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Copter: remove non-inav loiter and wp controllers

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lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
This commit is contained in:
Randy Mackay 2013-02-18 14:58:24 +09:00 committed by rmackay9
parent 609676e26c
commit cbde042ec5
9 changed files with 189 additions and 629 deletions
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91
ArduCopter/ArduCopter.pde
View File

@ -356,17 +356,15 @@ static union {
uint8_t manual_throttle : 1; // 4
uint8_t low_battery : 1; // 5 // Used to track if the battery is low - LED output flashes when the batt is low
uint8_t loiter_override : 1; // 6 // Are we navigating while holding a positon? This is set to false once the speed drops below 1m/s
uint8_t armed : 1; // 7
uint8_t auto_armed : 1; // 8
uint8_t armed : 1; // 6
uint8_t auto_armed : 1; // 7
uint8_t failsafe : 1; // 9 // A status flag for the failsafe state
uint8_t do_flip : 1; // 10 // Used to enable flip code
uint8_t takeoff_complete : 1; // 11
uint8_t land_complete : 1; // 12
uint8_t compass_status : 1; // 13
uint8_t gps_status : 1; // 14
uint8_t fast_corner : 1; // 15 // should we take the waypoint quickly or slow down?
uint8_t failsafe : 1; // 8 // A status flag for the failsafe state
uint8_t do_flip : 1; // 9 // Used to enable flip code
uint8_t takeoff_complete : 1; // 10
uint8_t land_complete : 1; // 11
uint8_t compass_status : 1; // 12
uint8_t gps_status : 1; // 13
};
uint16_t value;
} ap;
@ -384,28 +382,6 @@ static struct AP_System{
} ap_system;
/*
what navigation updated are needed
*/
static struct nav_updates {
uint8_t need_velpos : 1;
uint8_t need_dist_bearing : 1;
uint8_t need_nav_controllers : 1;
uint8_t need_nav_pitch_roll : 1;
} nav_updates;
////////////////////////////////////////////////////////////////////////////////
// velocity in lon and lat directions calculated from GPS position and accelerometer data
// updated after GPS read - 5-10hz
static int16_t lon_speed; // expressed in cm/s. positive numbers mean moving east
static int16_t lat_speed; // expressed in cm/s. positive numbers when moving north
// The difference between the desired rate of travel and the actual rate of travel
// updated after GPS read - 5-10hz
static int16_t x_rate_error;
static int16_t y_rate_error;
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
@ -525,11 +501,7 @@ static uint8_t command_cond_index;
// NAV_LOCATION - have we reached the desired location?
// NAV_DELAY - have we waited at the waypoint the desired time?
static uint8_t wp_verify_byte; // used for tracking state of navigating waypoints
// used to limit the speed ramp up of WP navigation
// Acceleration is limited to 1m/s/s
static int16_t max_speed_old;
// Used to track how many cm we are from the "next_WP" location
static int32_t long_error, lat_error;
static float lon_error, lat_error; // Used to report how many cm we are from the next waypoint or loiter target position
static int16_t control_roll;
static int16_t control_pitch;
static uint8_t rtl_state;
@ -618,8 +590,8 @@ static uint32_t loiter_time;
// The synthetic location created to make the copter do circles around a WP
static struct Location circle_WP;
// inertial nav loiter variables
static float loiter_lat_from_home_cm;
static float loiter_lon_from_home_cm;
static float loiter_lat_from_home_cm; // loiter's target latitude in cm from home
static float loiter_lon_from_home_cm; // loiter's target longitude in cm from home
////////////////////////////////////////////////////////////////////////////////
@ -919,11 +891,11 @@ AP_Param param_loader(var_info, WP_START_BYTE);
*/
static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ update_GPS, 2, 900 },
{ update_navigation, 2, 500 },
{ update_navigation, 10, 500 },
{ medium_loop, 2, 700 },
{ update_altitude, 5, 1000 },
{ fifty_hz_loop, 2, 950 },
{ run_nav_updates, 2, 500 },
{ run_nav_updates, 10, 800 },
{ slow_loop, 10, 500 },
{ gcs_check_input, 2, 700 },
{ gcs_send_heartbeat, 100, 700 },
@ -1614,8 +1586,7 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
roll_pitch_initialised = true;
break;
case ROLL_PITCH_LOITER_INAV:
case ROLL_PITCH_WP_INAV:
case ROLL_PITCH_LOITER:
// require gps lock
if( ap.home_is_set ) {
roll_pitch_initialised = true;
@ -1680,19 +1651,15 @@ void update_roll_pitch_mode(void)
break;
case ROLL_PITCH_AUTO:
// apply SIMPLE mode transform
if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode();
}
// mix in user control with Nav control
nav_roll += constrain_int32(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_pitch += constrain_int32(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
// copy latest output from nav controller to stabilize controller
nav_roll = auto_roll;
nav_pitch = auto_pitch;
get_stabilize_roll(nav_roll);
get_stabilize_pitch(nav_pitch);
control_roll = g.rc_1.control_mix(nav_roll);
control_pitch = g.rc_2.control_mix(nav_pitch);
get_stabilize_roll(control_roll);
get_stabilize_pitch(control_pitch);
// copy control_roll and pitch for reporting purposes
control_roll = nav_roll;
control_pitch = nav_pitch;
break;
case ROLL_PITCH_STABLE_OF:
@ -1715,7 +1682,7 @@ void update_roll_pitch_mode(void)
roll_pitch_toy();
break;
case ROLL_PITCH_LOITER_INAV:
case ROLL_PITCH_LOITER:
// apply SIMPLE mode transform
if(ap.simple_mode && ap_system.new_radio_frame) {
update_simple_mode();
@ -1735,15 +1702,6 @@ void update_roll_pitch_mode(void)
get_stabilize_roll(nav_roll);
get_stabilize_pitch(nav_pitch);
break;
case ROLL_PITCH_WP_INAV:
// To-Do: allow pilot to take control of target location
// copy latest output from nav controller to stabilize controller
nav_roll = auto_roll;
nav_pitch = auto_pitch;
get_stabilize_roll(nav_roll);
get_stabilize_pitch(nav_pitch);
break;
}
#if FRAME_CONFIG != HELI_FRAME
@ -2253,9 +2211,8 @@ static void tuning(){
#endif
case CH6_INAV_TC:
#if INERTIAL_NAV_XY == ENABLED
// To-Do: allowing tuning TC for xy and z separately
inertial_nav.set_time_constant_xy(tuning_value);
#endif
inertial_nav.set_time_constant_z(tuning_value);
break;

30
ArduCopter/Log.pde
View File

@ -489,13 +489,13 @@ static void Log_Read_Optflow()
struct log_Nav_Tuning {
LOG_PACKET_HEADER;
uint32_t wp_distance;
int16_t wp_bearing;
int16_t lat_error;
int16_t lon_error;
int16_t nav_pitch;
int16_t nav_roll;
int16_t lat_speed;
int16_t lon_speed;
int16_t wp_bearing;
float lat_error;
float lon_error;
int16_t nav_pitch;
int16_t nav_roll;
int16_t lat_speed;
int16_t lon_speed;
};
// Write an Nav Tuning packet. Total length : 24 bytes
@ -505,12 +505,12 @@ static void Log_Write_Nav_Tuning()
LOG_PACKET_HEADER_INIT(LOG_NAV_TUNING_MSG),
wp_distance : wp_distance,
wp_bearing : (int16_t) (wp_bearing/100),
lat_error : (int16_t) lat_error,
lon_error : (int16_t) long_error,
lat_error : lat_error,
lon_error : lon_error,
nav_pitch : (int16_t) nav_pitch,
nav_roll : (int16_t) nav_roll,
lat_speed : lat_speed,
lon_speed : lon_speed
lat_speed : (int16_t) inertial_nav.get_latitude_velocity(),
lon_speed : (int16_t) inertial_nav.get_longitude_velocity()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -521,12 +521,12 @@ static void Log_Read_Nav_Tuning()
struct log_Nav_Tuning pkt;
DataFlash.ReadPacket(&pkt, sizeof(pkt));
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR("NTUN, %lu, %d, %d, %d, %d, %d, %d, %d\n"),
// 1 2 3 4 5 6 7 8
cliSerial->printf_P(PSTR("NTUN, %lu, %d, %.0f, %.0f, %d, %d, %d, %d\n"),
(unsigned long)pkt.wp_distance,
(int)pkt.wp_bearing,
(int)pkt.lat_error,
(int)pkt.lon_error,
(float)pkt.lat_error,
(float)pkt.lon_error,
(int)pkt.nav_pitch,
(int)pkt.nav_roll,
(int)pkt.lat_speed,

8
ArduCopter/commands.pde
View File

@ -8,9 +8,6 @@ static void init_commands()
prev_nav_index = NO_COMMAND;
command_cond_queue.id = NO_COMMAND;
command_nav_queue.id = NO_COMMAND;
ap.fast_corner = false;
reset_desired_speed();
}
// Getters
@ -154,9 +151,6 @@ static void set_next_WP(struct Location *wp)
wp_distance = get_distance_cm(&current_loc, &next_WP);
wp_bearing = get_bearing_cd(&prev_WP, &next_WP);
original_wp_bearing = wp_bearing; // to check if we have missed the WP
// calc the location error:
calc_location_error(&next_WP);
}
// set_next_WP_latlon - update just lat and lon targets for nav controllers
@ -191,10 +185,8 @@ static void init_home()
// no need to save this to EPROM
set_cmd_with_index(home, 0);
#if INERTIAL_NAV_XY == ENABLED
// set inertial nav's home position
inertial_nav.set_current_position(g_gps->longitude, g_gps->latitude);
#endif
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(0, &home);

156
ArduCopter/commands_logic.pde
View File

@ -226,7 +226,7 @@ static void do_RTL(void)
set_throttle_mode(RTL_THR);
// set navigation mode
set_nav_mode(NAV_LOITER_ACTIVE);
set_nav_mode(NAV_LOITER);
// override altitude to RTL altitude
set_new_altitude(get_RTL_alt());
@ -239,11 +239,11 @@ static void do_RTL(void)
// do_takeoff - initiate takeoff navigation command
static void do_takeoff()
{
// set our yaw mode
set_yaw_mode(YAW_HOLD);
// set roll-pitch mode
set_roll_pitch_mode(AUTO_RP);
// set our nav mode to loiter
set_nav_mode(NAV_LOITER_ACTIVE);
// set yaw mode
set_yaw_mode(YAW_HOLD);
// set throttle mode to AUTO although we should already be in this mode
set_throttle_mode(THROTTLE_AUTO);
@ -251,30 +251,31 @@ static void do_takeoff()
// set target altitude
set_new_altitude(command_nav_queue.alt);
// set our nav mode to loiter
set_nav_mode(NAV_LOITER);
// prevent flips
// To-Do: check if this is still necessary
reset_I_all();
}
// do_nav_wp - initiate move to next waypoint
// note: caller should set yaw mode
static void do_nav_wp()
{
// set nav mode
set_nav_mode(NAV_WP_ACTIVE);
// set roll-pitch mode
set_roll_pitch_mode(AUTO_RP);
// set target location
#if NAV_WP_ACTIVE == NAV_WP
// Set navigation target
set_next_WP(&command_nav_queue);
#else
// Set inav navigation target
wpinav_set_destination(command_nav_queue);
#endif
// set throttle mode to AUTO although we are likely already in this mode
// set throttle mode
set_throttle_mode(THROTTLE_AUTO);
set_new_altitude(command_nav_queue.alt);
// set nav mode
set_nav_mode(NAV_WP);
// Set inav navigation target
wpinav_set_destination(command_nav_queue);
// this is our bitmask to verify we have met all conditions to move on
wp_verify_byte = 0;
@ -296,35 +297,34 @@ static void do_nav_wp()
}
// do_land - initiate landing procedure
// caller should set roll_pitch_mode to ROLL_PITCH_AUTO (for no pilot input) or ROLL_PITCH_LOITER (for pilot input)
// caller should set yaw_mode
static void do_land()
{
// switch into loiter mode
set_nav_mode(NAV_LOITER_ACTIVE);
if( ap.home_is_set ) {
// switch to loiter if we have gps
set_roll_pitch_mode(ROLL_PITCH_LOITER);
}else{
// otherwise remain with stabilize roll and pitch
set_roll_pitch_mode(ROLL_PITCH_STABLE);
}
// hold current heading
// hold yaw while landing
set_yaw_mode(YAW_HOLD);
// set throttle mode to land
set_throttle_mode(THROTTLE_LAND);
// switch into loiter nav mode
set_nav_mode(NAV_LOITER);
}
// do_loiter_unlimited - start loitering with no end conditions
// note: caller should set yaw_mode
static void do_loiter_unlimited()
{
// if no location specified loiter at current location
if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
set_nav_mode(NAV_LOITER_ACTIVE);
}else{
// location specified so fly to the target location
set_nav_mode(NAV_WP_ACTIVE);
#if NAV_WP_ACTIVE == NAV_WP
// Set navigation target
set_next_WP(&command_nav_queue);
#else
// Set inav navigation target
wpinav_set_destination(command_nav_queue);
#endif
}
// set roll-pitch mode (no pilot input)
set_roll_pitch_mode(AUTO_RP);
// set throttle mode to AUTO which, if not already active, will default to hold at our current altitude
set_throttle_mode(THROTTLE_AUTO);
@ -333,28 +333,44 @@ static void do_loiter_unlimited()
if( command_nav_queue.alt != 0 ) {
set_new_altitude(command_nav_queue.alt);
}
// if no location specified loiter at current location
if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
set_nav_mode(NAV_LOITER);
}else{
// location specified so fly to the target location
set_nav_mode(NAV_WP);
// Set inav navigation target
wpinav_set_destination(command_nav_queue);
}
}
// do_loiter_turns - initiate moving in a circle
static void do_loiter_turns()
{
// set roll-pitch mode (no pilot input)
set_roll_pitch_mode(AUTO_RP);
// set throttle mode to AUTO which, if not already active, will default to hold at our current altitude
set_throttle_mode(THROTTLE_AUTO);
// set target altitude if provided
if( command_nav_queue.alt != 0 ) {
set_new_altitude(command_nav_queue.alt);
}
// set nav mode to CIRCLE
set_nav_mode(NAV_CIRCLE);
// set horizontal location target
if( command_nav_queue.lat != 0 || command_nav_queue.lng != 0) {
set_next_WP_latlon(command_nav_queue.lat, command_nav_queue.lng);
}
// set throttle mode to AUTO which, if not already active, will default to hold at our current altitude
set_throttle_mode(THROTTLE_AUTO);
// set target altitude if provided
if( command_nav_queue.alt != 0 ) {
set_new_altitude(command_nav_queue.alt);
}
circle_WP = next_WP;
yaw_look_at_WP = circle_WP;
// set yaw to point to center of circle
set_yaw_mode(CIRCLE_YAW);
loiter_total = command_nav_queue.p1 * 360;
loiter_sum = 0;
@ -366,32 +382,30 @@ static void do_loiter_turns()
}
// do_loiter_time - initiate loitering at a point for a given time period
// note: caller should set yaw_mode
static void do_loiter_time()
{
// if no position specificed loiter at current location
if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
set_nav_mode(NAV_LOITER_ACTIVE);
loiter_time = millis();
}else{
// location specified so fly to the target location
set_nav_mode(NAV_WP_ACTIVE);
#if NAV_WP_ACTIVE == NAV_WP
// Set navigation target
set_next_WP(&command_nav_queue);
#else
// Set inav navigation target
wpinav_set_destination(command_nav_queue);
#endif
}
// set roll-pitch mode (no pilot input)
set_roll_pitch_mode(AUTO_RP);
// set throttle mode to AUTO which, if not already active, will default to hold at our current altitude
set_throttle_mode(THROTTLE_AUTO);
// set target altitude if provided
if( command_nav_queue.alt != 0 ) {
set_new_altitude(command_nav_queue.alt);
}
// if no position specificed loiter at current location
if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) {
set_nav_mode(NAV_LOITER);
loiter_time = millis();
}else{
// location specified so fly to the target location
set_nav_mode(NAV_WP);
// Set inav navigation target
wpinav_set_destination(command_nav_queue);
}
loiter_time_max = command_nav_queue.p1 * 1000; // units are (seconds)
}
@ -404,6 +418,8 @@ static bool verify_takeoff()
{
// wait until we are ready!
if(g.rc_3.control_in == 0) {
// To-Do: reset loiter target if we have not yet taken-off
// do not allow I term to build up if we have not yet taken-off
return false;
}
// are we above our target altitude?
@ -443,7 +459,7 @@ static bool verify_nav_wp()
// we have reached our goal
// loiter at the WP
set_nav_mode(NAV_LOITER_ACTIVE);
set_nav_mode(NAV_LOITER);
if ((millis() - loiter_time) > loiter_time_max) {
wp_verify_byte |= NAV_DELAY;
@ -462,9 +478,9 @@ static bool verify_nav_wp()
static bool verify_loiter_unlimited()
{
if(nav_mode == NAV_WP_ACTIVE && wp_distance <= (uint32_t)max((g.waypoint_radius * 100),0)) {
if(nav_mode == NAV_WP && wp_distance <= (uint32_t)max((g.waypoint_radius * 100),0)) {
// switch to position hold
set_nav_mode(NAV_LOITER_ACTIVE);
set_nav_mode(NAV_LOITER);
}
return false;
}
@ -472,16 +488,16 @@ static bool verify_loiter_unlimited()
// verify_loiter_time - check if we have loitered long enough
static bool verify_loiter_time()
{
if(nav_mode == NAV_LOITER_ACTIVE) {
if(nav_mode == NAV_LOITER) {
if ((millis() - loiter_time) > loiter_time_max) {
return true;
}
}
if(nav_mode == NAV_WP_ACTIVE && wp_distance <= (uint32_t)max((g.waypoint_radius * 100),0)) {
if(nav_mode == NAV_WP && wp_distance <= (uint32_t)max((g.waypoint_radius * 100),0)) {
// reset our loiter time
loiter_time = millis();
// switch to position hold
set_nav_mode(NAV_LOITER_ACTIVE);
set_nav_mode(NAV_LOITER);
}
return false;
}
@ -518,15 +534,9 @@ static bool verify_RTL()
set_new_altitude(get_RTL_alt());
// set navigation mode
set_nav_mode(NAV_WP_ACTIVE);
#if NAV_WP_ACTIVE == NAV_WP
// Set navigation target to home
set_next_WP(&home);
#else
set_nav_mode(NAV_WP);
// Set inav navigation target to home
wpinav_set_destination(home);
#endif
// set yaw mode
set_yaw_mode(RTL_YAW);
@ -540,7 +550,7 @@ static bool verify_RTL()
// if we've reached home initiate loiter
if (wp_distance <= (uint32_t)max((g.waypoint_radius * 100),0) || check_missed_wp()) {
rtl_state = RTL_STATE_LOITERING_AT_HOME;
set_nav_mode(NAV_LOITER_ACTIVE);
set_nav_mode(NAV_LOITER);
// set loiter timer
rtl_loiter_start_time = millis();

14
ArduCopter/commands_process.pde
View File

@ -75,20 +75,6 @@ static void update_commands()
}else{
// we have at least one more cmd left
Location tmp_loc = get_cmd_with_index(tmp_index);
if(tmp_loc.lat == 0) {
ap.fast_corner = false;
}else{
int32_t temp = get_bearing_cd(&next_WP, &tmp_loc) - original_wp_bearing;
temp = wrap_180(temp);
ap.fast_corner = labs(temp) < 6000;
}
// If we try and stop at a corner, lets reset our desired speed to prevent
// too much jerkyness.
if(false == ap.fast_corner){
reset_desired_speed();
}
}
}else{

27
ArduCopter/config.h
View File

@ -607,14 +607,6 @@
#define EARTH_FRAME 0
#define BODY_FRAME 1
// active NAV controller
#ifndef NAV_WP_ACTIVE
# define NAV_WP_ACTIVE NAV_WP
#endif
// active LOITER controller
#ifndef NAV_LOITER_ACTIVE
# define NAV_LOITER_ACTIVE NAV_LOITER
#endif
// Flight mode roll, pitch, yaw, throttle and navigation definitions
@ -631,10 +623,6 @@
# define ACRO_THR THROTTLE_MANUAL
#endif
#ifndef ACRO_NAV
# define ACRO_NAV NAV_NONE
#endif
// Alt Hold Mode
#ifndef ALT_HOLD_YAW
# define ALT_HOLD_YAW YAW_HOLD
@ -648,10 +636,6 @@
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
#ifndef ALT_HOLD_NAV
# define ALT_HOLD_NAV NAV_NONE
#endif
// AUTO Mode
#ifndef AUTO_YAW
# define AUTO_YAW YAW_LOOK_AT_NEXT_WP
@ -705,7 +689,7 @@
#endif
#ifndef LOITER_RP
# define LOITER_RP ROLL_PITCH_AUTO
# define LOITER_RP ROLL_PITCH_LOITER
#endif
#ifndef LOITER_THR
@ -713,7 +697,7 @@
#endif
#ifndef LOITER_NAV
# define LOITER_NAV NAV_LOITER_ACTIVE
# define LOITER_NAV NAV_LOITER
#endif
// POSITION Mode
@ -730,7 +714,7 @@
#endif
#ifndef POSITION_NAV
# define POSITION_NAV NAV_LOITER_ACTIVE
# define POSITION_NAV NAV_LOITER
#endif
@ -1277,9 +1261,4 @@
# define SECONDARY_DMP_ENABLED DISABLED
#endif
// Inertia based contollers.
#ifndef INERTIAL_NAV_XY
# define INERTIAL_NAV_XY DISABLED
#endif
#endif // __ARDUCOPTER_CONFIG_H__

12
ArduCopter/defines.h
View File

@ -25,13 +25,12 @@
#define YAW_TOY 7 // THOR This is the Yaw mode
#define ROLL_PITCH_STABLE 0
#define ROLL_PITCH_ACRO 1
#define ROLL_PITCH_AUTO 2
#define ROLL_PITCH_STABLE_OF 3
#define ROLL_PITCH_STABLE 0 // pilot input roll, pitch angles
#define ROLL_PITCH_ACRO 1 // pilot inputs roll, pitch rotation rates
#define ROLL_PITCH_AUTO 2 // no pilot input. autopilot roll, pitch is sent to stabilize controller inputs
#define ROLL_PITCH_STABLE_OF 3 // pilot inputs roll, pitch angles which are mixed with optical flow based position controller lean anbles
#define ROLL_PITCH_TOY 4 // THOR This is the Roll and Pitch mode
#define ROLL_PITCH_LOITER_INAV 5 // pilot inputs the desired horizontal velocities
#define ROLL_PITCH_WP_INAV 6 // pilot inputs the desired horizontal velocities which temporarily interrupt the autopilot
#define ROLL_PITCH_LOITER 5 // pilot inputs the desired horizontal velocities
#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
@ -200,7 +199,6 @@
#define NAV_CIRCLE 1
#define NAV_LOITER 2
#define NAV_WP 3
#define NAV_LOITER_INAV 4
#define NAV_WP_INAV 5
// Yaw override behaviours - used for setting yaw_override_behaviour

466
ArduCopter/navigation.pde
View File

@ -1,77 +1,31 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// update_navigation - checks for new GPS updates and invokes navigation routines
// update_navigation - invokes navigation routines
// called at 50hz
static void update_navigation()
{
static uint32_t nav_last_update = 0; // the system time of the last time nav was run update
bool pos_updated = false;
bool log_output = false;
#if INERTIAL_NAV_XY == ENABLED
static uint8_t nav_counter = 0; // used to slow down the navigation to 10hz
// check for inertial nav updates
if( inertial_nav.position_ok() ) {
nav_counter++;
if( nav_counter >= 5) {
nav_counter = 0;
// calculate time since nav controllers last ran
dTnav = (float)(millis() - nav_last_update)/ 1000.0f;
nav_last_update = millis();
// prevent runnup in dTnav value
dTnav = min(dTnav, 1.0f);
// signal to run nav controllers
pos_updated = true;
// signal to create log entry
log_output = true;
}
}
#else
static uint32_t nav_last_gps_time = 0; // the time according to the gps
// check for new gps data
if( g_gps->fix && g_gps->time != nav_last_gps_time ) {
// used to calculate speed in X and Y, iterms
// ------------------------------------------
// calculate time since nav controllers last ran
dTnav = (float)(millis() - nav_last_update)/ 1000.0f;
nav_last_update = millis();
// prevent runup from bad GPS
// prevent runnup in dTnav value
dTnav = min(dTnav, 1.0f);
// save GPS time
nav_last_gps_time = g_gps->time;
// signal to run nav controllers
pos_updated = true;
// signal to create log entry
log_output = true;
}
#endif
// setup to calculate new navigation values and run controllers if
// we've received a position update
if( pos_updated ) {
nav_updates.need_velpos = 1;
nav_updates.need_dist_bearing = 1;
nav_updates.need_nav_controllers = 1;
nav_updates.need_nav_pitch_roll = 1;
// run the navigation controllers
update_nav_mode();
// update log
if (log_output && (g.log_bitmask & MASK_LOG_NTUN) && motors.armed()) {
if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()) {
Log_Write_Nav_Tuning();
}
}
// To-Do: replace below with proper GPS failsafe
// reduce nav outputs to zero if we have not seen a position update in 2 seconds
if( millis() - nav_last_update > 2000 ) {
// after 12 reads we guess we may have lost GPS signal, stop navigating
@ -81,95 +35,68 @@ static void update_navigation()
}
}
/*
run navigation updates from nav_updates. Only run one at a time to
prevent too much cpu usage hurting the main loop
*/
// run_nav_updates - top level call for the autopilot
// ensures calculations such as "distance to waypoint" are calculated before autopilot makes decisions
// To-Do - rename and move this function to make it's purpose more clear
static void run_nav_updates(void)
{
if (nav_updates.need_velpos) {
calc_velocity_and_position();
verify_altitude();
nav_updates.need_velpos = 0;
} else if (nav_updates.need_dist_bearing) {
calc_distance_and_bearing();
nav_updates.need_dist_bearing = 0;
} else if (nav_updates.need_nav_controllers) {
run_autopilot();
update_nav_mode();
nav_updates.need_nav_controllers = 0;
} else if (nav_updates.need_nav_pitch_roll) {
calc_nav_pitch_roll();
nav_updates.need_nav_pitch_roll = 0;
}
// fetch position from inertial navigation
calc_position();
// check altitude vs target
verify_altitude();
// calculate distance and bearing for reporting and autopilot decisions
calc_distance_and_bearing();
// run autopilot to make high level decisions about control modes
run_autopilot();
}
//*******************************************************************************************************
// calc_velocity_and_filtered_position - velocity in lon and lat directions calculated from GPS position
// and accelerometer data
// lon_speed expressed in cm/s. positive numbers mean moving east
// lat_speed expressed in cm/s. positive numbers when moving north
// Note: we use gps locations directly to calculate velocity instead of asking gps for velocity because
// this is more accurate below 1.5m/s
// Note: even though the positions are projected using a lead filter, the velocities are calculated
// from the unaltered gps locations. We do not want noise from our lead filter affecting velocity
//*******************************************************************************************************
static void calc_velocity_and_position(){
#if INERTIAL_NAV_XY == ENABLED
// calc_position - get lat and lon positions from inertial nav library
static void calc_position(){
if( inertial_nav.position_ok() ) {
// pull velocity from interial nav library
lon_speed = inertial_nav.get_longitude_velocity();
lat_speed = inertial_nav.get_latitude_velocity();
// pull position from interial nav library
current_loc.lng = inertial_nav.get_longitude();
current_loc.lat = inertial_nav.get_latitude();
}
#else
static int32_t last_gps_longitude = 0;
static int32_t last_gps_latitude = 0;
// initialise last_longitude and last_latitude
if( last_gps_longitude == 0 && last_gps_latitude == 0 ) {
last_gps_longitude = g_gps->longitude;
last_gps_latitude = g_gps->latitude;
}
// this speed is ~ in cm because we are using 10^7 numbers from GPS
float tmp = 1.0f/dTnav;
// calculate velocity
lon_speed = (float)(g_gps->longitude - last_gps_longitude) * scaleLongDown * tmp;
lat_speed = (float)(g_gps->latitude - last_gps_latitude) * tmp;
// calculate position from gps + expected travel during gps_lag
current_loc.lng = xLeadFilter.get_position(g_gps->longitude, lon_speed, g_gps->get_lag());
current_loc.lat = yLeadFilter.get_position(g_gps->latitude, lat_speed, g_gps->get_lag());
// store gps lat and lon values for next iteration
last_gps_longitude = g_gps->longitude;
last_gps_latitude = g_gps->latitude;
#endif
}
//****************************************************************
// Function that will calculate the desired direction to fly and distance
//****************************************************************
// calc_distance_and_bearing - calculate distance and direction to waypoints for reporting and autopilot decisions
static void calc_distance_and_bearing()
{
// waypoint distance (in cm) and bearaing from plane
// get current position
Vector2f curr_pos(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
Vector2f dest;
// get target from loiter or wpinav controller
if( nav_mode == NAV_LOITER || nav_mode == NAV_CIRCLE ) {
dest.x = loiter_lat_from_home_cm;
dest.y = loiter_lon_from_home_cm;
}else if( nav_mode == NAV_WP ) {
dest.x = wpinav_destination.x;
dest.y = wpinav_destination.y;
}else{
dest = curr_pos;
}
// calculate distance to target
lat_error = dest.x - curr_pos.x;
lon_error = dest.y - curr_pos.y;
wp_distance = safe_sqrt(lat_error*lat_error+lon_error*lon_error);
// calculate waypoint bearing
// To-Do: change this to more efficient calculation
if( waypoint_valid(next_WP) ) {
wp_distance = get_distance_cm(&current_loc, &next_WP);
wp_bearing = get_bearing_cd(&current_loc, &next_WP);
}else{
wp_distance = 0;
wp_bearing = 0;
}
// calculate home distance and bearing
if( ap.home_is_set ) {
home_distance = get_distance_cm(&current_loc, &home);
home_distance = safe_sqrt(curr_pos.x*curr_pos.x + curr_pos.y*curr_pos.y);
// To-Do: change this to more efficient calculation
home_bearing = get_bearing_cd(&current_loc, &home);
// update super simple bearing (if required) because it relies on home_bearing
@ -177,32 +104,15 @@ static void calc_distance_and_bearing()
}else{
home_distance = 0;
home_bearing = 0;
}
}
// calculate bearing to target (used when yaw_mode = YAW_LOOK_AT_LOCATION)
// To-Do: move this to the look-at-waypoint yaw controller
if( waypoint_valid(yaw_look_at_WP) ) {
yaw_look_at_WP_bearing = get_bearing_cd(&current_loc, &yaw_look_at_WP);
}
}
static void calc_location_error(struct Location *next_loc)
{
/*
* Becuase we are using lat and lon to do our distance errors here's a quick chart:
* 100 = 1m
* 1000 = 11m = 36 feet
* 1800 = 19.80m = 60 feet
* 3000 = 33m
* 10000 = 111m
*/
// X Error
long_error = (float)(next_loc->lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 Go East
// Y Error
lat_error = next_loc->lat - current_loc.lat; // 500 - 0 = 500 Go North
}
// run_autopilot - highest level call to process mission commands
static void run_autopilot()
{
@ -214,7 +124,7 @@ static void run_autopilot()
case GUIDED:
// switch to loiter once we've reached the target location and altitude
if(verify_nav_wp()) {
set_nav_mode(NAV_LOITER_ACTIVE);
set_nav_mode(NAV_LOITER);
}
case RTL:
verify_RTL();
@ -249,24 +159,13 @@ static bool set_nav_mode(uint8_t new_nav_mode)
case NAV_LOITER:
// set target to current position
set_next_WP_latlon(current_loc.lat, current_loc.lng);
loiter_set_target(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
nav_initialised = true;
break;
case NAV_WP:
nav_initialised = true;
break;
case NAV_LOITER_INAV:
loiter_set_target(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
// To-Do: below allows user to move around set point but do we want to allow this when in Auto flight mode?
nav_initialised = set_roll_pitch_mode(ROLL_PITCH_LOITER_INAV);
break;
case NAV_WP_INAV:
// To-Do: below allows user to move around set point but do we want to allow this when in Auto flight mode?
nav_initialised = set_roll_pitch_mode(ROLL_PITCH_WP_INAV);
break;
}
// if initialisation has been successful update the yaw mode
@ -282,7 +181,6 @@ static bool set_nav_mode(uint8_t new_nav_mode)
static void update_nav_mode()
{
int16_t loiter_delta;
int16_t speed;
switch( nav_mode ) {
@ -306,8 +204,6 @@ static void update_nav_mode()
circle_angle += (circle_rate * dTnav);
//1 degree = 0.0174532925 radians
// wrap
if (circle_angle > 6.28318531f)
circle_angle -= 6.28318531f;
@ -317,63 +213,13 @@ static void update_nav_mode()
set_next_WP_latlon(
circle_WP.lat + (g.circle_radius * 100 * sinf(1.57f - circle_angle)),
circle_WP.lng + (g.circle_radius * 100 * cosf(1.57f - circle_angle) * scaleLongUp));
// use error as the desired rate towards the target
// nav_lon, nav_lat is calculated
// if the target location is >4m use waypoint controller
if(wp_distance > 400) {
calc_nav_rate(get_desired_speed(g.waypoint_speed_max));
}else{
// calc the lat and long error to the target
calc_location_error(&next_WP);
// call loiter controller
calc_loiter(long_error, lat_error);
}
break;
case NAV_LOITER:
// check if user is overriding the loiter controller
if((abs(g.rc_2.control_in) + abs(g.rc_1.control_in)) > 500) {
if(wp_distance > 500){
ap.loiter_override = true;
}
}
// check if user has release sticks
if(ap.loiter_override) {
if(g.rc_2.control_in == 0 && g.rc_1.control_in == 0) {
ap.loiter_override = false;
// reset LOITER to current position
set_next_WP_latlon(current_loc.lat, current_loc.lng);
}
// We bring copy over our Iterms for wind control, but we don't navigate
nav_lon = g.pid_loiter_rate_lon.get_integrator();
nav_lat = g.pid_loiter_rate_lon.get_integrator();
nav_lon = constrain(nav_lon, -2000, 2000);
nav_lat = constrain(nav_lat, -2000, 2000);
}else{
// calc error to target
calc_location_error(&next_WP);
// use error as the desired rate towards the target
calc_loiter(long_error, lat_error);
}
break;
case NAV_WP:
// calc position error to target
calc_location_error(&next_WP);
// calc speed to target
speed = get_desired_speed(g.waypoint_speed_max);
// use error as the desired rate towards the target
calc_nav_rate(speed);
break;
case NAV_LOITER_INAV:
get_loiter_pos_lat_lon(loiter_lat_from_home_cm, loiter_lon_from_home_cm, 0.1f);
break;
case NAV_WP_INAV:
case NAV_WP:
// move forward on the waypoint
// To-Do: slew up the speed to the max waypoint speed instead of immediately jumping to max
wpinav_advance_track_desired(g.waypoint_speed_max, 0.1f);
@ -401,207 +247,6 @@ static bool check_missed_wp()
return (labs(temp) > 9000); // we passed the waypoint by 90 degrees
}
////////////////////////////////////////////////////////////////
// Loiter controller (based on GPS position)
////////////////////////////////////////////////////////////////
#define NAV_ERR_MAX 600
#define NAV_RATE_ERR_MAX 250
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 + x_error, dTnav);
d = g.pid_loiter_rate_lon.get_d(x_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, -4500, 4500); // constrain max angle to 45 degrees
#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 + y_error, dTnav);
d = g.pid_loiter_rate_lat.get_d(y_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, -4500, 4500); // constrain max angle to 45 degrees
#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());
}
///////////////////////////////////////////////////////////
// Waypoint controller (based on GPS position)
///////////////////////////////////////////////////////////
static void calc_nav_rate(int16_t max_speed)
{
float temp, temp_x, temp_y;
// push us towards the original track
update_crosstrack();
int16_t cross_speed = crosstrack_error * -g.crosstrack_gain; // scale down crosstrack_error in cm
cross_speed = constrain(cross_speed, -150, 150);
// rotate by 90 to deal with trig functions
temp = (9000l - wp_bearing) * RADX100;
temp_x = cosf(temp);
temp_y = sinf(temp);
// rotate desired spped vector:
int32_t x_target_speed = max_speed * temp_x - cross_speed * temp_y;
int32_t y_target_speed = cross_speed * temp_x + max_speed * temp_y;
// East / West
// calculate rate error
x_rate_error = x_target_speed - lon_speed;
x_rate_error = constrain(x_rate_error, -500, 500);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
int32_t tilt = (x_target_speed * x_target_speed * (int32_t)g.tilt_comp) / 10000;
if(x_target_speed < 0) tilt = -tilt;
nav_lon += tilt;
// North / South
// calculate rate error
y_rate_error = y_target_speed - lat_speed;
y_rate_error = constrain(y_rate_error, -500, 500); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
tilt = (y_target_speed * y_target_speed * (int32_t)g.tilt_comp) / 10000;
if(y_target_speed < 0) tilt = -tilt;
nav_lat += tilt;
// copy over I term to Loiter_Rate
g.pid_loiter_rate_lon.set_integrator(g.pid_nav_lon.get_integrator());
g.pid_loiter_rate_lat.set_integrator(g.pid_nav_lat.get_integrator());
}
// this calculation rotates our World frame of reference to the copter's frame of reference
// We use the DCM's matrix to precalculate these trig values at 50hz
static void calc_nav_pitch_roll()
{
// To-Do: remove this hack dependent upon nav_mode
if( nav_mode != NAV_LOITER_INAV && nav_mode != NAV_WP_INAV ) {
// 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;
// flip pitch because forward is negative
auto_pitch = -auto_pitch;
// constrain maximum roll and pitch angles to 45 degrees
auto_roll = constrain(auto_roll, -4500, 4500);
auto_pitch = constrain(auto_pitch, -4500, 4500);
}
}
static int16_t get_desired_speed(int16_t max_speed)
{
/*
Based on Equation by Bill Premerlani & Robert Lefebvre
(sq(V2)-sq(V1))/2 = A(X2-X1)
derives to:
V1 = sqrt(sq(V2) - 2*A*(X2-X1))
*/
if(ap.fast_corner) {
// don't slow down
}else{
if(wp_distance < 20000){ // limit the size of numbers we're dealing with to avoid overflow
// go slower
int32_t temp = 2 * 100 * (int32_t)(wp_distance - g.waypoint_radius * 100);
int32_t s_min = WAYPOINT_SPEED_MIN;
temp += s_min * s_min;
if( temp < 0 ) temp = 0; // check to ensure we don't try to take the sqrt of a negative number
max_speed = sqrtf((float)temp);
max_speed = min(max_speed, g.waypoint_speed_max);
}
}
max_speed = min(max_speed, max_speed_old + (100 * dTnav));// limit going faster
max_speed = max(max_speed, WAYPOINT_SPEED_MIN); // don't go too slow
max_speed_old = max_speed;
return max_speed;
}
static void reset_desired_speed()
{
max_speed_old = 0;
}
static void update_crosstrack(void)
{
// Crosstrack Error
// ----------------
if (wp_distance >= (unsigned long)max((g.crosstrack_min_distance * 100),0) &&
abs(wrap_180(wp_bearing - original_wp_bearing)) < 4500) {
float temp = (wp_bearing - original_wp_bearing) * RADX100;
crosstrack_error = sinf(temp) * wp_distance; // Meters we are off track line
}else{
// fade out crosstrack
crosstrack_error >>= 1;
}
}
static void force_new_altitude(int32_t new_alt)
{
next_WP.alt = new_alt;
@ -632,6 +277,7 @@ static void set_new_altitude(int32_t new_alt)
}
}
// verify_altitude - check if we have reached the target altitude
static void verify_altitude()
{
if(alt_change_flag == ASCENDING) {
@ -662,8 +308,8 @@ static void reset_nav_params(void)
// Will be set by new command
wp_distance = 0;
// Will be set by new command, used by loiter
long_error = 0;
// Will be set by nav or loiter controllers
lon_error = 0;
lat_error = 0;
nav_lon = 0;
nav_lat = 0;

14
ArduCopter/system.pde
View File

@ -387,11 +387,6 @@ static void set_mode(uint8_t mode)
// if we change modes, we must clear landed flag
set_land_complete(false);
// debug to Serial terminal
//cliSerial->println(flight_mode_strings[control_mode]);
ap.loiter_override = false;
// report the GPS and Motor arming status
led_mode = NORMAL_LEDS;
@ -403,7 +398,7 @@ static void set_mode(uint8_t mode)
set_yaw_mode(ACRO_YAW);
set_roll_pitch_mode(ACRO_RP);
set_throttle_mode(ACRO_THR);
set_nav_mode(ACRO_NAV);
set_nav_mode(NAV_NONE);
// reset acro axis targets to current attitude
if(g.axis_enabled){
roll_axis = ahrs.roll_sensor;
@ -427,7 +422,7 @@ static void set_mode(uint8_t mode)
set_yaw_mode(ALT_HOLD_YAW);
set_roll_pitch_mode(ALT_HOLD_RP);
set_throttle_mode(ALT_HOLD_THR);
set_nav_mode(ALT_HOLD_NAV);
set_nav_mode(NAV_NONE);
break;
case AUTO:
@ -484,16 +479,13 @@ static void set_mode(uint8_t mode)
break;
case LAND:
// To-Do: it is messy to set manual_attitude here because the do_land function is reponsible for setting the roll_pitch_mode
if( ap.home_is_set ) {
// switch to loiter if we have gps
ap.manual_attitude = false;
set_yaw_mode(LOITER_YAW);
set_roll_pitch_mode(LOITER_RP);
}else{
// otherwise remain with stabilize roll and pitch
ap.manual_attitude = true;
set_yaw_mode(YAW_HOLD);
set_roll_pitch_mode(ROLL_PITCH_STABLE);
}
ap.manual_throttle = false;
do_land();