aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: split control_stabilize into land, rtl, loiter

Browse Source
This commit is contained in:
Randy Mackay 2014-01-24 15:47:42 +09:00 committed by Andrew Tridgell
parent 171203370f
commit e27f4c1c13
4 changed files with 262 additions and 99 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

130
ArduCopter/control_land.pde Normal file
View File

@ -0,0 +1,130 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// counter to verify landings
static uint16_t land_detector;
static bool land_with_gps;
// land_init - initialise land controller
static bool land_init(bool ignore_checks)
{
// check if we have GPS and decide which LAND we're going to do
land_with_gps = GPS_ok();
if (land_with_gps) {
// set target to current position
wp_nav.init_loiter_target();
}
return true;
}
// land_run - runs the land controller
// should be called at 100hz or more
static void land_run()
{
int16_t target_roll, target_pitch;
float target_yaw_rate;
float target_climb_rate;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) {
// To-Do: reset altitude target if we're somehow not landed?
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
}
// disarming detector
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
init_disarm_motors();
return;
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
return;
}
#endif
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// reset target lean angles and heading while landed
if (ap.land_complete) {
attitude_control.init_targets();
// move throttle to minimum to keep us on the ground
attitude_control.set_throttle_out(0, false);
}else{
// call attitude controller
attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// call landing throttle controller
target_climb_rate = get_throttle_land();
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// get_throttle_land - high level landing logic
// returns climb rate (in cm/s) which should be passed to the position controller
// should be called at 100hz or higher
static float get_throttle_land()
{
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (current_loc.alt >= LAND_START_ALT && !(g.sonar_enabled && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
return pos_control.get_speed_down();
}else{
return -abs(g.land_speed);
}
}
// reset_land_detector - initialises land detector
static void reset_land_detector()
{
set_land_complete(false);
land_detector = 0;
}
// update_land_detector - checks if we have landed and updates the ap.land_complete flag
// returns true if we have landed
static bool update_land_detector()
{
// detect whether we have landed by watching for low climb rate and minimum throttle
if (abs(climb_rate) < 20 && motors.limit.throttle_lower) {
if (!ap.land_complete) {
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
if( land_detector < LAND_DETECTOR_TRIGGER) {
land_detector++;
}else{
set_land_complete(true);
land_detector = 0;
}
}
}else{
// we've sensed movement up or down so reset land_detector
land_detector = 0;
if(ap.land_complete) {
set_land_complete(false);
}
}
// return current state of landing
return ap.land_complete;
}

104
ArduCopter/control_loiter.pde Normal file
View File

@ -0,0 +1,104 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_loiter.pde - init and run calls for loiter and of_loiter (aka optical flow loiter) flight modes
*/
// loiter_init - initialise loiter controller
static bool loiter_init(bool ignore_checks)
{
if (GPS_ok() || ignore_checks) {
// set target to current position
wp_nav.init_loiter_target();
return true;
}else{
return false;
}
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
static void loiter_run()
{
float target_yaw_rate = 0;
float target_climb_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
}
// process pilot inputs
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
// To-Do: do we need to clear out feed forward if this is not called?
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
// check for pilot requested take-off
if (ap.land_complete && target_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
}
// when landed reset targets and output zero throttle
if (ap.land_complete) {
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
}else{
// run loiter controller
wp_nav.update_loiter();
// call attitude controller
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// ofloiter_init - initialise ofloiter controller
static bool ofloiter_init(bool ignore_checks)
{
if (g.optflow_enabled || ignore_checks) {
return true;
}else{
return false;
}
}
// ofloiter_run - runs the optical flow loiter controller
// should be called at 100hz or more
static void ofloiter_run()
{
}

24
ArduCopter/control_rtl.pde Normal file
View File

@ -0,0 +1,24 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_rtl.pde - init and run calls for RTL flight mode
*/
// rtl_init - initialise rtl controller
static bool rtl_init(bool ignore_checks)
{
if (GPS_ok() || ignore_checks) {
do_RTL();
return true;
}else{
return false;
}
}
// rtl_run - runs the return-to-launch controller
// should be called at 100hz or more
static void rtl_run()
{
verify_RTL();
}

103
ArduCopter/control_stabilize.pde
View File

@ -1,5 +1,9 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_stabilize.pde - init and run calls for acro, stabilize, althold, drift and sport flight modes
*/
// acro_init - initialise acro controller
static bool acro_init(bool ignore_checks)
{
@ -212,105 +216,6 @@ static void circle_run()
//get_circle_yaw();
}
// loiter_init - initialise loiter controller
static bool loiter_init(bool ignore_checks)
{
if (GPS_ok() || ignore_checks) {
// set target to current position
wp_nav.init_loiter_target();
return true;
}else{
return false;
}
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
static void loiter_run()
{
float target_yaw_rate = 0;
float target_climb_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
}
// process pilot inputs
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
// To-Do: do we need to clear out feed forward if this is not called?
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
// check for pilot requested take-off
if (ap.land_complete && target_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
}
// when landed reset targets and output zero throttle
if (ap.land_complete) {
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
}else{
// run loiter controller
wp_nav.update_loiter();
// call attitude controller
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// body-frame rate controller is run directly from 100hz loop
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// ofloiter_init - initialise ofloiter controller
static bool ofloiter_init(bool ignore_checks)
{
if (g.optflow_enabled || ignore_checks) {
return true;
}else{
return false;
}
}
// ofloiter_run - runs the optical flow loiter controller
// should be called at 100hz or more
static void ofloiter_run()
{
}
// drift_init - initialise drift controller
static bool drift_init(bool ignore_checks)
{