mirror of https://github.com/ArduPilot/ardupilot
114 lines
4.1 KiB
C++
114 lines
4.1 KiB
C++
/*
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* ControllerSailboat.h
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*
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* Created on: Jun 30, 2011
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* Author: jgoppert
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*/
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#ifndef CONTROLLERSAILBOAT_H_
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#define CONTROLLERSAILBOAT_H_
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#include "../APO/AP_Controller.h"
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namespace apo {
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class ControllerSailboat: public AP_Controller {
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public:
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ControllerSailboat(AP_Navigator * nav, AP_Guide * guide,
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AP_Board * board) :
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AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
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pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
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steeringI, steeringD, steeringIMax, steeringYMax),
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pidSail(new AP_Var_group(k_pidSail, PSTR("SAIL_")), 1, throttleP,
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throttleI, throttleD, throttleIMax, throttleYMax,
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throttleDFCut), _strCmd(0), _sailCmd(0)
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{
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_board->debug->println_P(PSTR("initializing sailboat controller"));
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_board->rc.push_back(
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new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100,
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1500, 1900, RC_MODE_IN, false));
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_board->rc.push_back(
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new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500,
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1900, RC_MODE_INOUT, false));
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_board->rc.push_back(
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new AP_RcChannel(k_chsail, PSTR("SAIL_"), board->radio, 2, 1100, 1500,
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1900, RC_MODE_INOUT, false));
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}
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private:
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// methods
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void manualLoop(const float dt) {
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_strCmd = _hal->rc[ch_str]->getRadioPosition();
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_sailCmd = _hal->rc[ch_sail]->getRadioPosition();
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_hal->debug->printf_P(PSTR("sail: %f, steering: %f\n"),_sailCmd,_strCmd);
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}
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void autoLoop(const float dt) {
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//_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_sail]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
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float windDir = -.339373*analogRead(1)+175.999;
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// neglects heading command derivative
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float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
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float sail = 0.00587302*fabs(windDir) - 0.05;
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if (sail < 0.0) sail = 0.0;
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_hal->debug->printf_P(PSTR("wind direction: %f, sail: %f, steering: %f\n"),windDir,sail,steering);
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/* float calibrate = 0.34; //Calibration Factor from analog reading
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* float relwinddir = windDir*calibrate; //Wind Direction Relative to boat
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float pathideal; //Path from boat to waypoint
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float psi = relwinddir-pathideal; //Angle between relative wind direction and path from boat to waypoint
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float alpha = relwinddir-heading; //Angle between relatvive wind direction and the heading
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_hal->debug->printf_P(PSTR("heading: %f\n"),heading); //Print Heading
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if(fabs(psi)<45) //Tacking Logic
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{
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if(psi<-10)
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alpha = -45;
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else if(psi>10)
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alpha = 45;
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else
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{
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if(psi==10)
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alpha = 45;
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else if(psi==-10)
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alpha = -45;
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else
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alpha = alpha;
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}
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}*/
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_strCmd = steering;
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_sailCmd = sail;
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}
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void setMotors() {
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<<<<<<< HEAD
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_hal->rc[ch_str]->setPosition(_strCmd);
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_hal->rc[ch_sail]->setPosition(_sailCmd);
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=======
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_board->rc[ch_str]->setPosition(_strCmd);
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_board->rc[ch_sail]->setPosition(fabs(_sailCmd) < 0.1 ? 0 : _sailCmd);
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>>>>>>> 8265597d37c8ae9fb88f59dfe89b6077dc14c0d8
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}
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void handleFailsafe() {
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// turn off
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setMode(MAV_MODE_LOCKED);
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}
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// attributes
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enum {
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ch_mode = 0, ch_str, ch_sail
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};
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enum {
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k_chMode = k_radioChannelsStart, k_chStr, k_chSail
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};
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enum {
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k_pidStr = k_controllersStart, k_pidSail
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};
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BlockPIDDfb pidStr;
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BlockPID pidSail;
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float _strCmd, _sailCmd;
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};
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} // namespace apo
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#endif /* CONTROLLERSAILBOAT_H_ */
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// vim:ts=4:sw=4:expandtab
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