diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 231cc669ba..1d8f7b7cb3 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -61,3 +61,6 @@ //#define LOGGING_ENABLED DISABLED +#define LOITER_REPOSITIONING DISABLED // Experimental Do Not Use +// #define LOITER_RP ROLL_PITCH_LOITER_PR + diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index fe7810f2a9..a07a1882ba 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1568,6 +1568,7 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode) case ROLL_PITCH_AUTO: case ROLL_PITCH_STABLE_OF: case ROLL_PITCH_TOY: + case ROLL_PITCH_LOITER_PR: roll_pitch_initialised = true; break; } @@ -1674,6 +1675,17 @@ void update_roll_pitch_mode(void) case ROLL_PITCH_TOY: roll_pitch_toy(); break; + + case ROLL_PITCH_LOITER_PR: + + // LOITER does not get SIMPLE mode ability + + nav_roll += constrain(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second + nav_pitch += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second + + get_stabilize_roll(nav_roll); + get_stabilize_pitch(nav_pitch); + break; } #if FRAME_CONFIG != HELI_FRAME diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 92fdf5b82f..1805d316c8 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -829,6 +829,10 @@ #ifndef LOITER_IMAX # define LOITER_IMAX 30 // degrees #endif +#ifndef LOITER_REPOSITION_RATE + # define LOITER_REPOSITION_RATE 500.0 // cm/s +#endif + ////////////////////////////////////////////////////////////////////////////// // Loiter Navigation control gains diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index 94c4380e6b..1686afb467 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -29,8 +29,8 @@ #define ROLL_PITCH_ACRO 1 #define ROLL_PITCH_AUTO 2 #define ROLL_PITCH_STABLE_OF 3 -#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch - // mode +#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch mode +#define ROLL_PITCH_LOITER_PR 5 #define THROTTLE_MANUAL 0 // manual throttle mode - pilot input goes directly to motors #define THROTTLE_MANUAL_TILT_COMPENSATED 1 // mostly manual throttle but with some tilt compensation diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index f66920e5e5..b800e20464 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -198,6 +198,36 @@ static void run_navigation_contollers() update_nav_wp(); break; +#if LOITER_REPOSITIONING == ENABLED // Robert Lefebvre 16/12/2012 + // switch passthrough to LOITER + case LOITER: + case POSITION: + // This feature allows us to reposition the quad when the user lets + // go of the sticks + + if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 100) { + ap.loiter_override = true; + } + + // Allow the user to take control temporarily, + if(ap.loiter_override){ + + // reset LOITER to current position + next_WP.lat += LOITER_REPOSITION_RATE * dTnav * ((sin_yaw_y * g.rc_1.control_in) + (cos_yaw_x * g.rc_2.control_in))/4500.0; + next_WP.lng += LOITER_REPOSITION_RATE * dTnav * ((sin_yaw_y * g.rc_2.control_in) + (cos_yaw_x * g.rc_1.control_in))/4500.0; + + if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) < 100) { + next_WP.lat = current_loc.lat; + next_WP.lng = current_loc.lng; + ap.loiter_override = false; + } + } + wp_control = LOITER_MODE; + // calculates the desired Roll and Pitch + update_nav_wp(); + break; +#else // LOITER_REPOSITIONING + // switch passthrough to LOITER case LOITER: case POSITION: @@ -230,6 +260,7 @@ static void run_navigation_contollers() // calculates the desired Roll and Pitch update_nav_wp(); break; +#endif // LOITER_REPOSITIONING case LAND: verify_land(); @@ -256,7 +287,6 @@ static void run_navigation_contollers() if(home_distance > SUPER_SIMPLE_RADIUS) { // 10m from home // we reset the angular offset to be a vector from home to the quad initial_simple_bearing = wrap_360(home_bearing+18000); - //cliSerial->printf("ISB: %d\n", initial_simple_bearing); } } } @@ -348,6 +378,88 @@ static bool check_missed_wp() #define NAV_ERR_MAX 600 #define NAV_RATE_ERR_MAX 250 + +#if LOITER_REPOSITIONING == ENABLED // Robert Lefebvre 16/12/2012 + +static void calc_loiter(int16_t x_error, int16_t y_error) +{ + int32_t p,i,d; // used to capture pid values for logging + int32_t output; + int32_t x_target_speed, y_target_speed; + + // East / West + x_target_speed = g.pi_loiter_lon.get_p(x_error); // calculate desired speed from lon error + +#if LOGGING_ENABLED == ENABLED + // log output if PID logging is on and we are tuning the yaw + if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_KP || g.radio_tuning == CH6_LOITER_KI) ) { + Log_Write_PID(CH6_LOITER_KP, x_error, x_target_speed, 0, 0, x_target_speed, tuning_value); + } +#endif + + // calculate rate error + x_rate_error = x_target_speed - lon_speed; // calc the speed error + + p = g.pid_loiter_rate_lon.get_p(x_rate_error); + i = g.pid_loiter_rate_lon.get_i(x_rate_error, dTnav); + d = g.pid_loiter_rate_lon.get_d(x_rate_error, dTnav); + d = constrain(d, -2000, 2000); + + // get rid of noise + if(abs(lon_speed) < 50) { + d = 0; + } + + output = p + i + d; + nav_lon = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + +#if LOGGING_ENABLED == ENABLED + // log output if PID logging is on and we are tuning the yaw + if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_RATE_KP || g.radio_tuning == CH6_LOITER_RATE_KI || g.radio_tuning == CH6_LOITER_RATE_KD) ) { + Log_Write_PID(CH6_LOITER_RATE_KP, x_rate_error, p, i, d, nav_lon, tuning_value); + } +#endif + + // North / South + y_target_speed = g.pi_loiter_lat.get_p(y_error); // calculate desired speed from lat error + +#if LOGGING_ENABLED == ENABLED + // log output if PID logging is on and we are tuning the yaw + if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_KP || g.radio_tuning == CH6_LOITER_KI) ) { + Log_Write_PID(CH6_LOITER_KP+100, y_error, y_target_speed, 0, 0, y_target_speed, tuning_value); + } +#endif + + // calculate rate error + y_rate_error = y_target_speed - lat_speed; // calc the speed error + + p = g.pid_loiter_rate_lat.get_p(y_rate_error); + i = g.pid_loiter_rate_lat.get_i(y_rate_error, dTnav); + d = g.pid_loiter_rate_lat.get_d(y_rate_error, dTnav); + d = constrain(d, -2000, 2000); + + // get rid of noise + if(abs(lat_speed) < 50) { + d = 0; + } + + output = p + i + d; + nav_lat = constrain(output, -32000, 32000); // constraint to remove chance of overflow when adding int32_t to int16_t + +#if LOGGING_ENABLED == ENABLED + // log output if PID logging is on and we are tuning the yaw + if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_LOITER_RATE_KP || g.radio_tuning == CH6_LOITER_RATE_KI || g.radio_tuning == CH6_LOITER_RATE_KD) ) { + Log_Write_PID(CH6_LOITER_RATE_KP+100, y_rate_error, p, i, d, nav_lat, tuning_value); + } +#endif + + // copy over I term to Nav_Rate + g.pid_nav_lon.set_integrator(g.pid_loiter_rate_lon.get_integrator()); + g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator()); +} + +#else // LOITER_REPOSITIONING + static void calc_loiter(int16_t x_error, int16_t y_error) { int32_t p,i,d; // used to capture pid values for logging @@ -425,6 +537,8 @@ static void calc_loiter(int16_t x_error, int16_t y_error) g.pid_nav_lat.set_integrator(g.pid_loiter_rate_lat.get_integrator()); } +#endif // LOITER_REPOSITIONING + static void calc_nav_rate(int16_t max_speed) { float temp, temp_x, temp_y; @@ -477,7 +591,6 @@ static void calc_nav_rate(int16_t max_speed) // We use the DCM's matrix to precalculate these trig values at 50hz static void calc_nav_pitch_roll() { - //cliSerial->printf("ys %ld, cx %1.4f, _cx %1.4f | sy %1.4f, _sy %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x, sin_yaw_y, _sin_yaw_y); // rotate the vector auto_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x; auto_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y; diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index 1956070276..4d46b5c72c 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -465,7 +465,7 @@ static void set_mode(uint8_t mode) ap.manual_throttle = true; ap.manual_attitude = false; set_yaw_mode(YAW_HOLD); - set_roll_pitch_mode(ROLL_PITCH_AUTO); + set_roll_pitch_mode(LOITER_RP); set_throttle_mode(THROTTLE_MANUAL); set_next_WP(¤t_loc); break;