mirror of https://github.com/ArduPilot/ardupilot
153 lines
3.1 KiB
Plaintext
153 lines
3.1 KiB
Plaintext
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/*************************************************************
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throttle control
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****************************************************************/
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// user input:
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// -----------
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void output_manual_throttle()
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{
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rc_3.servo_out = (float)rc_3.control_in * angle_boost();
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}
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// Autopilot
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// ---------
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void output_auto_throttle()
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{
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rc_3.servo_out = (float)nav_throttle * angle_boost();
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// make sure we never send a 0 throttle that will cut the motors
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rc_3.servo_out = max(rc_3.servo_out, 1);
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}
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void calc_nav_throttle()
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{
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// limit error
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long error = constrain(altitude_error, -300, 300);
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if(altitude_sensor == BARO) {
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if(error > 0){
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pid_baro_throttle.kP(.25);
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}else{
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pid_baro_throttle.kP(.05);
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}
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nav_throttle = pid_baro_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
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// limit output of throttle control
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nav_throttle = throttle_cruise + constrain(nav_throttle, -15, 70);
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} else {
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// SONAR
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nav_throttle = pid_sonar_throttle.get_pid(error, delta_ms_fast_loop, 1.0);
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// limit output of throttle control
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nav_throttle = throttle_cruise + constrain(nav_throttle, -60, 100);
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}
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}
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float angle_boost()
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{
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//static byte flipper;
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//float temp = 1 / (cos(dcm.roll) * cos(dcm.pitch));
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float temp = (1.0 - (cos(dcm.roll) * cos(dcm.pitch)));
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temp = 1.0 + (temp / 1.5);
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// limit the boost value
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if(temp > 1.4)
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temp = 1.4;
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return temp;
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}
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/*************************************************************
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yaw control
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****************************************************************/
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void output_manual_yaw()
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{
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if(rc_3.control_in == 0){
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clear_yaw_control();
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} else {
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// Yaw control
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if(rc_4.control_in == 0){
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//clear_yaw_control();
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output_yaw_with_hold(true); // hold yaw
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}else{
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output_yaw_with_hold(false); // rate control yaw
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}
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}
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}
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void auto_yaw()
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{
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output_yaw_with_hold(true); // hold yaw
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}
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/*************************************************************
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picth and roll control
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****************************************************************/
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/*// how hard to tilt towards the target
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// -----------------------------------
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void calc_nav_pid()
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{
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// how hard to pitch to target
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nav_angle = pid_nav.get_pid(wp_distance * 100, dTnav, 1.0);
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nav_angle = constrain(nav_angle, -pitch_max, pitch_max);
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}
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// distribute the pitch angle based on our orientation
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// ---------------------------------------------------
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void calc_nav_pitch()
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{
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// how hard to pitch to target
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long angle = wrap_360(nav_bearing - dcm.yaw_sensor);
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bool rev = false;
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float roll_out;
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if(angle > 18000){
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angle -= 18000;
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rev = true;
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}
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roll_out = abs(angle - 18000);
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roll_out = (9000.0 - roll_out) / 9000.0;
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roll_out = (rev) ? roll_out : -roll_out;
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nav_pitch = (float)nav_angle * roll_out;
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}
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// distribute the roll angle based on our orientation
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// --------------------------------------------------
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void calc_nav_roll()
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{
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long angle = wrap_360(nav_bearing - dcm.yaw_sensor);
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bool rev = false;
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float roll_out;
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if(angle > 18000){
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angle -= 18000;
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rev = true;
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}
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roll_out = abs(angle - 9000);
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roll_out = (9000.0 - roll_out) / 9000.0;
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roll_out = (rev) ? -roll_out : roll_out;
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nav_roll = (float)nav_angle * roll_out;
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}
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*/
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