ardupilot/Rover/cruise_learn.cpp

80 lines
2.9 KiB
C++

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