mirror of https://github.com/ArduPilot/ardupilot
409 lines
12 KiB
Plaintext
409 lines
12 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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static byte navigate()
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{
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// waypoint distance from plane
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// ----------------------------
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wp_distance = get_distance(¤t_loc, &next_WP);
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home_distance = get_distance(¤t_loc, &home);
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if (wp_distance < 0){
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//gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
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//Serial.println(wp_distance,DEC);
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//print_current_waypoints();
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return 0;
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}
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// target_bearing is where we should be heading
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// --------------------------------------------
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target_bearing = get_bearing(¤t_loc, &next_WP);
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home_to_copter_bearing = get_bearing(&home, ¤t_loc);
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// nav_bearing will includes xtrac correction
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// ------------------------------------------
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nav_bearing = target_bearing;
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return 1;
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}
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static bool check_missed_wp()
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{
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int32_t temp;
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temp = target_bearing - original_target_bearing;
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temp = wrap_180(temp);
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return (abs(temp) > 10000); //we pased the waypoint by 10 °
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}
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// ------------------------------
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static void calc_XY_velocity(){
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// offset calculation of GPS speed:
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// used for estimations below 1.5m/s
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// our GPS is about 1m per
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static int32_t last_longitude = 0;
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static int32_t last_latutude = 0;
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// y_GPS_speed positve = Up
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// x_GPS_speed positve = Right
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// this speed is ~ in cm because we are using 10^7 numbers from GPS
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float tmp = 1.0/dTnav;
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//int8_t tmp = 5;
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int16_t x_diff = (g_gps->longitude - last_longitude) * tmp;
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int16_t y_diff = (g_gps->latitude - last_latutude) * tmp;
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// filter
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x_GPS_speed = (x_GPS_speed * 3 + x_diff) / 4;
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y_GPS_speed = (y_GPS_speed * 3 + y_diff) / 4;
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// Above simply works better than GPS groundspeed
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// which is proving to be problematic
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/*if(g_gps->ground_speed > 120){
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// Derive X/Y speed from GPS
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// this is far more accurate when traveling about 1.5m/s
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float temp = g_gps->ground_course * RADX100;
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x_GPS_speed = sin(temp) * (float)g_gps->ground_speed;
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y_GPS_speed = cos(temp) * (float)g_gps->ground_speed;
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}*/
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last_longitude = g_gps->longitude;
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last_latutude = g_gps->latitude;
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//Serial.printf("GS: %d \tx:%d \ty:%d\n", g_gps->ground_speed, x_GPS_speed, y_GPS_speed);
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}
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static void calc_location_error(struct Location *next_loc)
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{
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/*
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Becuase we are using lat and lon to do our distance errors here's a quick chart:
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100 = 1m
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1000 = 11m = 36 feet
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1800 = 19.80m = 60 feet
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3000 = 33m
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10000 = 111m
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*/
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// X Error
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long_error = (float)(next_loc->lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 Go East
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// Y Error
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lat_error = next_loc->lat - current_loc.lat; // 500 - 0 = 500 Go North
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}
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#define NAV_ERR_MAX 800
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static void calc_loiter(int x_error, int y_error)
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{
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// East/West
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX); //800
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int16_t x_target_speed = g.pi_loiter_lon.get_p(x_error);
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int16_t x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
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x_rate_error = x_target_speed - x_actual_speed;
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nav_lon_p = g.pi_nav_lon.get_p(x_rate_error);
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nav_lon_p = constrain(nav_lon_p, -1200, 1200);
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nav_lon = nav_lon_p + x_iterm;
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nav_lon = constrain(nav_lon, -2500, 2500);
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// North/South
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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int16_t y_target_speed = g.pi_loiter_lat.get_p(y_error);
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int16_t y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
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y_rate_error = y_target_speed - y_actual_speed;
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nav_lat_p = g.pi_nav_lat.get_p(y_rate_error);
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nav_lat_p = constrain(nav_lat_p, -1200, 1200);
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nav_lat = nav_lat_p + y_iterm;
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nav_lat = constrain(nav_lat, -2500, 2500);
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/*
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int8_t ttt = 1.0/dTnav;
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int16_t t2 = g.pi_nav_lat.get_integrator();
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// 1 2 3 4 5 6 7 8 9 10
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Serial.printf("%d, %d, %d, %d, %d, %d, %d, %d, %d, %d\n",
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wp_distance, //1
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y_error, //2
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y_GPS_speed, //3
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y_actual_speed, //4 ;
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y_target_speed, //5
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y_rate_error, //6
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nav_lat_p, //7
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nav_lat, //8
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y_iterm, //9
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t2); //10
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//*/
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/*
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int16_t t1 = g.pi_nav_lon.get_integrator(); // X
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Serial.printf("%d, %1.4f, %d, %d, %d, %d, %d, %d, %d, %d\n",
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wp_distance, //1
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dTnav, //2
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x_error, //3
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x_GPS_speed, //4
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x_actual_speed, //5
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x_target_speed, //6
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x_rate_error, //7
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nav_lat, //8
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x_iterm, //9
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t1); //10
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//*/
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}
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//wp_distance,ttt, y_error, y_GPS_speed, y_actual_speed, y_target_speed, y_rate_error, nav_lat, y_iterm, t2
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#define ERR_GAIN .01
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// called at 50hz
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static void estimate_velocity()
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{
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// we need to extimate velocity when below GPS threshold of 1.5m/s
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//if(g_gps->ground_speed < 120){
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// some smoothing to prevent bumpy rides
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x_actual_speed = (x_actual_speed * 15 + x_GPS_speed) / 16;
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y_actual_speed = (y_actual_speed * 15 + y_GPS_speed) / 16;
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// integration of nav_p angle
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//x_actual_speed += (nav_lon_p >>2);
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//y_actual_speed += (nav_lat_p >>2);
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// this is just what worked best in SIM
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//x_actual_speed = (x_actual_speed * 2 + x_GPS_speed * 1) / 4;
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//y_actual_speed = (y_actual_speed * 2 + y_GPS_speed * 1) / 4;
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//}else{
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// less smoothing needed since the GPS already filters
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// x_actual_speed = (x_actual_speed * 3 + x_GPS_speed) / 4;
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// y_actual_speed = (y_actual_speed * 3 + y_GPS_speed) / 4;
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//}
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}
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// this calculation rotates our World frame of reference to the copter's frame of reference
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// We use the DCM's matrix to precalculate these trig values at 50hz
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static void calc_loiter_pitch_roll()
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{
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//Serial.printf("ys %ld, cx %1.4f, _cx %1.4f | sy %1.4f, _sy %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x, sin_yaw_y, _sin_yaw_y);
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// rotate the vector
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nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
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nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
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// flip pitch because forward is negative
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nav_pitch = -nav_pitch;
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}
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// what's the update rate? 10hz GPS?
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static void calc_wind_compensation()
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{
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// this idea is a function that converts user input into I term for position hold
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// the concept is simple. The iterms always act upon flight no matter what mode were in.
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// when our velocity is 0, we call this function to update our iterms
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// otherwise we slowly reduce out iterms to 0
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// take the pitch and roll of the copter and,
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float roll = dcm.roll_sensor;
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float pitch = -dcm.pitch_sensor; // flip pitch to make positive pitch forward
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// rotate it to eliminate yaw of Copter
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int32_t roll_tmp = roll * sin_yaw_y - pitch * -cos_yaw_x;
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int32_t pitch_tmp = roll * -cos_yaw_x + pitch * sin_yaw_y;
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roll_tmp = constrain(roll_tmp, -2000, 2000);
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pitch_tmp = constrain(pitch_tmp, -2000, 2000);
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// filter the input and apply it to out integrator value
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// nav_lon and nav_lat will be applied to normal flight
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nav_lon = ((int32_t)g.pi_loiter_lon.get_integrator() * 15 + roll_tmp) / 16;
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nav_lat = ((int32_t)g.pi_loiter_lat.get_integrator() * 15 + pitch_tmp) / 16;
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// save smoothed input to integrator
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g.pi_loiter_lon.set_integrator(nav_lon); // X
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g.pi_loiter_lat.set_integrator(nav_lat); // Y
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//Serial.printf("build wind iterm X:%d Y:%d, r:%d, p:%d\n",
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// nav_lon,
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// nav_lat,
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// nav_roll,
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// nav_pitch);
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}
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static void reduce_wind_compensation()
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{
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//slow degradation of iterms
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float tmp;
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tmp = g.pi_loiter_lon.get_integrator();
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tmp *= .98;
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g.pi_loiter_lon.set_integrator(tmp); // X
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tmp = g.pi_loiter_lat.get_integrator();
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tmp *= .98;
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g.pi_loiter_lat.set_integrator(tmp); // Y
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#if 0
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// debug
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int16_t t1 = g.pi_loiter_lon.get_integrator();
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int16_t t2 = g.pi_loiter_lon.get_integrator();
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//Serial.printf("reduce wind iterm X:%d Y:%d \n",
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// t1,
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// t2);
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#endif
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}
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static int16_t calc_desired_speed(int16_t max_speed)
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{
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/*
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|< WP Radius
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0 1 2 3 4 5 6 7 8m
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...|...|...|...|...|...|...|...|
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100 | 200 300 400cm/s
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|< we should slow to 1.5 m/s as we hit the target
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*/
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// max_speed is default 600 or 6m/s
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// (wp_distance * 50) = 1/2 of the distance converted to speed
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// wp_distance is always in m/s and not cm/s - I know it's stupid that way
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// for example 4m from target = 200cm/s speed
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// we choose the lowest speed based on disance
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max_speed = min(max_speed, (wp_distance * 50));
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// limit the ramp up of the speed
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// waypoint_speed_gov is reset to 0 at each new WP command
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if(waypoint_speed_gov < max_speed){
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waypoint_speed_gov += (int)(50.0 * dTnav); // increase at .5/ms
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// go at least 50cm/s
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max_speed = max(50, waypoint_speed_gov);
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// limit with governer
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max_speed = min(max_speed, waypoint_speed_gov);
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}
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return max_speed;
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}
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static void calc_nav_rate(int max_speed)
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{
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// push us towards the original track
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update_crosstrack();
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// nav_bearing includes crosstrack
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float temp = (9000 - nav_bearing) * RADX100;
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x_rate_error = (cos(temp) * max_speed) - x_actual_speed; // 413
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x_rate_error = constrain(x_rate_error, -1000, 1000);
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int16_t x_iterm = g.pi_loiter_lon.get_i(x_rate_error, dTnav);
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nav_lon_p = g.pi_nav_lon.get_p(x_rate_error);
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nav_lon = nav_lon_p + x_iterm;
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nav_lon = constrain(nav_lon, -3000, 3000);
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y_rate_error = (sin(temp) * max_speed) - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -1000, 1000); // added a rate error limit to keep pitching down to a minimum
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int16_t y_iterm = g.pi_loiter_lat.get_i(y_rate_error, dTnav);
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nav_lat_p = g.pi_nav_lat.get_p(y_rate_error);
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nav_lat = nav_lat_p + y_iterm;
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nav_lat = constrain(nav_lat, -3000, 3000);
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/*
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Serial.printf("max_sp %d,\t x_sp %d, y_sp %d,\t x_re: %d, y_re: %d, \tnav_lon: %d, nav_lat: %d, Xi:%d, Yi:%d, \t XE %d \n",
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max_speed,
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x_actual_speed,
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y_actual_speed,
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x_rate_error,
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y_rate_error,
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nav_lon,
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nav_lat,
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x_iterm,
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y_iterm,
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crosstrack_error);
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//*/
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// nav_lat and nav_lon will be rotated to the angle of the quad in calc_nav_pitch_roll()
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/*Serial.printf("max_speed: %d, xspeed: %d, yspeed: %d, x_re: %d, y_re: %d, nav_lon: %ld, nav_lat: %ld ",
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max_speed,
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x_actual_speed,
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y_actual_speed,
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x_rate_error,
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y_rate_error,
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nav_lon,
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nav_lat);*/
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}
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static void update_crosstrack(void)
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{
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// Crosstrack Error
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// ----------------
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if (abs(wrap_180(target_bearing - original_target_bearing)) < 4500) { // If we are too far off or too close we don't do track following
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float temp = (target_bearing - original_target_bearing) * RADX100;
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crosstrack_error = sin(temp) * (wp_distance * g.crosstrack_gain); // Meters we are off track line
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nav_bearing = target_bearing + constrain(crosstrack_error, -3000, 3000);
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nav_bearing = wrap_360(nav_bearing);
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}else{
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nav_bearing = target_bearing;
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}
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}
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static int32_t get_altitude_error()
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{
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return next_WP.alt - current_loc.alt;
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}
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static int32_t wrap_360(int32_t error)
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{
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if (error > 36000) error -= 36000;
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if (error < 0) error += 36000;
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return error;
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}
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static int32_t wrap_180(int32_t error)
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{
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if (error > 18000) error -= 36000;
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if (error < -18000) error += 36000;
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return error;
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}
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/*
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//static int32_t get_altitude_above_home(void)
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{
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// This is the altitude above the home location
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// The GPS gives us altitude at Sea Level
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// if you slope soar, you should see a negative number sometimes
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// -------------------------------------------------------------
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return current_loc.alt - home.alt;
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}
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*/
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// distance is returned in meters
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static int32_t get_distance(struct Location *loc1, struct Location *loc2)
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{
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//if(loc1->lat == 0 || loc1->lng == 0)
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// return -1;
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//if(loc2->lat == 0 || loc2->lng == 0)
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// return -1;
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float dlat = (float)(loc2->lat - loc1->lat);
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float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
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return sqrt(sq(dlat) + sq(dlong)) * .01113195;
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}
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/*
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//static int32_t get_alt_distance(struct Location *loc1, struct Location *loc2)
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{
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return abs(loc1->alt - loc2->alt);
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}
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*/
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static int32_t get_bearing(struct Location *loc1, struct Location *loc2)
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{
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int32_t off_x = loc2->lng - loc1->lng;
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int32_t off_y = (loc2->lat - loc1->lat) * scaleLongUp;
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int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
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if (bearing < 0) bearing += 36000;
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return bearing;
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}
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