mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.5 KiB
C++
120 lines
3.5 KiB
C++
#pragma once
|
|
|
|
/// @file AP_L1_Control.h
|
|
/// @brief L1 Control algorithm. This is a instance of an
|
|
/// AP_Navigation class
|
|
|
|
/*
|
|
* Originally written by Brandon Jones 2013
|
|
*
|
|
* Modified by Paul Riseborough 2013 to provide:
|
|
* - Explicit control over frequency and damping
|
|
* - Explicit control over track capture angle
|
|
* - Ability to use loiter radius smaller than L1 length
|
|
*/
|
|
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_Navigation/AP_Navigation.h>
|
|
|
|
class AP_L1_Control : public AP_Navigation {
|
|
public:
|
|
AP_L1_Control(AP_AHRS &ahrs)
|
|
: _ahrs(ahrs)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
/* see AP_Navigation.h for the definitions and units of these
|
|
* functions */
|
|
int32_t nav_roll_cd(void) const;
|
|
float lateral_acceleration(void) const;
|
|
|
|
// return the desired track heading angle(centi-degrees)
|
|
int32_t nav_bearing_cd(void) const;
|
|
|
|
// return the heading error angle (centi-degrees) +ve to left of track
|
|
int32_t bearing_error_cd(void) const;
|
|
|
|
float crosstrack_error(void) const { return _crosstrack_error; }
|
|
float crosstrack_error_integrator(void) const { return _L1_xtrack_i; }
|
|
|
|
int32_t target_bearing_cd(void) const;
|
|
float turn_distance(float wp_radius) const;
|
|
float turn_distance(float wp_radius, float turn_angle) const;
|
|
void update_waypoint(const struct Location &prev_WP, const struct Location &next_WP);
|
|
void update_loiter(const struct Location ¢er_WP, float radius, int8_t loiter_direction);
|
|
void update_heading_hold(int32_t navigation_heading_cd);
|
|
void update_level_flight(void);
|
|
bool reached_loiter_target(void);
|
|
|
|
// set the default NAVL1_PERIOD
|
|
void set_default_period(float period) {
|
|
_L1_period.set_default(period);
|
|
}
|
|
|
|
void set_data_is_stale(void) {
|
|
_data_is_stale = true;
|
|
}
|
|
bool data_is_stale(void) const {
|
|
return _data_is_stale;
|
|
}
|
|
|
|
// this supports the NAVl1_* user settable parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
void set_reverse(bool reverse) {
|
|
_reverse = reverse;
|
|
}
|
|
|
|
private:
|
|
// reference to the AHRS object
|
|
AP_AHRS &_ahrs;
|
|
|
|
// lateral acceration in m/s required to fly to the
|
|
// L1 reference point (+ve to right)
|
|
float _latAccDem;
|
|
|
|
// L1 tracking distance in meters which is dynamically updated
|
|
float _L1_dist;
|
|
|
|
// Status which is true when the vehicle has started circling the WP
|
|
bool _WPcircle;
|
|
|
|
// bearing angle (radians) to L1 point
|
|
float _nav_bearing;
|
|
|
|
// bearing error angle (radians) +ve to left of track
|
|
float _bearing_error;
|
|
|
|
// crosstrack error in meters
|
|
float _crosstrack_error;
|
|
|
|
// target bearing in centi-degrees from last update
|
|
int32_t _target_bearing_cd;
|
|
|
|
// L1 tracking loop period (sec)
|
|
AP_Float _L1_period;
|
|
// L1 tracking loop damping ratio
|
|
AP_Float _L1_damping;
|
|
|
|
// previous value of cross-track velocity
|
|
float _last_Nu;
|
|
|
|
// prevent indecision in waypoint tracking
|
|
void _prevent_indecision(float &Nu);
|
|
|
|
// integral feedback to correct crosstrack error. Used to ensure xtrack converges to zero.
|
|
// For tuning purposes it's helpful to clear the integrator when it changes so a _prev is used
|
|
float _L1_xtrack_i = 0;
|
|
AP_Float _L1_xtrack_i_gain;
|
|
float _L1_xtrack_i_gain_prev = 0;
|
|
uint32_t _last_update_waypoint_us;
|
|
bool _data_is_stale = true;
|
|
|
|
bool _reverse = false;
|
|
float get_yaw();
|
|
float get_yaw_sensor();
|
|
};
|