325 lines
11 KiB
Lua
325 lines
11 KiB
Lua
-- loops and returns on switch
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TRICK_NUMBER = 10 -- selector number recognized to execute trick, change as desired
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-- number of loops controlled by AERO_RPT_COUNT, if 0 it will do an immelman instead, trick returns control after executing even if trick id remains 10
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local target_vel -- trick specific global variables
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local loop_stage
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-------------------------------------------------------------------
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-- do not change anything unless noted
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local running = false
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local not_bound = true
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local initial_yaw_deg = 0
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local initial_height = 0
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local repeat_count
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-- constrain a value between limits
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function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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function wrap_360(angle) --function returns positive angle modulo360, -710 in returns 10, -10 returns +350
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local res = math.fmod(angle, 360.0)
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if res < 0 then
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res = res + 360.0
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end
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return res
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end
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function wrap_180(angle)
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local res = wrap_360(angle)
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if res > 180 then
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res = res - 360
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end
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return res
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end
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-- roll angle error 180 wrap to cope with errors while in inverted segments
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function roll_angle_error_wrap(roll_angle_error)
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if math.abs(roll_angle_error) > 180 then
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if roll_angle_error > 0 then
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roll_angle_error = roll_angle_error - 360
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else
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roll_angle_error= roll_angle_error +360
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end
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end
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return roll_angle_error
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end
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--roll controller to keep wings level in earth frame. if arg is 0 then level is at only 0 deg, otherwise its at 180/-180 roll also for loops
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function earth_frame_wings_level(arg)
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local roll_deg = math.deg(ahrs:get_roll())
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local roll_angle_error = 0.0
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if (roll_deg > 90 or roll_deg < -90) and arg ~= 0 then
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roll_angle_error = 180 - roll_deg
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else
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roll_angle_error = - roll_deg
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end
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return roll_angle_error_wrap(roll_angle_error)/(RLL2SRV_TCONST:get())
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end
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-- constrain rates to rate controller call
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function _set_target_throttle_rate_rpy(throttle,roll_rate, pitch_rate, yaw_rate)
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local r_rate = constrain(roll_rate,-RATE_MAX:get(),RATE_MAX:get())
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local p_rate = constrain(pitch_rate,-RATE_MAX:get(),RATE_MAX:get())
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vehicle:set_target_throttle_rate_rpy(throttle, r_rate, p_rate, yaw_rate)
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end
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-- a PI controller implemented as a Lua object
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local function PI_controller(kP,kI,iMax)
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-- the new instance. You can put public variables inside this self
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-- declaration if you want to
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local self = {}
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-- private fields as locals
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local _kP = kP or 0.0
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local _kI = kI or 0.0
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local _kD = kD or 0.0
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local _iMax = iMax
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local _last_t = nil
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local _I = 0
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local _P = 0
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local _total = 0
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local _counter = 0
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local _target = 0
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local _current = 0
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-- update the controller.
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function self.update(target, current)
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local now = millis():tofloat() * 0.001
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if not _last_t then
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_last_t = now
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end
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local dt = now - _last_t
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_last_t = now
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local err = target - current
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_counter = _counter + 1
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local P = _kP * err
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_I = _I + _kI * err * dt
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if _iMax then
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_I = constrain(_I, -_iMax, iMax)
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end
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local I = _I
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local ret = P + I
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_target = target
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_current = current
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_P = P
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_total = ret
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return ret
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end
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-- reset integrator to an initial value
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function self.reset(integrator)
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_I = integrator
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end
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function self.set_I(I)
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_kI = I
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end
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function self.set_P(P)
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_kP = P
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end
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function self.set_Imax(Imax)
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_iMax = Imax
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end
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-- log the controller internals
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function self.log(name, add_total)
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-- allow for an external addition to total
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logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
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end
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-- return the instance
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return self
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end
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local function height_controller(kP_param,kI_param,KnifeEdge_param,Imax)
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local self = {}
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local kP = kP_param
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local kI = kI_param
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local KnifeEdge = KnifeEdge_param
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local PI = PI_controller(kP:get(), kI:get(), Imax)
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function self.update(target)
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local target_pitch = PI.update(initial_height, ahrs:get_position():alt()*0.01)
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local roll_rad = ahrs:get_roll()
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local ke_add = math.abs(math.sin(roll_rad)) * KnifeEdge:get()
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target_pitch = target_pitch + ke_add
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PI.log("HPI", ke_add)
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return constrain(target_pitch,-45,45)
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end
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function self.reset()
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PI.reset(math.max(math.deg(ahrs:get_pitch()), 3.0))
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PI.set_P(kP:get())
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PI.set_I(kI:get())
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end
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return self
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end
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-- a controller to target a zero pitch angle and zero heading change, used in a roll
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-- output is a body frame pitch rate, with convergence over time tconst in seconds
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function pitch_controller(target_pitch_deg, target_yaw_deg, tconst)
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local roll_deg = math.deg(ahrs:get_roll())
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local pitch_deg = math.deg(ahrs:get_pitch())
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local yaw_deg = math.deg(ahrs:get_yaw())
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-- get earth frame pitch and yaw rates
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local ef_pitch_rate = (target_pitch_deg - pitch_deg) / tconst
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local ef_yaw_rate = wrap_180(target_yaw_deg - yaw_deg) / tconst
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local bf_pitch_rate = math.sin(math.rad(roll_deg)) * ef_yaw_rate + math.cos(math.rad(roll_deg)) * ef_pitch_rate
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local bf_yaw_rate = math.cos(math.rad(roll_deg)) * ef_yaw_rate - math.sin(math.rad(roll_deg)) * ef_pitch_rate
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return bf_pitch_rate, bf_yaw_rate
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end
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-- a controller for throttle to account for pitch
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function throttle_controller()
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local pitch_rad = ahrs:get_pitch()
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local thr_ff = THR_PIT_FF:get()
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local throttle = TRIM_THROTTLE:get() + math.sin(pitch_rad) * thr_ff
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return constrain(throttle, TRIM_THROTTLE:get(), 100.0)
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end
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function bind_param(name)
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local p = Parameter()
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if p:init(name) then
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not_bound = false
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return p
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else
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not_bound = true
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end
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end
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-- recover entry altitude
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function recover_alt()
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local target_pitch = height_PI.update(initial_height)
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local pitch_rate, yaw_rate = pitch_controller(target_pitch, initial_yaw_deg, PITCH_TCONST:get())
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throttle = throttle_controller()
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return throttle, pitch_rate, yaw_rate
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end
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----------------------------------------------------------------------------------------------
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--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
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function init()
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HGT_P = bind_param("AERO_HGT_P") -- height P gain, required for height controller
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HGT_I = bind_param("AERO_HGT_I") -- height I gain, required for height controller
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HGT_KE_BIAS = bind_param("AERO_HGT_KE_BIAS") -- height knifeedge addition for pitch
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THR_PIT_FF = bind_param("AERO_THR_PIT_FF") -- throttle FF from pitch
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TRIM_THROTTLE = bind_param("TRIM_THROTTLE") --usually required for any trick
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TRIM_ARSPD_CM = bind_param("TRIM_ARSPD_CM") --usually required for any trick
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RATE_MAX = bind_param("AERO_RATE_MAX")
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RLL2SRV_TCONST = bind_param("RLL2SRV_TCONST") --usually required for any trick
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PITCH_TCONST = bind_param("PTCH2SRV_TCONST") --usually required for any trick
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TRICK_ID = bind_param("AERO_TRICK_ID") --- required for any trick
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TRICK_RAT = bind_param("AERO_TRICK_RAT") --usually required for any trick
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RPT_COUNT = bind_param("AERO_RPT_COUNT") --repeat count for trick
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if not_bound then
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gcs:send_text(0,string.format("Not bound yet"))
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return init, 100
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else
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gcs:send_text(0,string.format("Params bound,Trick %.0f loaded", TRICK_NUMBER))
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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
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loop_stage = 0
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return update, 50
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end
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end
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-----------------------------------------------------------------------------------------------
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--every trick will have its own do_trick function to perform the trick...this will change totally for each different trick
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function do_loop(arg1)
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-- do one loop with controllable pitch rate arg1 is pitch rate, arg2 number of loops, 0 indicates 1/2 cuban8 reversa
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local throttle = throttle_controller()
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local pitch_deg = math.deg(ahrs:get_pitch())
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local roll_deg = math.deg(ahrs:get_roll())
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local vel = ahrs:get_velocity_NED():length()
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local pitch_rate = arg1
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local yaw_rate = 0
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pitch_rate = pitch_rate * (1+ 2*((vel/target_vel)-1)) --increase/decrease rate based on velocity to round loop
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pitch_rate = constrain(pitch_rate,.5 * arg1, 3 * arg1)
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if loop_stage == 0 then
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if pitch_deg > 60 then
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loop_stage = 1
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end
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elseif loop_stage == 1 then
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if (math.abs(roll_deg) < 90 and pitch_deg > -5 and pitch_deg < 5 and repeat_count > 0) then
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-- we're done with loop
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gcs:send_text(0, string.format("Finished loop p=%.1f", pitch_deg))
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loop_stage = 2 --now recover stage
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repeat_count = repeat_count - 1
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elseif (math.abs(roll_deg) > 90 and pitch_deg > -5 and pitch_deg < 5 and repeat_count <= 0) then
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gcs:send_text(0, string.format("Finished return p=%.1f", pitch_deg))
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loop_stage = 2 --now recover stage
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repeat_count = repeat_count - 1
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initial_yaw_deg = math.deg(ahrs:get_yaw())
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end
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elseif loop_stage == 2 then
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-- recover alt if above or below start and terminate
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if repeat_count > 0 then
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--yaw_rate = 0
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loop_stage = 0
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elseif math.abs(ahrs:get_position():alt()*0.01 - initial_height) > 3 then
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throttle, pitch_rate, yaw_rate = recover_alt()
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else
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running = false
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gcs:send_text(0, string.format("Recovered entry alt"))
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TRICK_ID:set(0)
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return
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end
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end
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throttle = throttle_controller()
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if loop_stage == 2 or loop_stage == 0 then level_type = 0 else level_type = 1 end
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if math.abs(pitch_deg) > 85 and math.abs(pitch_deg) < 95 then
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roll_rate = 0
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else
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roll_rate = earth_frame_wings_level(level_type)
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end
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_set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
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end
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-------------------------------------------------------------------------------------------
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--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(..)
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function update()
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if (TRICK_ID:get() == TRICK_NUMBER) then
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local current_mode = vehicle:get_mode()
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if arming:is_armed() and running == false then
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if not vehicle:nav_scripting_enable(current_mode) then
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return update, 50
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end
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running = true
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initial_height = ahrs:get_position():alt()*0.01
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initial_yaw_deg = math.deg(ahrs:get_yaw())
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height_PI.reset()
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repeat_count = RPT_COUNT:get()
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-----------------------------------------------trick specific
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loop_stage = 0
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target_vel = ahrs:get_velocity_NED():length()
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gcs:send_text(0, string.format("Loop/Return")) --change announcement as appropriate for trick
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-------------------------------------------------------
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elseif running == true then
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do_loop(TRICK_RAT:get()) -- change arguments as appropriate for trick
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end
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else
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running = false
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end
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return update, 50
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end
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return init,1000
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