forked from Archive/PX4-Autopilot
Prevent flips at high throttle
Conflicts: src/drivers/ardrone_interface/ardrone_motor_control.c
This commit is contained in:
Julian Oes
Julian Oes
parent
b714c5c9d1
commit
65d36c44af
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@ -41,6 +41,7 @@
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#include <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <math.h>
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#include <drivers/drv_gpio.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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@ -369,11 +370,9 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
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float yaw_control = actuators->control[2];
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float motor_thrust = actuators->control[3];
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//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
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const float min_thrust = 0.02f; /**< 2% minimum thrust */
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const float max_thrust = 1.0f; /**< 100% max thrust */
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const float scaling = 500.0f; /**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */
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const float scaling = 510.0f; /**< 100% thrust equals a value of 510 which works, 512 leads to cutoff */
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const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */
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const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */
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@ -382,71 +381,56 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
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float motor_calc[4] = {0};
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float output_band = 0.0f;
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float band_factor = 0.75f;
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const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
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float yaw_factor = 1.0f;
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static bool initialized = false;
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/* publish effective outputs */
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static struct actuator_controls_effective_s actuator_controls_effective;
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static orb_advert_t actuator_controls_effective_pub;
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if (motor_thrust <= min_thrust) {
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motor_thrust = min_thrust;
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output_band = 0.0f;
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} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
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output_band = band_factor * (motor_thrust - min_thrust);
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} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
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output_band = band_factor * startpoint_full_control;
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} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
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output_band = band_factor * (max_thrust - motor_thrust);
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/* linearly scale the control inputs from 0 to startpoint_full_control */
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if (motor_thrust < startpoint_full_control) {
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output_band = motor_thrust/startpoint_full_control; // linear from 0 to 1
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} else {
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output_band = 1.0f;
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}
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roll_control *= output_band;
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pitch_control *= output_band;
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yaw_control *= output_band;
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//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer
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// FRONT (MOTOR 1)
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motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
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// RIGHT (MOTOR 2)
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motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
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// BACK (MOTOR 3)
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motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
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// LEFT (MOTOR 4)
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motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
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// if we are not in the output band
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if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band
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&& motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band
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&& motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band
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&& motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
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/* if one motor is saturated, reduce throttle */
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float saturation = fmaxf(fmaxf(motor_calc[0], motor_calc[1]),fmaxf(motor_calc[2], motor_calc[3])) - max_thrust;
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if (saturation > 0.0f) {
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/* reduce the motor thrust according to the saturation */
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motor_thrust = motor_thrust - saturation;
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yaw_factor = 0.5f;
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yaw_control *= yaw_factor;
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// FRONT (MOTOR 1)
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motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
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// RIGHT (MOTOR 2)
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motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
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// BACK (MOTOR 3)
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motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
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// LEFT (MOTOR 4)
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motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
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}
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for (int i = 0; i < 4; i++) {
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//check for limits
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if (motor_calc[i] < motor_thrust - output_band) {
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motor_calc[i] = motor_thrust - output_band;
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}
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if (motor_calc[i] > motor_thrust + output_band) {
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motor_calc[i] = motor_thrust + output_band;
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}
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}
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/* publish effective outputs */
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actuator_controls_effective.control_effective[0] = roll_control;
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@ -467,25 +451,29 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
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/* set the motor values */
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/* scale up from 0..1 to 10..512) */
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/* scale up from 0..1 to 10..500) */
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motor_pwm[0] = (uint16_t) (motor_calc[0] * ((float)max_gas - min_gas) + min_gas);
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motor_pwm[1] = (uint16_t) (motor_calc[1] * ((float)max_gas - min_gas) + min_gas);
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motor_pwm[2] = (uint16_t) (motor_calc[2] * ((float)max_gas - min_gas) + min_gas);
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motor_pwm[3] = (uint16_t) (motor_calc[3] * ((float)max_gas - min_gas) + min_gas);
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/* Keep motors spinning while armed and prevent overflows */
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/* scale up from 0..1 to 10..500) */
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motor_pwm[0] = (uint16_t) (motor_calc[0] * (float)((max_gas - min_gas) + min_gas));
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motor_pwm[1] = (uint16_t) (motor_calc[1] * (float)((max_gas - min_gas) + min_gas));
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motor_pwm[2] = (uint16_t) (motor_calc[2] * (float)((max_gas - min_gas) + min_gas));
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motor_pwm[3] = (uint16_t) (motor_calc[3] * (float)((max_gas - min_gas) + min_gas));
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/* Failsafe logic - should never be necessary */
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motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10;
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motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10;
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motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10;
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motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10;
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/* Failsafe logic for min values - should never be necessary */
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motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : min_gas;
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motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : min_gas;
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motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : min_gas;
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motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : min_gas;
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/* Failsafe logic - should never be necessary */
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motor_pwm[0] = (motor_pwm[0] <= 511) ? motor_pwm[0] : 511;
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motor_pwm[1] = (motor_pwm[1] <= 511) ? motor_pwm[1] : 511;
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motor_pwm[2] = (motor_pwm[2] <= 511) ? motor_pwm[2] : 511;
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motor_pwm[3] = (motor_pwm[3] <= 511) ? motor_pwm[3] : 511;
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/* Failsafe logic for max values - should never be necessary */
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motor_pwm[0] = (motor_pwm[0] <= max_gas) ? motor_pwm[0] : max_gas;
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motor_pwm[1] = (motor_pwm[1] <= max_gas) ? motor_pwm[1] : max_gas;
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motor_pwm[2] = (motor_pwm[2] <= max_gas) ? motor_pwm[2] : max_gas;
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motor_pwm[3] = (motor_pwm[3] <= max_gas) ? motor_pwm[3] : max_gas;
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/* send motors via UART */
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ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
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