angle errors in centi-degrees placed in _angle_bf_error
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void integrate_bf_rate_error_to_angle_errors();
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// update_rate_bf_targets - converts body-frame angle error to body-frame rate targets for roll, pitch and yaw axis
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// targets rates in centi-degrees taken from _angle_bf_error
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// results in centi-degrees/sec put into _rate_bf_target
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void update_rate_bf_targets();
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//
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// body-frame rate controller
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//
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// rate_bf_to_motor_roll - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in centi-degrees/sec) for roll, pitch and yaw
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float rate_bf_to_motor_roll(float rate_target_cds);
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float rate_bf_to_motor_pitch(float rate_target_cds);
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virtual float rate_bf_to_motor_yaw(float rate_target_cds);
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//
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// throttle methods
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//
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// calculate total body frame throttle required to produce the given earth frame throttle
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virtual float get_boosted_throttle(float throttle_in) = 0;
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// references to external libraries
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const AP_AHRS& _ahrs;
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const AP_Vehicle::MultiCopter &_aparm;
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AP_Motors& _motors;
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AC_P& _p_angle_roll;
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AC_P& _p_angle_pitch;
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AC_P& _p_angle_yaw;
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AC_PID& _pid_rate_roll;
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AC_PID& _pid_rate_pitch;
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AC_PID& _pid_rate_yaw;
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// parameters
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AP_Float _slew_yaw; // maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
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AP_Float _accel_roll_max; // maximum rotation acceleration for earth-frame roll axis
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AP_Float _accel_pitch_max; // maximum rotation acceleration for earth-frame pitch axis
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AP_Float _accel_yaw_max; // maximum rotation acceleration for earth-frame yaw axis
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AP_Int8 _rate_bf_ff_enabled; // Enable/Disable body frame rate feed forward
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// internal variables
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// To-Do: make rate targets a typedef instead of Vector3f?
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float _dt; // time delta in seconds
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Vector3f _angle_ef_target; // angle controller earth-frame targets
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Vector3f _angle_bf_error; // angle controller body-frame error
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Vector3f _rate_bf_target; // rate controller body-frame targets
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Vector3f _rate_ef_desired; // earth-frame feed forward rates
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Vector3f _rate_bf_desired; // body-frame feed forward rates
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int16_t _angle_boost; // used only for logging
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int16_t _acro_angle_switch; // used only for logging
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};
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#define AC_ATTITUDE_CONTROL_LOG_FORMAT(msg) { msg, sizeof(AC_AttitudeControl::log_Attitude), \
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"ATT", "cccccCC", "RollIn,Roll,PitchIn,Pitch,YawIn,Yaw,NavYaw" }
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#endif //AC_AttitudeControl_H
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