mirror of https://github.com/ArduPilot/ardupilot
421 lines
15 KiB
Plaintext
421 lines
15 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 controls aileron/rudder, elevator, rudder (if 4 channel control) and throttle to produce desired attitude and airspeed.
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//****************************************************************
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static void stabilize()
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{
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float ch1_inf = 1.0;
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float ch2_inf = 1.0;
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float ch4_inf = 1.0;
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float speed_scaler;
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if (g.airspeed_enabled == true){
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if(airspeed > 0)
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speed_scaler = (STANDARD_SPEED * 100) / airspeed;
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else
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speed_scaler = 2.0;
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speed_scaler = constrain(speed_scaler, 0.5, 2.0);
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} else {
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if (g.channel_throttle.servo_out > 0){
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speed_scaler = 0.5 + ((float)THROTTLE_CRUISE / g.channel_throttle.servo_out / 2.0); // First order taylor expansion of square root
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// Should maybe be to the 2/7 power, but we aren't goint to implement that...
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}else{
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speed_scaler = 1.67;
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}
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speed_scaler = constrain(speed_scaler, 0.6, 1.67); // This case is constrained tighter as we don't have real speed info
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}
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if(crash_timer > 0){
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nav_roll = 0;
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}
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if (inverted_flight) {
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// we want to fly upside down. We need to cope with wrap of
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// the roll_sensor interfering with wrap of nav_roll, which
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// would really confuse the PID code. The easiest way to
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// handle this is to ensure both go in the same direction from
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// zero
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nav_roll += 18000;
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if (dcm.roll_sensor < 0) nav_roll -= 36000;
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}
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// For Testing Only
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// roll_sensor = (radio_in[CH_RUDDER] - radio_trim[CH_RUDDER]) * 10;
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// Serial.printf_P(PSTR(" roll_sensor "));
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// Serial.print(roll_sensor,DEC);
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// Calculate dersired servo output for the roll
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// ---------------------------------------------
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g.channel_roll.servo_out = g.pidServoRoll.get_pid((nav_roll - dcm.roll_sensor), delta_ms_fast_loop, speed_scaler);
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long tempcalc = nav_pitch +
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fabs(dcm.roll_sensor * g.kff_pitch_compensation) +
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(g.channel_throttle.servo_out * g.kff_throttle_to_pitch) -
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(dcm.pitch_sensor - g.pitch_trim);
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if (inverted_flight) {
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// when flying upside down the elevator control is inverted
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tempcalc = -tempcalc;
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}
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g.channel_pitch.servo_out = g.pidServoPitch.get_pid(tempcalc, delta_ms_fast_loop, speed_scaler);
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// Mix Stick input to allow users to override control surfaces
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// -----------------------------------------------------------
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if ((control_mode < FLY_BY_WIRE_A) || (ENABLE_STICK_MIXING == 1 && control_mode > FLY_BY_WIRE_B && failsafe == FAILSAFE_NONE)) {
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// TODO: use RC_Channel control_mix function?
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ch1_inf = (float)g.channel_roll.radio_in - (float)g.channel_roll.radio_trim;
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ch1_inf = fabs(ch1_inf);
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ch1_inf = min(ch1_inf, 400.0);
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ch1_inf = ((400.0 - ch1_inf) /400.0);
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ch2_inf = (float)g.channel_pitch.radio_in - g.channel_pitch.radio_trim;
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ch2_inf = fabs(ch2_inf);
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ch2_inf = min(ch2_inf, 400.0);
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ch2_inf = ((400.0 - ch2_inf) /400.0);
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// scale the sensor input based on the stick input
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// -----------------------------------------------
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g.channel_roll.servo_out *= ch1_inf;
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g.channel_pitch.servo_out *= ch2_inf;
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// Mix in stick inputs
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// -------------------
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g.channel_roll.servo_out += g.channel_roll.pwm_to_angle();
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g.channel_pitch.servo_out += g.channel_pitch.pwm_to_angle();
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//Serial.printf_P(PSTR(" servo_out[CH_ROLL] "));
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//Serial.println(servo_out[CH_ROLL],DEC);
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}
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// stick mixing performed for rudder for all cases including FBW unless disabled for higher modes
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// important for steering on the ground during landing
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// -----------------------------------------------
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if (control_mode <= FLY_BY_WIRE_B || (ENABLE_STICK_MIXING == 1 && failsafe == FAILSAFE_NONE)) {
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ch4_inf = (float)g.channel_rudder.radio_in - (float)g.channel_rudder.radio_trim;
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ch4_inf = fabs(ch4_inf);
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ch4_inf = min(ch4_inf, 400.0);
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ch4_inf = ((400.0 - ch4_inf) /400.0);
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}
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// Apply output to Rudder
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// ----------------------
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calc_nav_yaw(speed_scaler);
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g.channel_rudder.servo_out *= ch4_inf;
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g.channel_rudder.servo_out += g.channel_rudder.pwm_to_angle();
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// Call slew rate limiter if used
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// ------------------------------
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//#if(ROLL_SLEW_LIMIT != 0)
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// g.channel_roll.servo_out = roll_slew_limit(g.channel_roll.servo_out);
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//#endif
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}
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static void crash_checker()
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{
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if(dcm.pitch_sensor < -4500){
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crash_timer = 255;
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}
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if(crash_timer > 0)
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crash_timer--;
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}
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static void calc_throttle()
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{
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if (g.airspeed_enabled == false) {
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int throttle_target = g.throttle_cruise + throttle_nudge;
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// no airspeed sensor, we use nav pitch to determine the proper throttle output
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// AUTO, RTL, etc
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// ---------------------------------------------------------------------------
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if (nav_pitch >= 0) {
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g.channel_throttle.servo_out = throttle_target + (g.throttle_max - throttle_target) * nav_pitch / g.pitch_limit_max;
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} else {
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g.channel_throttle.servo_out = throttle_target - (throttle_target - g.throttle_min) * nav_pitch / g.pitch_limit_min;
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}
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g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
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} else {
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// throttle control with airspeed compensation
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// -------------------------------------------
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energy_error = airspeed_energy_error + (float)altitude_error * 0.098f;
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// positive energy errors make the throttle go higher
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g.channel_throttle.servo_out = g.throttle_cruise + g.pidTeThrottle.get_pid(energy_error, dTnav);
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g.channel_throttle.servo_out += (g.channel_pitch.servo_out * g.kff_pitch_to_throttle);
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g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out,
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g.throttle_min.get(), g.throttle_max.get()); // TODO - resolve why "saved" is used here versus "current"
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}
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}
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/*****************************************
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* Calculate desired roll/pitch/yaw angles (in medium freq loop)
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*****************************************/
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// Yaw is separated into a function for future implementation of heading hold on rolling take-off
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// ----------------------------------------------------------------------------------------
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static void calc_nav_yaw(float speed_scaler)
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{
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#if HIL_MODE != HIL_MODE_ATTITUDE
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Vector3f temp = imu.get_accel();
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long error = -temp.y;
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// Control is a feedforward from the aileron control + a PID to coordinate the turn (drive y axis accel to zero)
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g.channel_rudder.servo_out = g.kff_rudder_mix * g.channel_roll.servo_out + g.pidServoRudder.get_pid(error, delta_ms_fast_loop, speed_scaler);
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#else
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g.channel_rudder.servo_out = g.kff_rudder_mix * g.channel_roll.servo_out;
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// XXX probably need something here based on heading
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#endif
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}
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static void calc_nav_pitch()
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{
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// Calculate the Pitch of the plane
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// --------------------------------
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if (g.airspeed_enabled == true) {
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nav_pitch = -g.pidNavPitchAirspeed.get_pid(airspeed_error, dTnav);
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} else {
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nav_pitch = g.pidNavPitchAltitude.get_pid(altitude_error, dTnav);
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}
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nav_pitch = constrain(nav_pitch, g.pitch_limit_min.get(), g.pitch_limit_max.get());
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}
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#define YAW_DAMPENER 0
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static void calc_nav_roll()
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{
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// Adjust gain based on ground speed - We need lower nav gain going in to a headwind, etc.
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// This does not make provisions for wind speed in excess of airframe speed
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nav_gain_scaler = (float)g_gps->ground_speed / (STANDARD_SPEED * 100.0);
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nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4);
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// negative error = left turn
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// positive error = right turn
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// Calculate the required roll of the plane
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// ----------------------------------------
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nav_roll = g.pidNavRoll.get_pid(bearing_error, dTnav, nav_gain_scaler); //returns desired bank angle in degrees*100
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nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
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Vector3f omega;
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omega = dcm.get_gyro();
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// rate limiter
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long rate = degrees(omega.z) * 100; // 3rad = 17188 , 6rad = 34377
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rate = constrain(rate, -6000, 6000); // limit input
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int dampener = rate * YAW_DAMPENER; // 34377 * .175 = 6000
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// add in yaw dampener
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nav_roll -= dampener;
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nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
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}
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/*****************************************
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* Roll servo slew limit
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*****************************************/
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/*
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float roll_slew_limit(float servo)
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{
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static float last;
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float temp = constrain(servo, last-ROLL_SLEW_LIMIT * delta_ms_fast_loop/1000.f, last + ROLL_SLEW_LIMIT * delta_ms_fast_loop/1000.f);
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last = servo;
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return temp;
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}*/
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/*****************************************
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* Throttle slew limit
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*****************************************/
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static void throttle_slew_limit()
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{
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static int last = 1000;
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if(g.throttle_slewrate) { // if slew limit rate is set to zero then do not slew limit
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float temp = g.throttle_slewrate * G_Dt * 10.f; // * 10 to scale % to pwm range of 1000 to 2000
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Serial.print("radio "); Serial.print(g.channel_throttle.radio_out); Serial.print(" temp "); Serial.print(temp); Serial.print(" last "); Serial.println(last);
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g.channel_throttle.radio_out = constrain(g.channel_throttle.radio_out, last - (int)temp, last + (int)temp);
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last = g.channel_throttle.radio_out;
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}
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}
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// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
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// Keeps outdated data out of our calculations
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static void reset_I(void)
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{
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g.pidNavRoll.reset_I();
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g.pidNavPitchAirspeed.reset_I();
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g.pidNavPitchAltitude.reset_I();
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g.pidTeThrottle.reset_I();
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// g.pidAltitudeThrottle.reset_I();
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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static void set_servos(void)
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{
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int flapSpeedSource = 0;
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// vectorize the rc channels
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RC_Channel_aux* rc_array[NUM_CHANNELS];
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rc_array[CH_1] = NULL;
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rc_array[CH_2] = NULL;
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rc_array[CH_3] = NULL;
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rc_array[CH_4] = NULL;
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rc_array[CH_5] = &g.rc_5;
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rc_array[CH_6] = &g.rc_6;
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rc_array[CH_7] = &g.rc_7;
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rc_array[CH_8] = &g.rc_8;
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if(control_mode == MANUAL){
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// do a direct pass through of radio values
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if (g.mix_mode == 0){
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g.channel_roll.radio_out = g.channel_roll.radio_in;
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g.channel_pitch.radio_out = g.channel_pitch.radio_in;
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} else {
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g.channel_roll.radio_out = APM_RC.InputCh(CH_ROLL);
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g.channel_pitch.radio_out = APM_RC.InputCh(CH_PITCH);
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}
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g.channel_throttle.radio_out = g.channel_throttle.radio_in;
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g.channel_rudder.radio_out = g.channel_rudder.radio_in;
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// FIXME To me it does not make sense to control the aileron using radio_in in manual mode
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// Doug could you please take a look at this ?
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if (g_rc_function[RC_Channel_aux::k_aileron]) {
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if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1]) {
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g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
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}
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}
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// only use radio_in if the channel is not used as flight_mode_channel
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if (g_rc_function[RC_Channel_aux::k_flap_auto]) {
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if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
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g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
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} else {
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g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
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}
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}
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} else {
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if (g.mix_mode == 0) {
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g.channel_roll.calc_pwm();
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g.channel_pitch.calc_pwm();
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g.channel_rudder.calc_pwm();
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if (g_rc_function[RC_Channel_aux::k_aileron]) {
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g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
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g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
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}
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}else{
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/*Elevon mode*/
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float ch1;
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float ch2;
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ch1 = BOOL_TO_SIGN(g.reverse_elevons) * (g.channel_pitch.servo_out - g.channel_roll.servo_out);
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ch2 = g.channel_pitch.servo_out + g.channel_roll.servo_out;
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g.channel_roll.radio_out = elevon1_trim + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
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g.channel_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
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}
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#if THROTTLE_OUT == 0
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g.channel_throttle.servo_out = 0;
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#else
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// convert 0 to 100% into PWM
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g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
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// We want to supress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
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/* Disable throttle if following conditions are met:
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1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
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AND
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2 - Our reported altitude is within 10 meters of the home altitude.
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3 - Our reported speed is under 5 meters per second.
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4 - We are not performing a takeoff in Auto mode
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OR
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5 - Home location is not set
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*/
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if (
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(control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) &&
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(abs(home.alt - current_loc.alt) < 1000) &&
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((g.airspeed_enabled ? airspeed : g_gps->ground_speed) < 500 ) &&
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!(control_mode==AUTO && takeoff_complete == false)
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) {
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g.channel_throttle.servo_out = 0;
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g.channel_throttle.calc_pwm();
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}
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#endif
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g.channel_throttle.calc_pwm();
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/* TO DO - fix this for RC_Channel library
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#if THROTTLE_REVERSE == 1
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radio_out[CH_THROTTLE] = radio_max(CH_THROTTLE) + radio_min(CH_THROTTLE) - radio_out[CH_THROTTLE];
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#endif
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*/
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throttle_slew_limit();
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}
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// Auto flap deployment
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if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) {
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if(control_mode < FLY_BY_WIRE_B) {
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// only use radio_in if the channel is not used as flight_mode_channel
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if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
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g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
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} else {
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g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
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}
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} else if (control_mode >= FLY_BY_WIRE_B) {
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if (control_mode == FLY_BY_WIRE_B) {
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flapSpeedSource = airspeed_fbwB/100;
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} else if (g.airspeed_enabled == true) {
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flapSpeedSource = g.airspeed_cruise/100;
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} else {
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flapSpeedSource = g.throttle_cruise;
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}
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if ( flapSpeedSource > g.flap_1_speed) {
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g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0;
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} else if (flapSpeedSource > g.flap_2_speed) {
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g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent;
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} else {
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g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent;
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}
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g_rc_function[RC_Channel_aux::k_flap_auto]->calc_pwm();
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}
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}
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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// send values to the PWM timers for output
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// ----------------------------------------
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APM_RC.OutputCh(CH_1, g.channel_roll.radio_out); // send to Servos
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APM_RC.OutputCh(CH_2, g.channel_pitch.radio_out); // send to Servos
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APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos
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APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos
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// Route configurable aux. functions to their respective servos
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g.rc_5.output_ch(CH_5);
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g.rc_6.output_ch(CH_6);
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g.rc_7.output_ch(CH_7);
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g.rc_8.output_ch(CH_8);
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#endif
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}
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static void demo_servos(byte i) {
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while(i > 0){
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gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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APM_RC.OutputCh(1, 1400);
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mavlink_delay(400);
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APM_RC.OutputCh(1, 1600);
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mavlink_delay(200);
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APM_RC.OutputCh(1, 1500);
|
|
#endif
|
|
mavlink_delay(400);
|
|
i--;
|
|
}
|
|
}
|
|
|