mirror of https://github.com/ArduPilot/ardupilot
111 lines
4.1 KiB
C++
111 lines
4.1 KiB
C++
/*
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APM_AHRS.cpp
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public License
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as published by the Free Software Foundation; either version 2.1
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of the License, or (at your option) any later version.
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*/
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#include <AP_AHRS.h>
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#include <AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
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// index 0 and 1 are for old parameters that are no longer used
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// @Param: GPS_GAIN
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// @DisplayName: AHRS GPS gain
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// @Description: This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
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// @Range: 0.0 1.0
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// @Increment: .01
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AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0),
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// @Param: GPS_USE
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// @DisplayName: AHRS use GPS for navigation
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// @Description: This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.
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// @User: Advanced
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AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1),
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// @Param: YAW_P
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// @DisplayName: Yaw P
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// @Description: This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
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// @Range: 0.1 0.4
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// @Increment: .01
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AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4),
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// @Param: RP_P
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// @DisplayName: AHRS RP_P
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// @Description: This controls how fast the accelerometers correct the attitude
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// @Range: 0.1 0.4
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// @Increment: .01
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AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4),
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// @Param: WIND_MAX
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// @DisplayName: Maximum wind
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// @Description: This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.
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// @Range: 0 127
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// QUnits: m/s
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// @Increment: 1
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AP_GROUPINFO("WIND_MAX", 6, AP_AHRS, _wind_max, 0.0),
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// @Param: BARO_USE
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// @DisplayName: AHRS Use Barometer
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// @Description: This controls the use of the barometer for vertical acceleration compensation in AHRS. It is currently recommended that you set this value to zero unless you are a developer experimenting with the AHRS system.
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("BARO_USE", 7, AP_AHRS, _baro_use, 0),
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// @Param: TRIM
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// @DisplayName: AHRS Trim
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// @Description: Compensates for the difference between the control board and the frame
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// @Units: Radians
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// @User: Advanced
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AP_GROUPINFO("TRIM", 8, AP_AHRS, _trim, 0),
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AP_GROUPEND
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};
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// get pitch rate in earth frame, in radians/s
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float AP_AHRS::get_pitch_rate_earth(void)
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{
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Vector3f omega = get_gyro();
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return cos(roll) * omega.y - sin(roll) * omega.z;
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}
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// get roll rate in earth frame, in radians/s
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float AP_AHRS::get_roll_rate_earth(void) {
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Vector3f omega = get_gyro();
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return omega.x + tan(pitch)*(omega.y*sin(roll) + omega.z*cos(roll));
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}
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// return airspeed estimate if available
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bool AP_AHRS::airspeed_estimate(float *airspeed_ret)
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{
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if (_airspeed && _airspeed->use()) {
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*airspeed_ret = _airspeed->get_airspeed();
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if (_wind_max > 0 && _gps && _gps->status() == GPS::GPS_OK) {
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// constrain the airspeed by the ground speed
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// and AHRS_WIND_MAX
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*airspeed_ret = constrain(*airspeed_ret,
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_gps->ground_speed*0.01 - _wind_max,
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_gps->ground_speed*0.01 + _wind_max);
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}
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return true;
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}
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return false;
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}
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// add_trim - adjust the roll and pitch trim up to a total of 10 degrees
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void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians)
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{
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Vector3f trim = _trim.get();
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// add new trim
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trim.x = constrain(trim.x + roll_in_radians, ToRad(-10.0), ToRad(10.0));
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trim.y = constrain(trim.y + pitch_in_radians, ToRad(-10.0), ToRad(10.0));
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// set and save new trim values
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_trim.set_and_save(trim);
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}
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