Ardupilot2/libraries/AP_Scripting/examples/Aerobatics/Via_Switch/5_knifedges.lua
2022-09-06 10:39:35 +10:00

244 lines
8.1 KiB
Lua

-- knife edge on switch
TRICK_NUMBER = 5 -- selector number recognized to execute trick, change as desired
-- knife-edge angle set by AERO_TRICK_ANG, active for as long as trick id = 5
-------------------------------------------------------------------
-- do not change anything below unless noted
local running = false
local not_bound = true
local initial_yaw_deg = 0
local initial_height = 0
local repeat_count
-- constrain a value between limits
function constrain(v, vmin, vmax)
if v < vmin then
v = vmin
end
if v > vmax then
v = vmax
end
return v
end
function wrap_360(angle) --function returns positive angle modulo360, -710 in returns 10, -10 returns +350
local res = math.fmod(angle, 360.0)
if res < 0 then
res = res + 360.0
end
return res
end
function wrap_180(angle)
local res = wrap_360(angle)
if res > 180 then
res = res - 360
end
return res
end
-- a PI controller implemented as a Lua object
local function PI_controller(kP,kI,iMax)
-- the new instance. You can put public variables inside this self
-- declaration if you want to
local self = {}
-- private fields as locals
local _kP = kP or 0.0
local _kI = kI or 0.0
local _kD = kD or 0.0
local _iMax = iMax
local _last_t = nil
local _I = 0
local _P = 0
local _total = 0
local _counter = 0
local _target = 0
local _current = 0
-- update the controller.
function self.update(target, current)
local now = millis():tofloat() * 0.001
if not _last_t then
_last_t = now
end
local dt = now - _last_t
_last_t = now
local err = target - current
_counter = _counter + 1
local P = _kP * err
_I = _I + _kI * err * dt
if _iMax then
_I = constrain(_I, -_iMax, iMax)
end
local I = _I
local ret = P + I
_target = target
_current = current
_P = P
_total = ret
return ret
end
-- reset integrator to an initial value
function self.reset(integrator)
_I = integrator
end
function self.set_I(I)
_kI = I
end
function self.set_P(P)
_kP = P
end
function self.set_Imax(Imax)
_iMax = Imax
end
-- log the controller internals
function self.log(name, add_total)
-- allow for an external addition to total
logger:write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
end
-- return the instance
return self
end
local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
local self = {}
local kP = kP_param
local kI = kI_param
local KnifeEdge = KnifeEdge_param
local PI = PI_controller(kP:get(), kI:get(), Imax)
function self.update(target)
local target_pitch = PI.update(initial_height, ahrs:get_position():alt()*0.01)
local roll_rad = ahrs:get_roll()
local ke_add = math.abs(math.sin(roll_rad)) * KnifeEdge:get()
target_pitch = target_pitch + ke_add
PI.log("HPI", ke_add)
return constrain(target_pitch,-45,45)
end
function self.reset()
PI.reset(math.max(math.deg(ahrs:get_pitch()), 3.0))
PI.set_P(kP:get())
PI.set_I(kI:get())
end
return self
end
-- a controller to target a zero pitch angle and zero heading change, used in a roll
-- output is a body frame pitch rate, with convergence over time tconst in seconds
function pitch_controller(target_pitch_deg, target_yaw_deg, tconst)
local roll_deg = math.deg(ahrs:get_roll())
local pitch_deg = math.deg(ahrs:get_pitch())
local yaw_deg = math.deg(ahrs:get_yaw())
-- get earth frame pitch and yaw rates
local ef_pitch_rate = (target_pitch_deg - pitch_deg) / tconst
local ef_yaw_rate = wrap_180(target_yaw_deg - yaw_deg) / tconst
local bf_pitch_rate = math.sin(math.rad(roll_deg)) * ef_yaw_rate + math.cos(math.rad(roll_deg)) * ef_pitch_rate
local bf_yaw_rate = math.cos(math.rad(roll_deg)) * ef_yaw_rate - math.sin(math.rad(roll_deg)) * ef_pitch_rate
return bf_pitch_rate, bf_yaw_rate
end
-- a controller for throttle to account for pitch
function throttle_controller()
local pitch_rad = ahrs:get_pitch()
local thr_ff = THR_PIT_FF:get()
local throttle = TRIM_THROTTLE:get() + math.sin(pitch_rad) * thr_ff
return constrain(throttle, TRIM_THROTTLE:get(), 100.0)
end
function bind_param(name)
local p = Parameter()
if not p:init(name) then
not_bound = true
end
return p
end
----------------------------------------------------------------------------------------------
--every trick needs an init, change as needed...to bind the AERO params it uses(which will depend on the trick), and setup PID controllers used by script
function init()
not_bound = false
HGT_P = bind_param("AERO_HGT_P") -- height P gain, required for height controller
HGT_I = bind_param("AERO_HGT_I") -- height I gain, required for height controller
HGT_KE_BIAS = bind_param("AERO_HGT_KE_BIAS") -- height knifeedge addition for pitch
THR_PIT_FF = bind_param("AERO_THR_PIT_FF") -- throttle FF from pitch
TRIM_THROTTLE = bind_param("TRIM_THROTTLE") --usually required for any trick
TRIM_ARSPD_CM = bind_param("TRIM_ARSPD_CM") --usually required for any trick
RLL2SRV_TCONST = bind_param("RLL2SRV_TCONST") --usually required for any trick
PITCH_TCONST = bind_param("PTCH2SRV_TCONST") --usually required for any trick
KE_ANG = bind_param("AERO_TRICK_ANG") --this particulat trick needs a target angle for the knife-edge its doing
TRICK_ID = bind_param("AERO_TRICK_ID") --- required for any trick
RPT_COUNT = bind_param("AERO_RPT_COUNT") -- if trick can repeat
if not_bound then
gcs:send_text(0,string.format("Not bound yet"))
return init, 100
else
gcs:send_text(0,string.format("Params bound,Trick %.0f loaded", TRICK_NUMBER))
height_PI = height_controller(HGT_P, HGT_I, HGT_KE_BIAS, 20.0) -- this trick needs this height PID controller setup to hold height during the trick
return update, 1000
end
end
-----------------------------------------------------------------------------------------------
--every trick will have its own do_trick function to perform the trick...this will change totally for each different trick
function do_trick(arg1)
-- arg1 is angle +/-180
local roll_deg = math.deg(ahrs:get_roll())
local roll_angle_error = (arg1 - roll_deg)
if math.abs(roll_angle_error) > 180 then
if roll_angle_error > 0 then
roll_angle_error = roll_angle_error - 360
else
roll_angle_error= roll_angle_error +360
end
end
local roll_rate = roll_angle_error/(RLL2SRV_TCONST:get())
local target_pitch = height_PI.update(initial_height)
local pitch_rate, yaw_rate = pitch_controller(target_pitch, initial_yaw_deg, PITCH_TCONST:get())
local throttle = throttle_controller()
vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
return
end
-------------------------------------------------------------------------------------------
--trick should noramlly only have to change the notification text in this routine,initialize trick specific variables, and any parameters needing to be passed to do_trick(..)
function update()
if (TRICK_ID:get() == TRICK_NUMBER) then
local current_mode = vehicle:get_mode()
if arming:is_armed() and running == false then
if not vehicle:nav_scripting_enable(current_mode) then
return update, 50
end
running = true
initial_height = ahrs:get_position():alt()*0.01
initial_yaw_deg = math.deg(ahrs:get_yaw())
height_PI.reset()
repeat_count = RPT_COUNT:get() --not used in this trick, knife-edge on as long as mode does not change or sw is not lowered
-----------------------------------------------trick specific
gcs:send_text(0, string.format("%d Knife edge", KE_ANG:get())) --change announcement as appropriate for trick
----------------------------------------------------------
elseif running == true then
do_trick(KE_ANG:get()) -- change arguments as appropriate for trick
end
else
running = false
end
return update, 50
end
return init,1000