mirror of https://github.com/ArduPilot/ardupilot
83 lines
3.7 KiB
C++
83 lines
3.7 KiB
C++
#pragma once
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/// @file AC_AttitudeControl_Sub.h
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/// @brief ArduSub attitude control library
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#include "AC_AttitudeControl.h"
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#include <AP_Motors/AP_MotorsMulticopter.h>
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// default angle controller PID gains
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// (Sub-specific defaults for parent class)
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#define AC_ATC_SUB_ANGLE_P 6.0f
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#define AC_ATC_SUB_ACCEL_Y_MAX 110000.0f
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// default rate controller PID gains
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#define AC_ATC_SUB_RATE_RP_P 0.135f
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#define AC_ATC_SUB_RATE_RP_I 0.090f
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#define AC_ATC_SUB_RATE_RP_D 0.0036f
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#define AC_ATC_SUB_RATE_RP_IMAX 0.444f
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#define AC_ATC_SUB_RATE_RP_FILT_HZ 30.0f
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#define AC_ATC_SUB_RATE_YAW_P 0.180f
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#define AC_ATC_SUB_RATE_YAW_I 0.018f
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#define AC_ATC_SUB_RATE_YAW_D 0.0f
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#define AC_ATC_SUB_RATE_YAW_IMAX 0.222f
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#define AC_ATC_SUB_RATE_YAW_FILT_HZ 5.0f
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class AC_AttitudeControl_Sub : public AC_AttitudeControl {
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public:
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AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
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// empty destructor to suppress compiler warning
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virtual ~AC_AttitudeControl_Sub() {}
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// pid accessors
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AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; }
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AC_PID& get_rate_pitch_pid() override { return _pid_rate_pitch; }
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AC_PID& get_rate_yaw_pid() override { return _pid_rate_yaw; }
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// Update Alt_Hold angle maximum
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void update_althold_lean_angle_max(float throttle_in) override;
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// Set output throttle
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void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override;
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// calculate total body frame throttle required to produce the given earth frame throttle
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float get_throttle_boosted(float throttle_in);
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// set desired throttle vs attitude mixing (actual mix is slewed towards this value over 1~2 seconds)
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// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
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// has no effect when throttle is above hover throttle
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void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; }
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void set_throttle_mix_man() override { _throttle_rpy_mix_desired = _thr_mix_man; }
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void set_throttle_mix_max() override { _throttle_rpy_mix_desired = _thr_mix_max; }
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// are we producing min throttle?
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bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
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// run lowest level body-frame rate controller and send outputs to the motors
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void rate_controller_run() override;
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// sanity check parameters. should be called once before take-off
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void parameter_sanity_check() override;
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// user settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// update_throttle_rpy_mix - updates thr_low_comp value towards the target
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void update_throttle_rpy_mix();
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// get maximum value throttle can be raised to based on throttle vs attitude prioritisation
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float get_throttle_avg_max(float throttle_in);
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AP_MotorsMulticopter& _motors_multi;
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AC_PID _pid_rate_roll;
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AC_PID _pid_rate_pitch;
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AC_PID _pid_rate_yaw;
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AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle)
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AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
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AP_Float _thr_mix_max; // throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
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};
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