mirror of https://github.com/ArduPilot/ardupilot
135 lines
5.2 KiB
C++
135 lines
5.2 KiB
C++
// ArduSub position hold flight mode
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// GPS required
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// Jacob Walser August 2016
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#include "Sub.h"
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#if POSHOLD_ENABLED == ENABLED
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// poshold_init - initialise PosHold controller
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bool Sub::poshold_init()
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{
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// fail to initialise PosHold mode if no GPS lock
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if (!position_ok()) {
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return false;
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}
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// initialize vertical speeds and acceleration
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pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
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pos_control.set_max_accel_z(g.pilot_accel_z);
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// initialise position and desired velocity
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pos_control.set_alt_target(inertial_nav.get_altitude());
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
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// set target to current position
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// only init here as we can switch to PosHold in flight with a velocity <> 0 that will be used as _last_vel in PosControl and never updated again as we inhibit Reset_I
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loiter_nav.clear_pilot_desired_acceleration();
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loiter_nav.init_target();
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last_pilot_heading = ahrs.yaw_sensor;
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return true;
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}
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// poshold_run - runs the PosHold controller
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// should be called at 100hz or more
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void Sub::poshold_run()
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{
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uint32_t tnow = AP_HAL::millis();
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// if not armed set throttle to zero and exit immediately
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if (!motors.armed()) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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loiter_nav.clear_pilot_desired_acceleration();
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loiter_nav.init_target();
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
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return;
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run loiter controller
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loiter_nav.update();
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///////////////////////
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// update xy outputs //
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float pilot_lateral = channel_lateral->norm_input();
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float pilot_forward = channel_forward->norm_input();
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float lateral_out = 0;
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float forward_out = 0;
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// Allow pilot to reposition the sub
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if (fabsf(pilot_lateral) > 0.1 || fabsf(pilot_forward) > 0.1) {
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lateral_out = pilot_lateral;
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forward_out = pilot_forward;
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loiter_nav.clear_pilot_desired_acceleration();
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loiter_nav.init_target(); // initialize target to current position after repositioning
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} else {
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translate_wpnav_rp(lateral_out, forward_out);
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}
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motors.set_lateral(lateral_out);
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motors.set_forward(forward_out);
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/////////////////////
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// Update attitude //
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// get pilot's desired yaw rate
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// convert pilot input to lean angles
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// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
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float target_roll, target_pitch;
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get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
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// update attitude controller targets
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if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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last_pilot_heading = ahrs.yaw_sensor;
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last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
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} else { // hold current heading
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// this check is required to prevent bounce back after very fast yaw maneuvers
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// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
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if (tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
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target_yaw_rate = 0; // Stop rotation on yaw axis
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// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
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} else { // call attitude controller holding absolute absolute bearing
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attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true);
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}
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}
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///////////////////
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// Update z axis //
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// get pilot desired climb rate
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
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// adjust climb rate using rangefinder
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if (rangefinder_alt_ok()) {
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// if rangefinder is ok, use surface tracking
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target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
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}
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// call z axis position controller
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if (ap.at_bottom) {
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pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // clear velocity and position targets, and integrator
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pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
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} else {
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pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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}
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pos_control.update_z_controller();
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}
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#endif // POSHOLD_ENABLED == ENABLED
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