mirror of https://github.com/ArduPilot/ardupilot
108 lines
4.9 KiB
C++
108 lines
4.9 KiB
C++
#pragma once
|
|
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AC_PID/AC_PID.h>
|
|
#include <AC_PID/AC_P.h>
|
|
|
|
// attitude control default definition
|
|
#define AR_ATTCONTROL_STEER_ANG_P 1.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_P 1.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_I 0.50f
|
|
#define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_D 0.00f
|
|
#define AR_ATTCONTROL_STEER_RATE_FILT 5.00f
|
|
#define AR_ATTCONTROL_THR_SPEED_P 0.20f
|
|
#define AR_ATTCONTROL_THR_SPEED_I 0.20f
|
|
#define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f
|
|
#define AR_ATTCONTROL_THR_SPEED_D 0.00f
|
|
#define AR_ATTCONTROL_THR_SPEED_FILT 5.00f
|
|
#define AR_ATTCONTROL_DT 0.02f
|
|
|
|
// throttle/speed control maximum acceleration/deceleration (in m/s) (_ACCEL_MAX parameter default)
|
|
#define AR_ATTCONTROL_THR_ACCEL_MAX 5.00f
|
|
|
|
// minimum speed in m/s
|
|
#define AR_ATTCONTROL_STEER_SPEED_MIN 1.0f
|
|
|
|
// speed (in m/s) at or below which vehicle is considered stopped (_STOP_SPEED parameter default)
|
|
#define AR_ATTCONTROL_STOP_SPEED_DEFAULT 0.1f
|
|
|
|
|
|
class AR_AttitudeControl {
|
|
public:
|
|
|
|
// constructor
|
|
AR_AttitudeControl(AP_AHRS &ahrs);
|
|
|
|
//
|
|
// steering controller
|
|
//
|
|
|
|
// return a steering servo output from -1.0 to +1.0 given a desired lateral acceleration rate in m/s/s.
|
|
// positive lateral acceleration is to the right.
|
|
float get_steering_out_lat_accel(float desired_accel, bool skid_steering, bool motor_limit_left, bool motor_limit_right);
|
|
|
|
// return a steering servo output from -1 to +1 given a yaw error in radians
|
|
float get_steering_out_angle_error(float angle_err, bool skid_steering, bool motor_limit_left, bool motor_limit_right);
|
|
|
|
// return a steering servo output from -1 to +1 given a
|
|
// desired yaw rate in radians/sec. Positive yaw is to the right.
|
|
float get_steering_out_rate(float desired_rate, bool skid_steering, bool motor_limit_left, bool motor_limit_right);
|
|
|
|
//
|
|
// throttle / speed controller
|
|
//
|
|
|
|
// set limits used by throttle controller
|
|
// forward/back acceleration max in m/s/s
|
|
// forward/back deceleartion max in m/s/s
|
|
void set_throttle_limits(float throttle_accel_max, float throttle_decel_max);
|
|
|
|
// return a throttle output from -1 to +1 given a desired speed in m/s (use negative speeds to travel backwards)
|
|
// skid_steering should be true for skid-steer vehicles
|
|
// motor_limit should be true if motors have hit their upper or lower limits
|
|
// cruise speed should be in m/s, cruise throttle should be a number from -1 to +1
|
|
float get_throttle_out_speed(float desired_speed, bool skid_steering, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle);
|
|
|
|
// return a throttle output from -1 to +1 to perform a controlled stop. stopped is set to true once stop has been completed
|
|
float get_throttle_out_stop(bool skid_steering, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, bool &stopped);
|
|
|
|
// low level control accessors for reporting and logging
|
|
AC_P& get_steering_angle_p() { return _steer_angle_p; }
|
|
AC_PID& get_steering_rate_pid() { return _steer_rate_pid; }
|
|
AC_PID& get_throttle_speed_pid() { return _throttle_speed_pid; }
|
|
|
|
// get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success
|
|
bool get_forward_speed(float &speed) const;
|
|
|
|
// get throttle/speed controller maximum acceleration (also used for deceleration)
|
|
float get_accel_max() const { return MAX(_throttle_accel_max, 0.0f); }
|
|
|
|
// parameter var table
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
|
|
// external references
|
|
AP_AHRS &_ahrs;
|
|
|
|
// parameters
|
|
AC_P _steer_angle_p; // steering angle controller
|
|
AC_PID _steer_rate_pid; // steering rate controller
|
|
AC_PID _throttle_speed_pid; // throttle speed controller
|
|
AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits
|
|
AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle.
|
|
AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value
|
|
|
|
// steering control
|
|
uint32_t _steer_turn_last_ms; // system time of last call to steering rate controller
|
|
|
|
// throttle control
|
|
uint32_t _speed_last_ms; // system time of last call to get_throttle_out_speed
|
|
float _desired_speed; // last recorded desired speed
|
|
uint32_t _stop_last_ms; // system time the vehicle was at a complete stop
|
|
bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup)
|
|
bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup)
|
|
};
|