mirror of https://github.com/ArduPilot/ardupilot
328 lines
13 KiB
C++
328 lines
13 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include "AC_AttitudeControl_Heli.h"
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#include <AP_HAL/AP_HAL.h>
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// table of user settable parameters
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const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
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// parameters from parent vehicle
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AP_NESTEDGROUPINFO(AC_AttitudeControl, 0),
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AP_GROUPEND
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};
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// passthrough_bf_roll_pitch_rate_yaw - passthrough the pilots roll and pitch inputs directly to swashplate for flybar acro mode
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void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf)
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{
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// store roll, pitch and passthroughs
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_passthrough_roll = roll_passthrough;
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_passthrough_pitch = pitch_passthrough;
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_passthrough_yaw = yaw_rate_bf;
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// set rate controller to use pass through
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_flags_heli.flybar_passthrough = true;
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// set bf rate targets to current body frame rates (i.e. relax and be ready for vehicle to switch out of acro)
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_rate_bf_desired.x = _ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100;
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_rate_bf_desired.y = _ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100;
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// accel limit desired yaw rate
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if (_accel_yaw_max > 0.0f) {
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float rate_change_limit = _accel_yaw_max * _dt;
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float rate_change = yaw_rate_bf - _rate_bf_desired.z;
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rate_change = constrain_float(rate_change, -rate_change_limit, rate_change_limit);
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_rate_bf_desired.z += rate_change;
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} else {
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_rate_bf_desired.z = yaw_rate_bf;
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}
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integrate_bf_rate_error_to_angle_errors();
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_angle_bf_error.x = 0;
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_angle_bf_error.y = 0;
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// update our earth-frame angle targets
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Vector3f angle_ef_error;
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if (frame_conversion_bf_to_ef(_angle_bf_error, angle_ef_error)) {
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_angle_ef_target.x = wrap_180_cd_float(angle_ef_error.x + _ahrs.roll_sensor);
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_angle_ef_target.y = wrap_180_cd_float(angle_ef_error.y + _ahrs.pitch_sensor);
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_angle_ef_target.z = wrap_360_cd_float(angle_ef_error.z + _ahrs.yaw_sensor);
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}
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// handle flipping over pitch axis
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if (_angle_ef_target.y > 9000.0f) {
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_angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f);
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_angle_ef_target.y = wrap_180_cd_float(18000.0f - _angle_ef_target.x);
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_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f);
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}
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if (_angle_ef_target.y < -9000.0f) {
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_angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f);
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_angle_ef_target.y = wrap_180_cd_float(-18000.0f - _angle_ef_target.x);
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_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f);
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}
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// convert body-frame angle errors to body-frame rate targets
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update_rate_bf_targets();
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// set body-frame roll/pitch rate target to current desired rates which are the vehicle's actual rates
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_rate_bf_target.x = _rate_bf_desired.x;
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_rate_bf_target.y = _rate_bf_desired.y;
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// add desired target to yaw
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_rate_bf_target.z += _rate_bf_desired.z;
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}
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//
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// rate controller (body-frame) methods
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//
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// rate_controller_run - run lowest level rate controller and send outputs to the motors
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// should be called at 100hz or more
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void AC_AttitudeControl_Heli::rate_controller_run()
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{
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// call rate controllers and send output to motors object
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// if using a flybar passthrough roll and pitch directly to motors
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if (_flags_heli.flybar_passthrough) {
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_motors.set_roll(_passthrough_roll);
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_motors.set_pitch(_passthrough_pitch);
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} else {
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rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y);
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}
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if (_flags_heli.tail_passthrough) {
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_motors.set_yaw(_passthrough_yaw);
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} else {
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_motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z));
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}
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}
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// get lean angle max for pilot input that prioritises altitude hold over lean angle
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float AC_AttitudeControl_Heli::get_althold_lean_angle_max() const
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{
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// calc maximum tilt angle based on throttle
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return ToDeg(acos(constrain_float(_throttle_in_filt.get()/900.0f, 0.0f, 1000.0f) / 1000.0f)) * 100.0f;
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}
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//
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// private methods
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//
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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_pitch - ask the rate controller to calculate the motor outputs to achieve the target rate in centi-degrees / second
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void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds)
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{
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float roll_pd, roll_i, roll_ff; // used to capture pid values
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float pitch_pd, pitch_i, pitch_ff; // used to capture pid values
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float rate_roll_error, rate_pitch_error; // simply target_rate - current_rate
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float roll_out, pitch_out;
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const Vector3f& gyro = _ahrs.get_gyro(); // get current rates
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// calculate error
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rate_roll_error = rate_roll_target_cds - gyro.x * AC_ATTITUDE_CONTROL_DEGX100;
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rate_pitch_error = rate_pitch_target_cds - gyro.y * AC_ATTITUDE_CONTROL_DEGX100;
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// input to PID controller
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_pid_rate_roll.set_input_filter_all(rate_roll_error);
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_pid_rate_roll.set_desired_rate(rate_roll_target_cds);
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_pid_rate_pitch.set_input_filter_all(rate_pitch_error);
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_pid_rate_pitch.set_desired_rate(rate_pitch_target_cds);
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// call p and d controllers
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roll_pd = _pid_rate_roll.get_p() + _pid_rate_roll.get_d();
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pitch_pd = _pid_rate_pitch.get_p() + _pid_rate_pitch.get_d();
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// get roll i term
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roll_i = _pid_rate_roll.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_roll || ((roll_i>0&&rate_roll_error<0)||(roll_i<0&&rate_roll_error>0))){
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if (_flags_heli.leaky_i){
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roll_i = ((AC_HELI_PID&)_pid_rate_roll).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
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}else{
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roll_i = _pid_rate_roll.get_i();
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}
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}
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// get pitch i term
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pitch_i = _pid_rate_pitch.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_pitch || ((pitch_i>0&&rate_pitch_error<0)||(pitch_i<0&&rate_pitch_error>0))){
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if (_flags_heli.leaky_i) {
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pitch_i = ((AC_HELI_PID&)_pid_rate_pitch).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
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}else{
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pitch_i = _pid_rate_pitch.get_i();
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}
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}
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roll_ff = roll_feedforward_filter.apply(((AC_HELI_PID&)_pid_rate_roll).get_vff(rate_roll_target_cds), _dt);
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pitch_ff = pitch_feedforward_filter.apply(((AC_HELI_PID&)_pid_rate_pitch).get_vff(rate_pitch_target_cds), _dt);
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// add feed forward and final output
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roll_out = roll_pd + roll_i + roll_ff;
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pitch_out = pitch_pd + pitch_i + pitch_ff;
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// constrain output and update limit flags
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if (fabsf(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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roll_out = constrain_float(roll_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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_flags_heli.limit_roll = true;
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}else{
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_flags_heli.limit_roll = false;
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}
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if (fabsf(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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pitch_out = constrain_float(pitch_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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_flags_heli.limit_pitch = true;
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}else{
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_flags_heli.limit_pitch = false;
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}
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// output to motors
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_motors.set_roll(roll_out);
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_motors.set_pitch(pitch_out);
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/*
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#if HELI_CC_COMP == ENABLED
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static LowPassFilterFloat rate_dynamics_filter; // Rate Dynamics filter
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#endif
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#if HELI_CC_COMP == ENABLED
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rate_dynamics_filter.set_cutoff_frequency(0.01f, 4.0f);
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#endif
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#if AC_ATTITUDE_HELI_CC_COMP == ENABLED
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// Do cross-coupling compensation for low rpm helis
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// Credit: Jolyon Saunders
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// Note: This is not widely tested at this time. Will not be used by default yet.
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float cc_axis_ratio = 2.0f; // Ratio of compensation on pitch vs roll axes. Number >1 means pitch is affected more than roll
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float cc_kp = 0.0002f; // Compensation p term. Setting this to zero gives h_phang only, while increasing it will increase the p term of correction
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float cc_kd = 0.127f; // Compensation d term, scaled. This accounts for flexing of the blades, dampers etc. Originally was (motors.ext_gyro_gain * 0.0001)
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float cc_angle, cc_total_output;
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uint32_t cc_roll_d, cc_pitch_d, cc_sum_d;
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int32_t cc_scaled_roll;
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int32_t cc_roll_output; // Used to temporarily hold output while rotation is being calculated
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int32_t cc_pitch_output; // Used to temporarily hold output while rotation is being calculated
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static int32_t last_roll_output = 0;
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static int32_t last_pitch_output = 0;
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cc_scaled_roll = roll_output / cc_axis_ratio; // apply axis ratio to roll
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cc_total_output = safe_sqrt(cc_scaled_roll * cc_scaled_roll + pitch_output * pitch_output) * cc_kp;
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// find the delta component
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cc_roll_d = (roll_output - last_roll_output) / cc_axis_ratio;
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cc_pitch_d = pitch_output - last_pitch_output;
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cc_sum_d = safe_sqrt(cc_roll_d * cc_roll_d + cc_pitch_d * cc_pitch_d);
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// do the magic.
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cc_angle = cc_kd * cc_sum_d * cc_total_output - cc_total_output * motors.get_phase_angle();
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// smooth angle variations, apply constraints
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cc_angle = rate_dynamics_filter.apply(cc_angle);
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cc_angle = constrain_float(cc_angle, -90.0f, 0.0f);
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cc_angle = radians(cc_angle);
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// Make swash rate vector
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Vector2f swashratevector;
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swashratevector.x = cosf(cc_angle);
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swashratevector.y = sinf(cc_angle);
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swashratevector.normalize();
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// rotate the output
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cc_roll_output = roll_output;
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cc_pitch_output = pitch_output;
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roll_output = - (cc_pitch_output * swashratevector.y - cc_roll_output * swashratevector.x);
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pitch_output = cc_pitch_output * swashratevector.x + cc_roll_output * swashratevector.y;
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// make current outputs old, for next iteration
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last_roll_output = cc_roll_output;
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last_pitch_output = cc_pitch_output;
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# endif // HELI_CC_COMP
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#if AC_ATTITUDE_HELI_PIRO_COMP == ENABLED
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if (control_mode <= ACRO){
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int32_t piro_roll_i, piro_pitch_i; // used to hold i term while doing prio comp
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piro_roll_i = roll_i;
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piro_pitch_i = pitch_i;
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Vector2f yawratevector;
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yawratevector.x = cosf(-omega.z/100.0f);
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yawratevector.y = sinf(-omega.z/100.0f);
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yawratevector.normalize();
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roll_i = piro_roll_i * yawratevector.x - piro_pitch_i * yawratevector.y;
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pitch_i = piro_pitch_i * yawratevector.x + piro_roll_i * yawratevector.y;
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g.pid_rate_pitch.set_integrator(pitch_i);
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g.pid_rate_roll.set_integrator(roll_i);
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}
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#endif //HELI_PIRO_COMP
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*/
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}
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// rate_bf_to_motor_yaw - ask the rate controller to calculate the motor outputs to achieve the target rate in centi-degrees / second
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float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds)
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{
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float pd,i,vff,aff; // used to capture pid values for logging
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float current_rate; // this iteration's rate
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float rate_error; // simply target_rate - current_rate
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float yaw_out;
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// get current rate
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// To-Do: make getting gyro rates more efficient?
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current_rate = (_ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100);
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// calculate error and call pid controller
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rate_error = rate_target_cds - current_rate;
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// send input to PID controller
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_pid_rate_yaw.set_input_filter_all(rate_error);
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_pid_rate_yaw.set_desired_rate(rate_target_cds);
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// get p and d
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pd = _pid_rate_yaw.get_p() + _pid_rate_yaw.get_d();
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// get i term
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i = _pid_rate_yaw.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_yaw || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
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if (((AP_MotorsHeli&)_motors).rotor_runup_complete()) {
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i = _pid_rate_yaw.get_i();
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} else {
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i = ((AC_HELI_PID&)_pid_rate_yaw).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE); // If motor is not running use leaky I-term to avoid excessive build-up
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}
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}
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vff = yaw_velocity_feedforward_filter.apply(((AC_HELI_PID&)_pid_rate_yaw).get_vff(rate_target_cds), _dt);
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aff = yaw_acceleration_feedforward_filter.apply(((AC_HELI_PID&)_pid_rate_yaw).get_aff(rate_target_cds), _dt);
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// add feed forward
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yaw_out = pd + i + vff + aff;
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// constrain output and update limit flag
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if (fabsf(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
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yaw_out = constrain_float(yaw_out,-AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX);
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_flags_heli.limit_yaw = true;
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}else{
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_flags_heli.limit_yaw = false;
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}
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// output to motors
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return yaw_out;
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}
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//
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// throttle functions
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//
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// returns a throttle including compensation for roll/pitch angle
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// throttle value should be 0 ~ 1000
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float AC_AttitudeControl_Heli::get_boosted_throttle(float throttle_in)
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{
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// no angle boost for trad helis
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_angle_boost = 0;
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return throttle_in;
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}
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