ardupilot/ArduCopter/control_guided.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_guided.pde - init and run calls for guided flight mode
*/
#ifndef GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM
# define GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM 500 // point nose at target if it is more than 5m away
#endif
struct Guided_Limit {
uint32_t timeout_ms; // timeout (in seconds) from the time that guided is invoked
float alt_min_cm; // lower altitude limit in cm above home (0 = no limit)
float alt_max_cm; // upper altitude limit in cm above home (0 = no limit)
float horiz_max_cm; // horizontal position limit in cm from where guided mode was initiated (0 = no limit)
uint32_t start_time;// system time in milliseconds that control was handed to the external computer
Vector3f start_pos; // start position as a distance from home in cm. used for checking horiz_max limit
} guided_limit;
// guided_init - initialise guided controller
static bool guided_init(bool ignore_checks)
{
if (GPS_ok() || ignore_checks) {
// initialise yaw
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
// start in position control mode
guided_pos_control_start();
return true;
}else{
return false;
}
}
// guided_takeoff_start - initialises waypoint controller to implement take-off
static void guided_takeoff_start(float final_alt)
{
guided_mode = Guided_TakeOff;
// initialise wpnav destination
Vector3f target_pos = inertial_nav.get_position();
target_pos.z = final_alt;
wp_nav.set_wp_destination(target_pos);
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
// tell motors to do a slow start
motors.slow_start(true);
}
// initialise guided mode's position controller
static void guided_pos_control_start()
{
// set to position control mode
guided_mode = Guided_WP;
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// initialise wpnav to stopping point at current altitude
// To-Do: set to current location if disarmed?
// To-Do: set to stopping point altitude?
Vector3f stopping_point;
stopping_point.z = inertial_nav.get_altitude();
wp_nav.get_wp_stopping_point_xy(stopping_point);
wp_nav.set_wp_destination(stopping_point);
// initialise yaw
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
// initialise guided mode's velocity controller
static void guided_vel_control_start()
{
// set guided_mode to velocity controller
guided_mode = Guided_Velocity;
// initialize vertical speeds and leash lengths
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// initialise velocity controller
pos_control.init_vel_controller_xyz();
}
// initialise guided mode's spline controller
static void guided_spline_control_start()
{
// set guided_mode to velocity controller
guided_mode = Guided_Spline;
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// initialise wpnav to stopping point at current altitude
// To-Do: set to current location if disarmed?
// To-Do: set to stopping point altitude?
Vector3f stopping_point;
stopping_point.z = inertial_nav.get_altitude();
wp_nav.get_wp_stopping_point_xy(stopping_point);
wp_nav.set_wp_destination(stopping_point);
// initialise yaw
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
// guided_set_destination - sets guided mode's target destination
static void guided_set_destination(const Vector3f& destination)
{
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
guided_pos_control_start();
}
wp_nav.set_wp_destination(destination);
}
// guided_set_velocity - sets guided mode's target velocity
static void guided_set_velocity(const Vector3f& velocity)
{
// check we are in velocity control mode
if (guided_mode != Guided_Velocity) {
guided_vel_control_start();
}
// set position controller velocity target
pos_control.set_desired_velocity(velocity);
}
// set guided mode spline target
static void guided_set_destination_spline(const Vector3f& destination, const Vector3f& velocity) {
// check we are in velocity control mode
if (guided_mode != Guided_Spline) {
guided_spline_control_start();
}
wp_nav.set_spline_dest_and_vel(destination, velocity);
}
// guided_run - runs the guided controller
// should be called at 100hz or more
static void guided_run()
{
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
// To-Do: reset waypoint controller?
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
return;
}
// call the correct auto controller
switch (guided_mode) {
case Guided_TakeOff:
// run takeoff controller
guided_takeoff_run();
break;
case Guided_WP:
// run position controller
guided_pos_control_run();
break;
case Guided_Velocity:
// run velocity controller
guided_vel_control_run();
break;
case Guided_Spline:
// run spline controller
guided_spline_control_run();
break;
}
}
// guided_takeoff_run - takeoff in guided mode
// called by guided_run at 100hz or more
static void guided_takeoff_run()
{
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
// initialise wpnav targets
wp_nav.shift_wp_origin_to_current_pos();
// reset attitude control targets
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// tell motors to do a slow start
motors.slow_start(true);
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
}
// run waypoint controller
wp_nav.update_wpnav();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}
// guided_pos_control_run - runs the guided position controller
// called from guided_run
static void guided_pos_control_run()
{
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
if (target_yaw_rate != 0) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
}
// run waypoint controller
wp_nav.update_wpnav();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true);
}
}
// guided_vel_control_run - runs the guided velocity controller
// called from guided_run
static void guided_vel_control_run()
{
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
if (target_yaw_rate != 0) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
}
// call velocity controller which includes z axis controller
pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angle_ef_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true);
}
}
// guided_spline_control_run - runs the guided spline controller
// called from guided_run
static void guided_spline_control_run()
{
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
if (target_yaw_rate != 0) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
}
// run waypoint controller
wp_nav.update_spline();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true);
}
}
// Guided Limit code
// guided_limit_clear - clear/turn off guided limits
static void guided_limit_clear()
{
guided_limit.timeout_ms = 0;
guided_limit.alt_min_cm = 0.0f;
guided_limit.alt_max_cm = 0.0f;
guided_limit.horiz_max_cm = 0.0f;
}
// guided_limit_set - set guided timeout and movement limits
static void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm)
{
guided_limit.timeout_ms = timeout_ms;
guided_limit.alt_min_cm = alt_min_cm;
guided_limit.alt_max_cm = alt_max_cm;
guided_limit.horiz_max_cm = horiz_max_cm;
}
// guided_limit_init_time_and_pos - initialise guided start time and position as reference for limit checking
// only called from AUTO mode's auto_nav_guided_start function
static void guided_limit_init_time_and_pos()
{
// initialise start time
guided_limit.start_time = hal.scheduler->millis();
// initialise start position from current position
guided_limit.start_pos = inertial_nav.get_position();
}
// guided_limit_check - returns true if guided mode has breached a limit
// used when guided is invoked from the NAV_GUIDED_ENABLE mission command
static bool guided_limit_check()
{
// check if we have passed the timeout
if ((guided_limit.timeout_ms > 0) && (millis() - guided_limit.start_time >= guided_limit.timeout_ms)) {
return true;
}
// get current location
const Vector3f& curr_pos = inertial_nav.get_position();
// check if we have gone below min alt
if ((guided_limit.alt_min_cm != 0.0f) && (curr_pos.z < guided_limit.alt_min_cm)) {
return true;
}
// check if we have gone above max alt
if ((guided_limit.alt_max_cm != 0.0f) && (curr_pos.z > guided_limit.alt_max_cm)) {
return true;
}
// check if we have gone beyond horizontal limit
if (guided_limit.horiz_max_cm > 0.0f) {
float horiz_move = pv_get_horizontal_distance_cm(guided_limit.start_pos, curr_pos);
if (horiz_move > guided_limit.horiz_max_cm) {
return true;
}
}
// if we got this far we must be within limits
return false;
}