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Copter: remove deadwood, update_thr_cruise always runs

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Randy Mackay 2014-02-03 14:06:08 +09:00 committed by Andrew Tridgell
parent 2870d043f8
commit 223c6fd4de
2 changed files with 18 additions and 1003 deletions
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356
ArduCopter/ArduCopter.pde
View File

@ -882,6 +882,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ auto_trim, 40, 14 },
{ update_altitude, 40, 100 },
{ run_nav_updates, 40, 80 },
{ update_thr_cruise, 40, 10 },
{ three_hz_loop, 133, 9 },
{ compass_accumulate, 8, 42 },
{ barometer_accumulate, 8, 25 },
@ -936,6 +937,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ auto_trim, 10, 140 },
{ update_altitude, 10, 1000 },
{ run_nav_updates, 10, 800 },
{ update_thr_cruise, 1, 50 },
{ three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 },
{ barometer_accumulate, 2, 250 },
@ -1146,6 +1148,8 @@ static void update_batt_compass(void)
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled) {
// update compass with throttle value - used for compassmot
compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
if (compass.read()) {
compass.null_offsets();
}
@ -1365,56 +1369,6 @@ static void update_GPS(void)
failsafe_gps_check();
}
// set_roll_pitch_mode - update roll/pitch mode and initialise any variables as required
bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
{
// boolean to ensure proper initialisation of throttle modes
bool roll_pitch_initialised = false;
// return immediately if no change
if( new_roll_pitch_mode == roll_pitch_mode ) {
return true;
}
switch( new_roll_pitch_mode ) {
case ROLL_PITCH_STABLE:
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
roll_pitch_initialised = true;
break;
case ROLL_PITCH_ACRO:
// reset acro level rates
acro_roll_rate = 0;
acro_pitch_rate = 0;
roll_pitch_initialised = true;
break;
case ROLL_PITCH_STABLE_OF:
case ROLL_PITCH_DRIFT:
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
roll_pitch_initialised = true;
break;
case ROLL_PITCH_AUTO:
case ROLL_PITCH_LOITER:
case ROLL_PITCH_SPORT:
roll_pitch_initialised = true;
break;
reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
}
// if initialisation has been successful update the yaw mode
if( roll_pitch_initialised ) {
exit_roll_pitch_mode(roll_pitch_mode);
roll_pitch_mode = new_roll_pitch_mode;
}
// return success or failure
return roll_pitch_initialised;
}
// exit_roll_pitch_mode - peforms any code required when exiting the current roll-pitch mode
void exit_roll_pitch_mode(uint8_t old_roll_pitch_mode)
{
}
// update_flight_mode - calls the appropriate attitude controllers based on flight mode
// called at 100hz or more
static void update_flight_mode()
@ -1488,101 +1442,6 @@ static void update_flight_mode()
}
}
// update_roll_pitch_mode - run high level roll and pitch controllers
// 100hz update rate
void update_roll_pitch_mode(void)
{
switch(roll_pitch_mode) {
case ROLL_PITCH_ACRO:
// copy user input for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
#if FRAME_CONFIG == HELI_FRAME
// ACRO does not get SIMPLE mode ability
if (motors.has_flybar()) {
g.rc_1.servo_out = g.rc_1.control_in;
g.rc_2.servo_out = g.rc_2.control_in;
}else{
acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*ahrs.cos_pitch();
get_roll_rate_stabilized_bf(g.rc_1.control_in);
get_pitch_rate_stabilized_bf(g.rc_2.control_in);
get_acro_level_rates();
}
#else // !HELI_FRAME
acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*ahrs.cos_pitch();
get_roll_rate_stabilized_bf(g.rc_1.control_in);
get_pitch_rate_stabilized_bf(g.rc_2.control_in);
get_acro_level_rates();
#endif // HELI_FRAME
break;
case ROLL_PITCH_AUTO:
// copy latest output from nav controller to stabilize controller
control_roll = wp_nav.get_roll();
control_pitch = wp_nav.get_pitch();
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_STABLE_OF:
// apply SIMPLE mode transform
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
// mix in user control with optical flow
control_roll = get_of_roll(control_roll);
control_pitch = get_of_pitch(control_pitch);
// call stabilize controller
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_DRIFT:
get_roll_pitch_drift();
break;
case ROLL_PITCH_LOITER:
// apply SIMPLE mode transform
update_simple_mode();
// update loiter target from user controls
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// copy latest output from nav controller to stabilize controller
control_roll = wp_nav.get_roll();
control_pitch = wp_nav.get_pitch();
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
break;
case ROLL_PITCH_SPORT:
// apply SIMPLE mode transform
update_simple_mode();
// copy user input for reporting purposes
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
get_roll_rate_stabilized_ef(g.rc_1.control_in);
get_pitch_rate_stabilized_ef(g.rc_2.control_in);
break;
}
#if FRAME_CONFIG != HELI_FRAME
if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
reset_rate_I();
}
#endif //HELI_FRAME
if(ap.new_radio_frame) {
// clear new radio frame info
ap.new_radio_frame = false;
}
}
static void
init_simple_bearing()
@ -1643,213 +1502,6 @@ void update_super_simple_bearing(bool force_update)
}
}
// throttle_mode_manual - returns true if the throttle is directly controlled by the pilot
bool throttle_mode_manual(uint8_t thr_mode)
{
return (thr_mode == THROTTLE_MANUAL || thr_mode == THROTTLE_MANUAL_TILT_COMPENSATED || thr_mode == THROTTLE_MANUAL_HELI);
}
// set_throttle_mode - sets the throttle mode and initialises any variables as required
bool set_throttle_mode( uint8_t new_throttle_mode )
{
// boolean to ensure proper initialisation of throttle modes
bool throttle_initialised = false;
// return immediately if no change
if( new_throttle_mode == throttle_mode ) {
return true;
}
// initialise any variables required for the new throttle mode
switch(new_throttle_mode) {
case THROTTLE_MANUAL:
case THROTTLE_MANUAL_TILT_COMPENSATED:
throttle_accel_deactivate(); // this controller does not use accel based throttle controller
throttle_initialised = true;
break;
case THROTTLE_HOLD:
case THROTTLE_AUTO:
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
wp_nav.set_desired_alt(controller_desired_alt); // same as above but for loiter controller
if (throttle_mode_manual(throttle_mode)) { // reset the alt hold I terms if previous throttle mode was manual
reset_throttle_I();
set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in));
}
throttle_initialised = true;
break;
case THROTTLE_LAND:
reset_land_detector(); // initialise land detector
controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate); // reset controller desired altitude to current altitude
throttle_initialised = true;
break;
#if FRAME_CONFIG == HELI_FRAME
case THROTTLE_MANUAL_HELI:
throttle_accel_deactivate(); // this controller does not use accel based throttle controller
throttle_initialised = true;
break;
#endif
}
// update the throttle mode
if( throttle_initialised ) {
throttle_mode = new_throttle_mode;
// reset some variables used for logging
desired_climb_rate = 0;
nav_throttle = 0;
}
// return success or failure
return throttle_initialised;
}
// update_throttle_mode - run high level throttle controllers
// 50 hz update rate
void update_throttle_mode(void)
{
int16_t pilot_climb_rate;
int16_t pilot_throttle_scaled;
if(ap.do_flip) // this is pretty bad but needed to flip in AP modes.
return;
#if FRAME_CONFIG != HELI_FRAME
// do not run throttle controllers if motors disarmed
if( !motors.armed() ) {
set_throttle_out(0, false);
throttle_accel_deactivate(); // do not allow the accel based throttle to override our command
set_target_alt_for_reporting(0);
return;
}
#endif // FRAME_CONFIG != HELI_FRAME
switch(throttle_mode) {
case THROTTLE_MANUAL:
// completely manual throttle
if(g.rc_3.control_in <= 0){
set_throttle_out(0, false);
}else{
// send pilot's output directly to motors
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
set_throttle_out(pilot_throttle_scaled, false);
// update estimate of throttle cruise
#if FRAME_CONFIG == HELI_FRAME
update_throttle_cruise(motors.get_collective_out());
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
}
set_target_alt_for_reporting(0);
break;
case THROTTLE_MANUAL_TILT_COMPENSATED:
// manual throttle but with angle boost
if (g.rc_3.control_in <= 0) {
set_throttle_out(0, false); // no need for angle boost with zero throttle
}else{
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
set_throttle_out(pilot_throttle_scaled, true);
// update estimate of throttle cruise
#if FRAME_CONFIG == HELI_FRAME
update_throttle_cruise(motors.get_collective_out());
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
}
set_target_alt_for_reporting(0);
break;
case THROTTLE_HOLD:
if(ap.auto_armed) {
// alt hold plus pilot input of climb rate
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
// special handling if we have landed
if (ap.land_complete) {
if (pilot_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}else{
// move throttle to minimum to keep us on the ground
set_throttle_out(0, false);
// deactivate accel based throttle controller (it will be automatically re-enabled when alt-hold controller next runs)
throttle_accel_deactivate();
}
}
// check land_complete flag again in case it was changed above
if (!ap.land_complete) {
if( sonar_alt_health >= SONAR_ALT_HEALTH_MAX ) {
// if sonar is ok, use surface tracking
get_throttle_surface_tracking(pilot_climb_rate,0.02f); // this function calls set_target_alt_for_reporting for us
}else{
// if no sonar fall back stabilize rate controller
get_throttle_rate_stabilized(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}
}
}else{
// pilot's throttle must be at zero so keep motors off
set_throttle_out(0, false);
// deactivate accel based throttle controller
throttle_accel_deactivate();
set_target_alt_for_reporting(0);
}
break;
case THROTTLE_AUTO:
// auto pilot altitude controller with target altitude held in wp_nav.get_desired_alt()
if(ap.auto_armed) {
// special handling if we are just taking off
if (ap.land_complete) {
// tell motors to do a slow start.
motors.slow_start(true);
}
get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
}else{
// pilot's throttle must be at zero so keep motors off
set_throttle_out(0, false);
// deactivate accel based throttle controller
throttle_accel_deactivate();
set_target_alt_for_reporting(0);
}
break;
case THROTTLE_LAND:
// landing throttle controller
get_throttle_land();
set_target_alt_for_reporting(0);
break;
#if FRAME_CONFIG == HELI_FRAME
case THROTTLE_MANUAL_HELI:
// trad heli manual throttle controller
// send pilot's output directly to swash plate
pilot_throttle_scaled = get_pilot_desired_collective(g.rc_3.control_in);
set_throttle_out(pilot_throttle_scaled, false);
// update estimate of throttle cruise
update_throttle_cruise(motors.get_collective_out());
set_target_alt_for_reporting(0);
break;
#endif // HELI_FRAME
}
}
// set_target_alt_for_reporting - set target altitude in cm for reporting purposes (logs and gcs)
static void set_target_alt_for_reporting(float alt_cm)
{
target_alt_for_reporting = alt_cm;
}
static void read_AHRS(void)
{
// Perform IMU calculations and get attitude info

665
ArduCopter/Attitude.pde
View File

@ -69,438 +69,10 @@ static float get_pilot_desired_yaw_rate(int16_t stick_angle)
return stick_angle * g.acro_yaw_p;
}
static void
get_stabilize_roll(int32_t target_angle)
{
// angle error
target_angle = wrap_180_cd(target_angle - ahrs.roll_sensor);
// limit the error we're feeding to the PID
target_angle = constrain_int32(target_angle, -aparm.angle_max, aparm.angle_max);
// convert to desired rate
int32_t target_rate = g.pi_stabilize_roll.kP() * target_angle;
// constrain the target rate
if (!ap.disable_stab_rate_limit) {
target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
}
// set targets for rate controller
set_roll_rate_target(target_rate, EARTH_FRAME);
}
static void
get_stabilize_pitch(int32_t target_angle)
{
// angle error
target_angle = wrap_180_cd(target_angle - ahrs.pitch_sensor);
// limit the error we're feeding to the PID
target_angle = constrain_int32(target_angle, -aparm.angle_max, aparm.angle_max);
// convert to desired rate
int32_t target_rate = g.pi_stabilize_pitch.kP() * target_angle;
// constrain the target rate
if (!ap.disable_stab_rate_limit) {
target_rate = constrain_int32(target_rate, -g.angle_rate_max, g.angle_rate_max);
}
// set targets for rate controller
set_pitch_rate_target(target_rate, EARTH_FRAME);
}
static void
get_stabilize_yaw(int32_t target_angle)
{
int32_t target_rate;
int32_t angle_error;
// angle error
angle_error = wrap_180_cd(target_angle - ahrs.yaw_sensor);
// limit the error we're feeding to the PID
angle_error = constrain_int32(angle_error, -4500, 4500);
// convert angle error to desired Rate:
target_rate = g.pi_stabilize_yaw.kP() * angle_error;
// do not use rate controllers for helicotpers with external gyros
#if FRAME_CONFIG == HELI_FRAME
if(motors.tail_type() == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
g.rc_4.servo_out = constrain_int32(target_rate, -4500, 4500);
}
#endif
// set targets for rate controller
set_yaw_rate_target(target_rate, EARTH_FRAME);
}
// get_acro_level_rates - calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
static void
get_acro_level_rates()
{
// zero earth frame leveling if trainer is disabled
if (g.acro_trainer == ACRO_TRAINER_DISABLED) {
set_roll_rate_target(0, BODY_EARTH_FRAME);
set_pitch_rate_target(0, BODY_EARTH_FRAME);
set_yaw_rate_target(0, BODY_EARTH_FRAME);
return;
}
// Calculate trainer mode earth frame rate command for roll
int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
int32_t target_rate = 0;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (roll_angle > aparm.angle_max){
target_rate = g.pi_stabilize_roll.get_p(aparm.angle_max-roll_angle);
}else if (roll_angle < -aparm.angle_max) {
target_rate = g.pi_stabilize_roll.get_p(-aparm.angle_max-roll_angle);
}
}
roll_angle = constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE);
target_rate -= roll_angle * g.acro_balance_roll;
// add earth frame targets for roll rate controller
set_roll_rate_target(target_rate, BODY_EARTH_FRAME);
// Calculate trainer mode earth frame rate command for pitch
int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
target_rate = 0;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (pitch_angle > aparm.angle_max){
target_rate = g.pi_stabilize_pitch.get_p(aparm.angle_max-pitch_angle);
}else if (pitch_angle < -aparm.angle_max) {
target_rate = g.pi_stabilize_pitch.get_p(-aparm.angle_max-pitch_angle);
}
}
pitch_angle = constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE);
target_rate -= pitch_angle * g.acro_balance_pitch;
// add earth frame targets for pitch rate controller
set_pitch_rate_target(target_rate, BODY_EARTH_FRAME);
// add earth frame targets for yaw rate controller
set_yaw_rate_target(0, BODY_EARTH_FRAME);
}
// Roll with rate input and stabilized in the body frame
static void
get_roll_rate_stabilized_bf(int32_t stick_angle)
{
static float angle_error = 0;
// convert the input to the desired body frame roll rate
int32_t rate_request = stick_angle * g.acro_rp_p;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_request += acro_roll_rate;
}else{
// Scale pitch leveling by stick input
acro_roll_rate = (float)acro_roll_rate*acro_level_mix;
// Calculate rate limit to prevent change of rate through inverted
int32_t rate_limit = labs(labs(rate_request)-labs(acro_roll_rate));
rate_request += acro_roll_rate;
rate_request = constrain_int32(rate_request, -rate_limit, rate_limit);
}
// add automatic correction
int32_t rate_correction = g.pi_stabilize_roll.get_p(angle_error);
// set body frame targets for rate controller
set_roll_rate_target(rate_request+rate_correction, BODY_FRAME);
// Calculate integrated body frame rate error
angle_error += (rate_request - (omega.x * DEGX100)) * G_Dt;
// don't let angle error grow too large
angle_error = constrain_float(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
}
// Pitch with rate input and stabilized in the body frame
static void
get_pitch_rate_stabilized_bf(int32_t stick_angle)
{
static float angle_error = 0;
// convert the input to the desired body frame pitch rate
int32_t rate_request = stick_angle * g.acro_rp_p;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_request += acro_pitch_rate;
}else{
// Scale pitch leveling by stick input
acro_pitch_rate = (float)acro_pitch_rate*acro_level_mix;
// Calculate rate limit to prevent change of rate through inverted
int32_t rate_limit = labs(labs(rate_request)-labs(acro_pitch_rate));
rate_request += acro_pitch_rate;
rate_request = constrain_int32(rate_request, -rate_limit, rate_limit);
}
// add automatic correction
int32_t rate_correction = g.pi_stabilize_pitch.get_p(angle_error);
// set body frame targets for rate controller
set_pitch_rate_target(rate_request+rate_correction, BODY_FRAME);
// Calculate integrated body frame rate error
angle_error += (rate_request - (omega.y * DEGX100)) * G_Dt;
// don't let angle error grow too large
angle_error = constrain_float(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
}
// Yaw with rate input and stabilized in the body frame
static void
get_yaw_rate_stabilized_bf(int32_t stick_angle)
{
static float angle_error = 0;
// convert the input to the desired body frame yaw rate
int32_t rate_request = stick_angle * g.acro_yaw_p;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_request += acro_yaw_rate;
}else{
// Scale pitch leveling by stick input
acro_yaw_rate = (float)acro_yaw_rate*acro_level_mix;
// Calculate rate limit to prevent change of rate through inverted
int32_t rate_limit = labs(labs(rate_request)-labs(acro_yaw_rate));
rate_request += acro_yaw_rate;
rate_request = constrain_int32(rate_request, -rate_limit, rate_limit);
}
// add automatic correction
int32_t rate_correction = g.pi_stabilize_yaw.get_p(angle_error);
// set body frame targets for rate controller
set_yaw_rate_target(rate_request+rate_correction, BODY_FRAME);
// Calculate integrated body frame rate error
angle_error += (rate_request - (omega.z * DEGX100)) * G_Dt;
// don't let angle error grow too large
angle_error = constrain_float(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
}
// Roll with rate input and stabilized in the earth frame
static void
get_roll_rate_stabilized_ef(int32_t stick_angle)
{
int32_t angle_error = 0;
// convert the input to the desired roll rate
int32_t target_rate = stick_angle * g.acro_rp_p - (acro_roll * g.acro_balance_roll);
// convert the input to the desired roll rate
acro_roll += target_rate * G_Dt;
acro_roll = wrap_180_cd(acro_roll);
// ensure that we don't reach gimbal lock
if (labs(acro_roll) > aparm.angle_max) {
acro_roll = constrain_int32(acro_roll, -aparm.angle_max, aparm.angle_max);
angle_error = wrap_180_cd(acro_roll - ahrs.roll_sensor);
} else {
// angle error with maximum of +- max_angle_overshoot
angle_error = wrap_180_cd(acro_roll - ahrs.roll_sensor);
angle_error = constrain_int32(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
// reset target angle to current angle if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update acro_roll to be within max_angle_overshoot of our current heading
acro_roll = wrap_180_cd(angle_error + ahrs.roll_sensor);
// set earth frame targets for rate controller
set_roll_rate_target(g.pi_stabilize_roll.get_p(angle_error) + target_rate, EARTH_FRAME);
}
// Pitch with rate input and stabilized in the earth frame
static void
get_pitch_rate_stabilized_ef(int32_t stick_angle)
{
int32_t angle_error = 0;
// convert the input to the desired pitch rate
int32_t target_rate = stick_angle * g.acro_rp_p - (acro_pitch * g.acro_balance_pitch);
// convert the input to the desired pitch rate
acro_pitch += target_rate * G_Dt;
acro_pitch = wrap_180_cd(acro_pitch);
// ensure that we don't reach gimbal lock
if (labs(acro_pitch) > aparm.angle_max) {
acro_pitch = constrain_int32(acro_pitch, -aparm.angle_max, aparm.angle_max);
angle_error = wrap_180_cd(acro_pitch - ahrs.pitch_sensor);
} else {
// angle error with maximum of +- max_angle_overshoot
angle_error = wrap_180_cd(acro_pitch - ahrs.pitch_sensor);
angle_error = constrain_int32(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
}
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
// reset target angle to current angle if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update acro_pitch to be within max_angle_overshoot of our current heading
acro_pitch = wrap_180_cd(angle_error + ahrs.pitch_sensor);
// set earth frame targets for rate controller
set_pitch_rate_target(g.pi_stabilize_pitch.get_p(angle_error) + target_rate, EARTH_FRAME);
}
// Yaw with rate input and stabilized in the earth frame
static void
get_yaw_rate_stabilized_ef(int32_t stick_angle)
{
int32_t angle_error = 0;
// convert the input to the desired yaw rate
int32_t target_rate = stick_angle * g.acro_yaw_p;
// convert the input to the desired yaw rate
control_yaw += target_rate * G_Dt;
control_yaw = wrap_360_cd(control_yaw);
// calculate difference between desired heading and current heading
angle_error = wrap_180_cd(control_yaw - ahrs.yaw_sensor);
// limit the maximum overshoot
angle_error = constrain_int32(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
#if FRAME_CONFIG == HELI_FRAME
if (!motors.motor_runup_complete()) {
angle_error = 0;
}
#else
// reset target angle to current heading if motors not spinning
if (!motors.armed() || g.rc_3.servo_out == 0) {
angle_error = 0;
}
#endif // HELI_FRAME
// update control_yaw to be within max_angle_overshoot of our current heading
control_yaw = wrap_360_cd(angle_error + ahrs.yaw_sensor);
// set earth frame targets for rate controller
set_yaw_rate_target(g.pi_stabilize_yaw.get_p(angle_error)+target_rate, EARTH_FRAME);
}
// set_roll_rate_target - to be called by upper controllers to set roll rate targets in the earth frame
void set_roll_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
rate_targets_frame = earth_or_body_frame;
if( earth_or_body_frame == BODY_FRAME ) {
roll_rate_target_bf = desired_rate;
}else{
roll_rate_target_ef = desired_rate;
}
}
// set_pitch_rate_target - to be called by upper controllers to set pitch rate targets in the earth frame
void set_pitch_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
rate_targets_frame = earth_or_body_frame;
if( earth_or_body_frame == BODY_FRAME ) {
pitch_rate_target_bf = desired_rate;
}else{
pitch_rate_target_ef = desired_rate;
}
}
// set_yaw_rate_target - to be called by upper controllers to set yaw rate targets in the earth frame
void set_yaw_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
rate_targets_frame = earth_or_body_frame;
if( earth_or_body_frame == BODY_FRAME ) {
yaw_rate_target_bf = desired_rate;
}else{
yaw_rate_target_ef = desired_rate;
}
}
/*************************************************************
* yaw controllers
*************************************************************/
// get_look_at_yaw - updates bearing to look at center of circle or do a panorama
// should be called at 100hz
static void get_circle_yaw()
{
static uint8_t look_at_yaw_counter = 0; // used to reduce update rate to 10hz
// if circle radius is zero do panorama
if( g.circle_radius == 0 ) {
// slew yaw towards circle angle
control_yaw = get_yaw_slew(control_yaw, ToDeg(circle_angle)*100, AUTO_YAW_SLEW_RATE);
}else{
look_at_yaw_counter++;
if( look_at_yaw_counter >= 10 ) {
look_at_yaw_counter = 0;
yaw_look_at_WP_bearing = pv_get_bearing_cd(inertial_nav.get_position(), yaw_look_at_WP);
}
// slew yaw
control_yaw = get_yaw_slew(control_yaw, yaw_look_at_WP_bearing, AUTO_YAW_SLEW_RATE);
}
// call stabilize yaw controller
get_stabilize_yaw(control_yaw);
}
// get_look_at_yaw - updates bearing to location held in look_at_yaw_WP and calls stabilize yaw controller
// should be called at 100hz
static float get_look_at_yaw()
@ -529,89 +101,32 @@ static float get_look_ahead_yaw()
* throttle control
****************************************************************/
// update_throttle_cruise - update throttle cruise if necessary
static void update_throttle_cruise(int16_t throttle)
// update_thr_cruise - update throttle cruise if necessary
// should be called at 100hz
static void update_thr_cruise()
{
// ensure throttle_avg has been initialised
if( throttle_avg == 0 ) {
throttle_avg = g.throttle_cruise;
// update position controller
pos_control.set_throttle_hover(throttle_avg);
}
// if not armed or landed exit
if (!motors.armed() || ap.land_complete) {
return;
}
// get throttle output
int16_t throttle = g.rc_3.servo_out;
// calc average throttle if we are in a level hover
if (throttle > g.throttle_min && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
throttle_avg = throttle_avg * 0.99f + (float)throttle * 0.01f;
g.throttle_cruise = throttle_avg;
}
// update position controller
pos_control.set_throttle_hover(throttle_avg);
}
#if FRAME_CONFIG == HELI_FRAME
// get_angle_boost - returns a throttle including compensation for roll/pitch angle
// throttle value should be 0 ~ 1000
// for traditional helicopters
static int16_t get_angle_boost(int16_t throttle)
{
float angle_boost_factor = ahrs.cos_pitch() * ahrs.cos_roll();
angle_boost_factor = 1.0f - constrain_float(angle_boost_factor, .5f, 1.0f);
int16_t throttle_above_mid = max(throttle - motors.get_collective_mid(),0);
// to allow logging of angle boost
angle_boost = throttle_above_mid*angle_boost_factor;
return throttle + angle_boost;
}
#else // all multicopters
// get_angle_boost - returns a throttle including compensation for roll/pitch angle
// throttle value should be 0 ~ 1000
static int16_t get_angle_boost(int16_t throttle)
{
float temp = ahrs.cos_pitch() * ahrs.cos_roll();
int16_t throttle_out;
temp = constrain_float(temp, 0.5f, 1.0f);
// reduce throttle if we go inverted
temp = constrain_float(9000-max(labs(ahrs.roll_sensor),labs(ahrs.pitch_sensor)), 0, 3000) / (3000 * temp);
// apply scale and constrain throttle
throttle_out = constrain_float((float)(throttle-g.throttle_min) * temp + g.throttle_min, g.throttle_min, 1000);
// to allow logging of angle boost
angle_boost = throttle_out - throttle;
return throttle_out;
}
#endif // FRAME_CONFIG == HELI_FRAME
// set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
// provide 0 to cut motors
void set_throttle_out( int16_t throttle_out, bool apply_angle_boost )
{
if( apply_angle_boost ) {
g.rc_3.servo_out = get_angle_boost(throttle_out);
}else{
g.rc_3.servo_out = throttle_out;
// clear angle_boost for logging purposes
angle_boost = 0;
}
// update compass with throttle value
compass.set_throttle((float)g.rc_3.servo_out/1000.0f);
}
// set_throttle_accel_target - to be called by upper throttle controllers to set desired vertical acceleration in earth frame
void set_throttle_accel_target( int16_t desired_acceleration )
{
throttle_accel_target_ef = desired_acceleration;
throttle_accel_controller_active = true;
}
// disable_throttle_accel - disables the accel based throttle controller
// it will be re-enasbled on the next set_throttle_accel_target
// required when we wish to set motors to zero when pilot inputs zero throttle
void throttle_accel_deactivate()
{
throttle_accel_controller_active = false;
}
// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
@ -692,158 +207,6 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
return desired_rate;
}
// get_initial_alt_hold - get new target altitude based on current altitude and climb rate
static int32_t
get_initial_alt_hold( int32_t alt_cm, int16_t climb_rate_cms)
{
int32_t target_alt;
int32_t linear_distance; // half the distace we swap between linear and sqrt and the distace we offset sqrt.
int32_t linear_velocity; // the velocity we swap between linear and sqrt.
linear_velocity = ALT_HOLD_ACCEL_MAX/g.pi_alt_hold.kP();
if (abs(climb_rate_cms) < linear_velocity) {
target_alt = alt_cm + climb_rate_cms/g.pi_alt_hold.kP();
} else {
linear_distance = ALT_HOLD_ACCEL_MAX/(2*g.pi_alt_hold.kP()*g.pi_alt_hold.kP());
if (climb_rate_cms > 0){
target_alt = alt_cm + linear_distance + (int32_t)climb_rate_cms*(int32_t)climb_rate_cms/(2*ALT_HOLD_ACCEL_MAX);
} else {
target_alt = alt_cm - ( linear_distance + (int32_t)climb_rate_cms*(int32_t)climb_rate_cms/(2*ALT_HOLD_ACCEL_MAX) );
}
}
return constrain_int32(target_alt, alt_cm - ALT_HOLD_INIT_MAX_OVERSHOOT, alt_cm + ALT_HOLD_INIT_MAX_OVERSHOOT);
}
// get_throttle_rate - calculates desired accel required to achieve desired z_target_speed
// sets accel based throttle controller target
static void
get_throttle_rate(float z_target_speed)
{
static uint32_t last_call_ms = 0;
static float z_rate_error = 0; // The velocity error in cm.
static float z_target_speed_filt = 0; // The filtered requested speed
float z_target_speed_delta; // The change in requested speed
int32_t p; // used to capture pid values for logging
int32_t output; // the target acceleration if the accel based throttle is enabled, otherwise the output to be sent to the motors
uint32_t now = millis();
// reset target altitude if this controller has just been engaged
if( now - last_call_ms > 100 ) {
// Reset Filter
z_rate_error = 0;
z_target_speed_filt = z_target_speed;
output = 0;
} else {
// calculate rate error and filter with cut off frequency of 2 Hz
z_rate_error = z_rate_error + 0.20085f * ((z_target_speed - climb_rate) - z_rate_error);
// feed forward acceleration based on change in the filtered desired speed.
z_target_speed_delta = 0.20085f * (z_target_speed - z_target_speed_filt);
z_target_speed_filt = z_target_speed_filt + z_target_speed_delta;
output = z_target_speed_delta * 50.0f; // To-Do: replace 50 with dt
}
last_call_ms = now;
// calculate p
p = g.pid_throttle_rate.kP() * z_rate_error;
// consolidate and constrain target acceleration
output += p;
output = constrain_int32(output, -32000, 32000);
// set target for accel based throttle controller
set_throttle_accel_target(output);
// update throttle cruise
// TO-DO: this may not be correct because g.rc_3.servo_out has not been updated for this iteration
if( z_target_speed == 0 ) {
update_throttle_cruise(g.rc_3.servo_out);
}
}
// get_throttle_althold - hold at the desired altitude in cm
// updates accel based throttle controller targets
// Note: max_climb_rate is an optional parameter to allow reuse of this function by landing controller
static void
get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate)
{
int32_t alt_error;
float desired_rate;
int32_t linear_distance; // half the distace we swap between linear and sqrt and the distace we offset sqrt.
// calculate altitude error
alt_error = target_alt - current_loc.alt;
// check kP to avoid division by zero
if( g.pi_alt_hold.kP() != 0 ) {
linear_distance = ALT_HOLD_ACCEL_MAX/(2*g.pi_alt_hold.kP()*g.pi_alt_hold.kP());
if( alt_error > 2*linear_distance ) {
desired_rate = safe_sqrt(2*ALT_HOLD_ACCEL_MAX*(alt_error-linear_distance));
}else if( alt_error < -2*linear_distance ) {
desired_rate = -safe_sqrt(2*ALT_HOLD_ACCEL_MAX*(-alt_error-linear_distance));
}else{
desired_rate = g.pi_alt_hold.get_p(alt_error);
}
}else{
desired_rate = 0;
}
desired_rate = constrain_float(desired_rate, min_climb_rate, max_climb_rate);
// call rate based throttle controller which will update accel based throttle controller targets
get_throttle_rate(desired_rate);
// TO-DO: enabled PID logging for this controller
}
// get_throttle_althold_with_slew - altitude controller with slew to avoid step changes in altitude target
// calls normal althold controller which updates accel based throttle controller targets
static void
get_throttle_althold_with_slew(int32_t target_alt, int16_t min_climb_rate, int16_t max_climb_rate)
{
float alt_change = target_alt-controller_desired_alt;
// adjust desired alt if motors have not hit their limits
if ((alt_change<0 && !motors.limit.throttle_lower) || (alt_change>0 && !motors.limit.throttle_upper)) {
controller_desired_alt += constrain_float(alt_change, min_climb_rate*0.02f, max_climb_rate*0.02f);
}
// do not let target altitude get too far from current altitude
controller_desired_alt = constrain_float(controller_desired_alt,current_loc.alt-750,current_loc.alt+750);
get_throttle_althold(controller_desired_alt, min_climb_rate-250, max_climb_rate+250); // 250 is added to give head room to alt hold controller
}
// get_throttle_rate_stabilized - rate controller with additional 'stabilizer'
// 'stabilizer' ensure desired rate is being met
// calls normal throttle rate controller which updates accel based throttle controller targets
static void
get_throttle_rate_stabilized(int16_t target_rate)
{
// adjust desired alt if motors have not hit their limits
if ((target_rate<0 && !motors.limit.throttle_lower) || (target_rate>0 && !motors.limit.throttle_upper)) {
controller_desired_alt += target_rate * 0.02f;
}
// do not let target altitude get too far from current altitude
controller_desired_alt = constrain_float(controller_desired_alt,current_loc.alt-750,current_loc.alt+750);
#if AC_FENCE == ENABLED
// do not let target altitude be too close to the fence
// To-Do: add this to other altitude controllers
if((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
float alt_limit = fence.get_safe_alt() * 100.0f;
if (controller_desired_alt > alt_limit) {
controller_desired_alt = alt_limit;
}
}
#endif
// update target altitude for reporting purposes
set_target_alt_for_reporting(controller_desired_alt);
get_throttle_althold(controller_desired_alt, -g.pilot_velocity_z_max-250, g.pilot_velocity_z_max+250); // 250 is added to give head room to alt hold controller
}
// get_throttle_surface_tracking - hold copter at the desired distance above the ground
// returns climb rate (in cm/s) which should be passed to the position controller
static float get_throttle_surface_tracking(int16_t target_rate, float dt)