mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.3 KiB
Plaintext
116 lines
4.3 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* control_drift.pde - init and run calls for drift flight mode
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*/
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#ifndef DRIFT_SPEEDGAIN
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# define DRIFT_SPEEDGAIN 14.0f
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#endif
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#ifndef DRIFT_THR_ASSIST_GAIN
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# define DRIFT_THR_ASSIST_GAIN 1.8f // gain controlling amount of throttle assistance
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#endif
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#ifndef DRIFT_THR_ASSIST_MAX
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# define DRIFT_THR_ASSIST_MAX 300.0f // maximum assistance throttle assist will provide
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#endif
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#ifndef DRIFT_THR_MIN
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# define DRIFT_THR_MIN 213 // throttle assist will be active when pilot's throttle is above this value
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#endif
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#ifndef DRIFT_THR_MAX
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# define DRIFT_THR_MAX 787 // throttle assist will be active when pilot's throttle is below this value
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#endif
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// drift_init - initialise drift controller
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static bool drift_init(bool ignore_checks)
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{
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if (GPS_ok() || ignore_checks) {
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return true;
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}else{
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return false;
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}
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}
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// drift_run - runs the drift controller
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// should be called at 100hz or more
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static void drift_run()
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{
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static float breaker = 0.0;
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int16_t target_roll, target_pitch;
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float target_yaw_rate;
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int16_t pilot_throttle_scaled;
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// if not armed or landed and throttle at zero, set throttle to zero and exit immediately
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if(!motors.armed() || (ap.land_complete && g.rc_3.control_in <= 0)) {
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attitude_control.relax_bf_rate_controller();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.set_throttle_out(0, false);
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return;
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}
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// convert pilot input to lean angles
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get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
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// get pilot's desired throttle
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pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
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// Grab inertial velocity
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const Vector3f& vel = inertial_nav.get_velocity();
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// rotate roll, pitch input from north facing to vehicle's perspective
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float roll_vel = vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
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float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
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float pitch_vel2 = min(fabs(pitch_vel), 800);
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// simple gain scheduling for yaw input
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target_yaw_rate = (float)(target_roll/2.0f) * (1.0f - (pitch_vel2 / 2400.0f)) * g.acro_yaw_p;
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roll_vel = constrain_float(roll_vel, -322, 322);
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pitch_vel = constrain_float(pitch_vel, -322, 322);
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// always limit roll
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target_roll = roll_vel * -DRIFT_SPEEDGAIN;
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// If we let go of sticks, bring us to a stop
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if(target_pitch == 0){
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// .14/ (.03 * 100) = 4.6 seconds till full breaking
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breaker += .03;
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breaker = min(breaker, DRIFT_SPEEDGAIN);
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target_pitch = pitch_vel * breaker;
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}else{
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breaker = 0.0;
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}
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// call attitude controller
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// output pilot's throttle with angle boost
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attitude_control.set_throttle_out(get_throttle_assist(vel.z, pilot_throttle_scaled), true);
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}
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// get_throttle_assist - return throttle output (range 0 ~ 1000) based on pilot input and z-axis velocity
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int16_t get_throttle_assist(float velz, int16_t pilot_throttle_scaled)
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{
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// throttle assist - adjusts throttle to slow the vehicle's vertical velocity
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// Only active when pilot's throttle is between 213 ~ 787
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// Assistance is strongest when throttle is at mid, drops linearly to no assistance at 213 and 787
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float thr_assist = 0.0f;
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if (pilot_throttle_scaled > g.throttle_min && pilot_throttle_scaled < g.throttle_max &&
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pilot_throttle_scaled > DRIFT_THR_MIN && pilot_throttle_scaled < DRIFT_THR_MAX) {
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// calculate throttle assist gain
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thr_assist = 1.2 - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
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thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_ASSIST_GAIN * velz;
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// ensure throttle assist never adjusts the throttle by more than 300 pwm
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thr_assist = constrain_float(thr_assist, -DRIFT_THR_ASSIST_MAX, DRIFT_THR_ASSIST_MAX);
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// ensure throttle assist never pushes throttle below throttle_min or above throttle_max
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thr_assist = constrain_float(thr_assist, g.throttle_min - pilot_throttle_scaled, g.throttle_max - pilot_throttle_scaled);
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}
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return pilot_throttle_scaled + thr_assist;
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}
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