static void UpdateStabilizationDesired(bool doingIdent) {
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
uint8_t rollMax, pitchMax;
float manualRate[STABILIZATIONSETTINGS_MANUALRATE_NUMELEM];
StabilizationSettingsRollMaxGet(&rollMax);
StabilizationSettingsPitchMaxGet(&pitchMax);
StabilizationSettingsManualRateGet(manualRate);
ManualControlCommandRollGet(&stabDesired.Roll);
stabDesired.Roll *= rollMax;
ManualControlCommandPitchGet(&stabDesired.Pitch);
stabDesired.Pitch *= pitchMax;
ManualControlCommandYawGet(&stabDesired.Yaw);
stabDesired.Yaw *= manualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
if (doingIdent) {
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_SYSTEMIDENT;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_SYSTEMIDENT;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_SYSTEMIDENT;
} else {
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
}
ManualControlCommandThrottleGet(&stabDesired.Throttle);
StabilizationDesiredSet(&stabDesired);
}
static float get_pid_scale_source_value()
{
float value;
switch (stabSettings.stabBank.ThrustPIDScaleSource) {
case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_MANUALCONTROLTHROTTLE:
ManualControlCommandThrottleGet(&value);
break;
case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
StabilizationDesiredThrustGet(&value);
break;
case STABILIZATIONBANK_THRUSTPIDSCALESOURCE_ACTUATORDESIREDTHRUST:
ActuatorDesiredThrustGet(&value);
break;
default:
ActuatorDesiredThrustGet(&value);
break;
}
if (value < 0) {
value = 0.0f;
}
return value;
}
/**
* @brief If requested accumulate accel values to calculate level
* @param[in] accelsData the scaled and normalized accels
*/
static void update_trimming(AccelsData * accelsData)
{
if (trim_requested) {
if (trim_samples >= MAX_TRIM_FLIGHT_SAMPLES) {
trim_requested = false;
} else {
uint8_t armed;
float throttle;
FlightStatusArmedGet(&armed);
ManualControlCommandThrottleGet(&throttle); // Until flight status indicates airborne
if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0)) {
trim_samples++;
// Store the digitally scaled version since that is what we use for bias
trim_accels[0] += accelsData->x;
trim_accels[1] += accelsData->y;
trim_accels[2] += accelsData->z;
}
}
}
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t TxPIDInitialize(void)
{
bool txPIDEnabled;
HwSettingsOptionalModulesData optionalModules;
#ifdef REVOLUTION
AltitudeHoldSettingsInitialize();
#endif
HwSettingsInitialize();
HwSettingsOptionalModulesGet(&optionalModules);
if (optionalModules.TxPID == HWSETTINGS_OPTIONALMODULES_ENABLED) {
txPIDEnabled = true;
} else {
txPIDEnabled = false;
}
if (txPIDEnabled) {
TxPIDSettingsInitialize();
TxPIDStatusInitialize();
AccessoryDesiredInitialize();
UAVObjEvent ev = {
.obj = AccessoryDesiredHandle(),
.instId = 0,
.event = 0,
.lowPriority = false,
};
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
// Change StabilizationSettings update rate from OnChange to periodic
// to prevent telemetry link flooding with frequent updates in case of
// control channel jitter.
// Warning: saving to flash with this code active will change the
// StabilizationSettings update rate permanently. Use Metadata via
// browser to reset to defaults (telemetryAcked=true, OnChange).
UAVObjMetadata metadata;
StabilizationSettingsInitialize();
StabilizationSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
StabilizationSettingsSetMetadata(&metadata);
AttitudeSettingsInitialize();
AttitudeSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
AttitudeSettingsSetMetadata(&metadata);
#endif /* if (TELEMETRY_UPDATE_PERIOD_MS != 0) */
return 0;
}
return -1;
}
/* stub: module has no module thread */
int32_t TxPIDStart(void)
{
return 0;
}
MODULE_INITCALL(TxPIDInitialize, TxPIDStart);
/**
* Update PIDs callback function
*/
static void updatePIDs(UAVObjEvent *ev)
{
if (ev->obj != AccessoryDesiredHandle()) {
return;
}
TxPIDSettingsData inst;
TxPIDSettingsGet(&inst);
if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER) {
return;
}
uint8_t armed;
FlightStatusArmedGet(&armed);
if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
(armed == FLIGHTSTATUS_ARMED_DISARMED)) {
return;
}
StabilizationBankData bank;
switch (inst.BankNumber) {
case 0:
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank);
break;
case 1:
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
break;
case 2:
StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank);
break;
default:
return;
}
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
AttitudeSettingsData att;
AttitudeSettingsGet(&att);
#ifdef REVOLUTION
AltitudeHoldSettingsData altitude;
AltitudeHoldSettingsGet(&altitude);
#endif
AccessoryDesiredData accessory;
TxPIDStatusData txpid_status;
TxPIDStatusGet(&txpid_status);
bool easyTuneEnabled = false;
uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0;
uint8_t needsUpdateAtt = 0;
#ifdef REVOLUTION
uint8_t needsUpdateAltitude = 0;
#endif
// Loop through every enabled instance
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
if (TxPIDSettingsPIDsToArray(inst.PIDs)[i] != TXPIDSETTINGS_PIDS_DISABLED) {
float value;
if (TxPIDSettingsInputsToArray(inst.Inputs)[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
ManualControlCommandThrottleGet(&value);
value = scale(value,
inst.ThrottleRange.Min,
inst.ThrottleRange.Max,
TxPIDSettingsMinPIDToArray(inst.MinPID)[i],
TxPIDSettingsMaxPIDToArray(inst.MaxPID)[i]);
} else if (AccessoryDesiredInstGet(
TxPIDSettingsInputsToArray(inst.Inputs)[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0,
&accessory) == 0) {
value = scale(accessory.AccessoryVal, -1.0f, 1.0f,
TxPIDSettingsMinPIDToArray(inst.MinPID)[i],
TxPIDSettingsMaxPIDToArray(inst.MaxPID)[i]);
} else {
continue;
}
TxPIDStatusCurPIDToArray(txpid_status.CurPID)[i] = value;
switch (TxPIDSettingsPIDsToArray(inst.PIDs)[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_EASYTUNERATEROLL:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_EASYTUNERATEPITCH:
easyTuneEnabled = true;
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.RollMax, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.RollMax, value);
needsUpdateBank |= updateUint8(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATERESP:
needsUpdateBank |= updateUint16(&bank.ManualRate.Yaw, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
needsUpdateBank |= update(&bank.YawPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdateBank |= update(&bank.YawPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
needsUpdateBank |= updateUint8(&bank.YawMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
break;
case TXPIDSETTINGS_PIDS_PITCHEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_YAWEXPO:
needsUpdateBank |= updateInt8(&bank.StickExpo.Yaw, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
break;
case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
break;
case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ACCELTAU:
needsUpdateAtt |= update(&att.AccelTau, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKP:
needsUpdateAtt |= update(&att.AccelKp, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKI:
needsUpdateAtt |= update(&att.AccelKi, value);
break;
#ifdef REVOLUTION
case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP:
needsUpdateAltitude |= update(&altitude.VerticalPosP, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKP:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKI:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKD:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYBETA:
needsUpdateAltitude |= update(&altitude.VerticalVelPID.Beta, value);
break;
#endif
default:
PIOS_Assert(0);
}
}
}
if (needsUpdateStab) {
StabilizationSettingsSet(&stab);
}
if (needsUpdateAtt) {
AttitudeSettingsSet(&att);
}
#ifdef REVOLUTION
if (needsUpdateAltitude) {
AltitudeHoldSettingsSet(&altitude);
}
#endif
if (easyTuneEnabled && (inst.EasyTuneRatePIDRecalculateYaw != TXPIDSETTINGS_EASYTUNERATEPIDRECALCULATEYAW_FALSE)) {
float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.EasyTuneYawRateFactors.P;
needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.EasyTuneYawRateFactors.I);
needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.EasyTuneYawRateFactors.D);
}
if (needsUpdateBank) {
switch (inst.BankNumber) {
case 0:
StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank);
break;
case 1:
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank);
break;
case 2:
StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *)&bank);
break;
default:
return;
}
}
if (needsUpdateStab ||
needsUpdateAtt ||
#ifdef REVOLUTION
needsUpdateAltitude ||
#endif /* REVOLUTION */
needsUpdateBank) {
TxPIDStatusSet(&txpid_status);;
}
}
/**
* Scales input val from [inMin..inMax] range to [outMin..outMax].
* If val is out of input range (inMin <= inMax), it will be bound.
* (outMin > outMax) is ok, in that case output will be decreasing.
*
* \returns scaled value
*/
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
// bound input value
if (val > inMax) {
val = inMax;
}
if (val < inMin) {
val = inMin;
}
// normalize input value to [0..1]
if (inMax <= inMin) {
val = 0.0f;
} else {
val = (val - inMin) / (inMax - inMin);
}
// update output bounds
if (outMin > outMax) {
float t = outMin;
outMin = outMax;
outMax = t;
val = 1.0f - val;
}
return (outMax - outMin) * val + outMin;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t update(float *var, float val)
{
/* FIXME: this is not an entirely correct way
* to check if the two floating point
* numbers are 'not equal'.
* Epsilon of 1e-9 is probably okay for the range
* of numbers we see here*/
if (fabsf(*var - val) > 1e-9f) {
*var = val;
return 1;
}
return 0;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t updateUint16(uint16_t *var, float val)
{
uint16_t roundedVal = (uint16_t)roundf(val);
if (*var != roundedVal) {
*var = roundedVal;
return 1;
}
return 0;
}
/**
* Compute desired attitude from the desired velocity
* @param[in] dT the time since last evaluation
*
* Takes in @ref NedActual which has the acceleration in the
* NED frame as the feedback term and then compares the
* @ref VelocityActual against the @ref VelocityDesired
*/
int32_t vtol_follower_control_attitude(float dT)
{
vtol_follower_control_accel(dT);
AccelDesiredData accelDesired;
AccelDesiredGet(&accelDesired);
StabilizationDesiredData stabDesired;
float northCommand = accelDesired.North;
float eastCommand = accelDesired.East;
// Project the north and east acceleration signals into body frame
float yaw;
AttitudeActualYawGet(&yaw);
float forward_accel_desired = -northCommand * cosf(yaw * DEG2RAD) + -eastCommand * sinf(yaw * DEG2RAD);
float right_accel_desired = -northCommand * sinf(yaw * DEG2RAD) + eastCommand * cosf(yaw * DEG2RAD);
// Set the angle that would achieve the desired acceleration given the thrust is enough for a hover
stabDesired.Pitch = bound_min_max(RAD2DEG * atanf(forward_accel_desired / GRAVITY),
-guidanceSettings.MaxRollPitch, guidanceSettings.MaxRollPitch);
stabDesired.Roll = bound_min_max(RAD2DEG * atanf(right_accel_desired / GRAVITY),
-guidanceSettings.MaxRollPitch, guidanceSettings.MaxRollPitch);
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
// Calculate the throttle setting or use pass through from transmitter
if (guidanceSettings.ThrottleControl == VTOLPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
ManualControlCommandThrottleGet(&stabDesired.Throttle);
} else {
float downCommand = accelDesired.Down;
AltitudeHoldStateData altitudeHoldState;
altitudeHoldState.VelocityDesired = downCommand;
altitudeHoldState.Integral = vtol_pids[DOWN_VELOCITY].iAccumulator / 1000.0f;
altitudeHoldState.AngleGain = 1.0f;
if (altitudeHoldSettings.AttitudeComp > 0) {
// Throttle desired is at this point the mount desired in the up direction, we can
// account for the attitude if desired
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
// Project a unit vector pointing up into the body frame and
// get the z component
float fraction = attitudeActual.q1 * attitudeActual.q1 -
attitudeActual.q2 * attitudeActual.q2 -
attitudeActual.q3 * attitudeActual.q3 +
attitudeActual.q4 * attitudeActual.q4;
// Add ability to scale up the amount of compensation to achieve
// level forward flight
fraction = powf(fraction, (float) altitudeHoldSettings.AttitudeComp / 100.0f);
// Dividing by the fraction remaining in the vertical projection will
// attempt to compensate for tilt. This acts like the thrust is linear
// with the output which isn't really true. If the fraction is starting
// to go negative we are inverted and should shut off throttle
downCommand = (fraction > 0.1f) ? (downCommand / fraction) : 0.0f;
altitudeHoldState.AngleGain = 1.0f / fraction;
}
altitudeHoldState.Throttle = downCommand;
AltitudeHoldStateSet(&altitudeHoldState);
stabDesired.Throttle = bound_min_max(downCommand, 0, 1);
}
// Various ways to control the yaw that are essentially manual passthrough. However, because we do not have a fine
// grained mechanism of manual setting the yaw as it normally would we need to duplicate that code here
float manual_rate[STABILIZATIONSETTINGS_MANUALRATE_NUMELEM];
switch(guidanceSettings.YawMode) {
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_RATE:
/* This is awkward. This allows the transmitter to control the yaw while flying navigation */
ManualControlCommandYawGet(&yaw);
StabilizationSettingsManualRateGet(manual_rate);
stabDesired.Yaw = manual_rate[STABILIZATIONSETTINGS_MANUALRATE_YAW] * yaw;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_AXISLOCK:
ManualControlCommandYawGet(&yaw);
StabilizationSettingsManualRateGet(manual_rate);
stabDesired.Yaw = manual_rate[STABILIZATIONSETTINGS_MANUALRATE_YAW] * yaw;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_ATTITUDE:
{
uint8_t yaw_max;
StabilizationSettingsYawMaxGet(&yaw_max);
ManualControlCommandYawGet(&yaw);
stabDesired.Yaw = yaw_max * yaw;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
}
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_PATH:
{
// Face forward on the path
VelocityDesiredData velocityDesired;
VelocityDesiredGet(&velocityDesired);
float total_vel2 = velocityDesired.East*velocityDesired.East + velocityDesired.North*velocityDesired.North;
float path_direction = atan2f(velocityDesired.East, velocityDesired.North) * RAD2DEG;
if (total_vel2 > 1) {
stabDesired.Yaw = path_direction;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
} else {
stabDesired.Yaw = 0;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
}
}
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_POI:
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_POI;
break;
}
StabilizationDesiredSet(&stabDesired);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t TxPIDInitialize(void)
{
bool module_enabled;
#ifdef MODULE_TxPID_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_TXPID] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (module_enabled) {
TxPIDSettingsInitialize();
AccessoryDesiredInitialize();
UAVObjEvent ev = {
.obj = AccessoryDesiredHandle(),
.instId = 0,
.event = 0,
};
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS);
#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
// Change StabilizationSettings update rate from OnChange to periodic
// to prevent telemetry link flooding with frequent updates in case of
// control channel jitter.
// Warning: saving to flash with this code active will change the
// StabilizationSettings update rate permanently. Use Metadata via
// browser to reset to defaults (telemetryAcked=true, OnChange).
UAVObjMetadata metadata;
StabilizationSettingsInitialize();
StabilizationSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
StabilizationSettingsSetMetadata(&metadata);
#endif
return 0;
}
return -1;
}
MODULE_INITCALL(TxPIDInitialize, NULL);
/**
* Update PIDs callback function
*/
static void updatePIDs(UAVObjEvent* ev)
{
if (ev->obj != AccessoryDesiredHandle())
return;
TxPIDSettingsData inst;
TxPIDSettingsGet(&inst);
if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER)
return;
uint8_t armed;
FlightStatusArmedGet(&armed);
if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
(armed == FLIGHTSTATUS_ARMED_DISARMED))
return;
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
#ifdef UAVOBJ_INIT_vtolpathfollowersettings
VtolPathFollowerSettingsData vtolPathFollowerSettingsData;
// Check to make sure the settings UAVObject has been instantiated
if (VtolPathFollowerSettingsHandle()) {
VtolPathFollowerSettingsGet(&vtolPathFollowerSettingsData);
}
bool vtolPathFollowerSettingsNeedsUpdate = false;
#endif
AccessoryDesiredData accessory;
bool stabilizationSettingsNeedsUpdate = false;
// Loop through every enabled instance
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
if (inst.PIDs[i] != TXPIDSETTINGS_PIDS_DISABLED) {
float value;
if (inst.Inputs[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
ManualControlCommandThrottleGet(&value);
value = scale(value,
inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MIN],
inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MAX],
inst.MinPID[i], inst.MaxPID[i]);
} else if (AccessoryDesiredInstGet(inst.Inputs[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) {
value = scale(accessory.AccessoryVal, -1.0, 1.0, inst.MinPID[i], inst.MaxPID[i]);
} else {
continue;
}
switch (inst.PIDs[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_GYROCUTOFF:
stabilizationSettingsNeedsUpdate |= update(&stab.GyroCutoff, value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_YAW], value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KP], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KI], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KD], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarYawPID[STABILIZATIONSETTINGS_VBARYAWPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarYawPID[STABILIZATIONSETTINGS_VBARYAWPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarYawPID[STABILIZATIONSETTINGS_VBARYAWPID_KD], value);
break;
#ifdef UAVOBJ_INIT_vtolpathfollowersettings
case TXPIDSETTINGS_PIDS_HORIZONTALPOSKP:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALPOSKI:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALPOSILIMIT:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALVELKP:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALVELKI:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALVELKD:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD], value);
break;
#endif /* UAVOBJ_INIT_vtolpathfollowersettings */
default:
// Previously this would assert. But now the
// object may be missing and it's not worth a
// crash.
break;
}
}
}
// Update UAVOs, if necessary
if (stabilizationSettingsNeedsUpdate) {
StabilizationSettingsSet(&stab);
}
#ifdef UAVOBJ_INIT_vtolpathfollowersettings
if (vtolPathFollowerSettingsNeedsUpdate) {
// Check to make sure the settings UAVObject has been instantiated
if (VtolPathFollowerSettingsHandle()) {
VtolPathFollowerSettingsSet(&vtolPathFollowerSettingsData);
}
}
#endif
}
/**
* Scales input val from [inMin..inMax] range to [outMin..outMax].
* If val is out of input range (inMin <= inMax), it will be bound.
* (outMin > outMax) is ok, in that case output will be decreasing.
*
* \returns scaled value
*/
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
// bound input value
if (val > inMax) val = inMax;
if (val < inMin) val = inMin;
// normalize input value to [0..1]
if (inMax <= inMin)
val = 0.0;
else
val = (val - inMin) / (inMax - inMin);
// update output bounds
if (outMin > outMax) {
float t = outMin;
outMin = outMax;
outMax = t;
val = 1.0f - val;
}
return (outMax - outMin) * val + outMin;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static bool update(float *var, float val)
{
if (*var != val) {
*var = val;
return true;
}
return false;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t TxPIDInitialize(void)
{
bool txPIDEnabled;
HwSettingsOptionalModulesData optionalModules;
HwSettingsInitialize();
HwSettingsOptionalModulesGet(&optionalModules);
if (optionalModules.TxPID == HWSETTINGS_OPTIONALMODULES_ENABLED) {
txPIDEnabled = true;
} else {
txPIDEnabled = false;
}
if (txPIDEnabled) {
TxPIDSettingsInitialize();
AccessoryDesiredInitialize();
UAVObjEvent ev = {
.obj = AccessoryDesiredHandle(),
.instId = 0,
.event = 0,
.lowPriority = false,
};
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
// Change StabilizationSettings update rate from OnChange to periodic
// to prevent telemetry link flooding with frequent updates in case of
// control channel jitter.
// Warning: saving to flash with this code active will change the
// StabilizationSettings update rate permanently. Use Metadata via
// browser to reset to defaults (telemetryAcked=true, OnChange).
UAVObjMetadata metadata;
StabilizationSettingsInitialize();
StabilizationSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
StabilizationSettingsSetMetadata(&metadata);
#endif
return 0;
}
return -1;
}
/* stub: module has no module thread */
int32_t TxPIDStart(void)
{
return 0;
}
MODULE_INITCALL(TxPIDInitialize, TxPIDStart);
/**
* Update PIDs callback function
*/
static void updatePIDs(UAVObjEvent *ev)
{
if (ev->obj != AccessoryDesiredHandle()) {
return;
}
TxPIDSettingsData inst;
TxPIDSettingsGet(&inst);
if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER) {
return;
}
uint8_t armed;
FlightStatusArmedGet(&armed);
if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
(armed == FLIGHTSTATUS_ARMED_DISARMED)) {
return;
}
StabilizationBankData bank;
switch (inst.BankNumber) {
case 0:
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank);
break;
case 1:
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
break;
case 2:
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
break;
default:
return;
}
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
AccessoryDesiredData accessory;
uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0;
// Loop through every enabled instance
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
if (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i] != TXPIDSETTINGS_PIDS_DISABLED) {
float value;
if (cast_struct_to_array(inst.Inputs, inst.Inputs.Instance1)[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
ManualControlCommandThrottleGet(&value);
value = scale(value,
inst.ThrottleRange.Min,
inst.ThrottleRange.Max,
cast_struct_to_array(inst.MinPID, inst.MinPID.Instance1)[i],
cast_struct_to_array(inst.MaxPID, inst.MaxPID.Instance1)[i]);
} else if (AccessoryDesiredInstGet(
cast_struct_to_array(inst.Inputs, inst.Inputs.Instance1)[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0,
&accessory) == 0) {
value = scale(accessory.AccessoryVal, -1.0f, 1.0f,
cast_struct_to_array(inst.MinPID, inst.MinPID.Instance1)[i],
cast_struct_to_array(inst.MaxPID, inst.MaxPID.Instance1)[i]);
} else {
continue;
}
switch (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
needsUpdateBank |= update(&bank.RollPI.Kp, value);
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
needsUpdateBank |= update(&bank.RollPI.Ki, value);
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
needsUpdateBank |= update(&bank.YawPI.Kp, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdateBank |= update(&bank.YawPI.Ki, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
break;
default:
PIOS_Assert(0);
}
}
}
if (needsUpdateStab) {
StabilizationSettingsSet(&stab);
}
if (needsUpdateBank) {
switch (inst.BankNumber) {
case 0:
StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank);
break;
case 1:
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank);
break;
case 2:
StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *)&bank);
break;
default:
return;
}
}
}
/**
* Scales input val from [inMin..inMax] range to [outMin..outMax].
* If val is out of input range (inMin <= inMax), it will be bound.
* (outMin > outMax) is ok, in that case output will be decreasing.
*
* \returns scaled value
*/
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
// bound input value
if (val > inMax) {
val = inMax;
}
if (val < inMin) {
val = inMin;
}
// normalize input value to [0..1]
if (inMax <= inMin) {
val = 0.0f;
} else {
val = (val - inMin) / (inMax - inMin);
}
// update output bounds
if (outMin > outMax) {
float t = outMin;
outMin = outMax;
outMax = t;
val = 1.0f - val;
}
return (outMax - outMin) * val + outMin;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t update(float *var, float val)
{
/* FIXME: this is not an entirely correct way
* to check if the two floating point
* numbers are 'not equal'.
* Epsilon of 1e-9 is probably okay for the range
* of numbers we see here*/
if (fabsf(*var - val) > 1e-9f) {
*var = val;
return 1;
}
return 0;
}
/**
* WARNING! This callback executes with critical flight control priority every
* time a gyroscope update happens do NOT put any time consuming calculations
* in this loop unless they really have to execute with every gyro update
*/
static void stabilizationInnerloopTask()
{
// watchdog and error handling
{
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
#endif
bool warn = false;
bool error = false;
bool crit = false;
// check if outer loop keeps executing
if (stabSettings.monitor.rateupdates > -64) {
stabSettings.monitor.rateupdates--;
}
if (stabSettings.monitor.rateupdates < -(2 * OUTERLOOP_SKIPCOUNT)) {
// warning if rate loop skipped more than 2 execution
warn = true;
}
if (stabSettings.monitor.rateupdates < -(4 * OUTERLOOP_SKIPCOUNT)) {
// critical if rate loop skipped more than 4 executions
crit = true;
}
// check if gyro keeps updating
if (stabSettings.monitor.gyroupdates < 1) {
// error if gyro didn't update at all!
error = true;
}
if (stabSettings.monitor.gyroupdates > 1) {
// warning if we missed a gyro update
warn = true;
}
if (stabSettings.monitor.gyroupdates > 3) {
// critical if we missed 3 gyro updates
crit = true;
}
stabSettings.monitor.gyroupdates = 0;
if (crit) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_CRITICAL);
} else if (error) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_ERROR);
} else if (warn) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
RateDesiredData rateDesired;
ActuatorDesiredData actuator;
StabilizationStatusInnerLoopData enabled;
FlightStatusControlChainData cchain;
RateDesiredGet(&rateDesired);
ActuatorDesiredGet(&actuator);
StabilizationStatusInnerLoopGet(&enabled);
FlightStatusControlChainGet(&cchain);
float *rate = &rateDesired.Roll;
float *actuatorDesiredAxis = &actuator.Roll;
int t;
float dT;
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
for (t = 0; t < AXES; t++) {
bool reinit = (cast_struct_to_array(enabled, enabled.Roll)[t] != previous_mode[t]);
previous_mode[t] = cast_struct_to_array(enabled, enabled.Roll)[t];
if (t < STABILIZATIONSTATUS_INNERLOOP_THRUST) {
if (reinit) {
stabSettings.innerPids[t].iAccumulator = 0;
}
switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
case STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR:
stabilization_virtual_flybar(gyro_filtered[t], rate[t], &actuatorDesiredAxis[t], dT, reinit, t, &stabSettings.settings);
break;
case STABILIZATIONSTATUS_INNERLOOP_RELAYTUNING:
rate[t] = boundf(rate[t],
-cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t],
cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t]
);
stabilization_relay_rate(rate[t] - gyro_filtered[t], &actuatorDesiredAxis[t], t, reinit);
break;
case STABILIZATIONSTATUS_INNERLOOP_AXISLOCK:
if (fabsf(rate[t]) > stabSettings.settings.MaxAxisLockRate) {
// While getting strong commands act like rate mode
axis_lock_accum[t] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[t] += (rate[t] - gyro_filtered[t]) * dT;
axis_lock_accum[t] = boundf(axis_lock_accum[t], -stabSettings.settings.MaxAxisLock, stabSettings.settings.MaxAxisLock);
rate[t] = axis_lock_accum[t] * stabSettings.settings.AxisLockKp;
}
// IMPORTANT: deliberately no "break;" here, execution continues with regular RATE control loop to avoid code duplication!
// keep order as it is, RATE must follow!
case STABILIZATIONSTATUS_INNERLOOP_RATE:
// limit rate to maximum configured limits (once here instead of 5 times in outer loop)
rate[t] = boundf(rate[t],
-cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t],
cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t]
);
actuatorDesiredAxis[t] = pid_apply_setpoint(&stabSettings.innerPids[t], speedScaleFactor, rate[t], gyro_filtered[t], dT);
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
default:
actuatorDesiredAxis[t] = rate[t];
break;
}
} else {
switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
case STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL:
actuatorDesiredAxis[t] = cruisecontrol_apply_factor(rate[t]);
break;
case STABILIZATIONSTATUS_INNERLOOP_DIRECT:
default:
actuatorDesiredAxis[t] = rate[t];
break;
}
}
actuatorDesiredAxis[t] = boundf(actuatorDesiredAxis[t], -1.0f, 1.0f);
}
actuator.UpdateTime = dT * 1000;
if (cchain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
ActuatorDesiredSet(&actuator);
} else {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
}
}
{
uint8_t armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);
if (armed != FLIGHTSTATUS_ARMED_ARMED ||
((stabSettings.settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE) && throttleDesired < 0)) {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
}
}
}
PIOS_CALLBACKSCHEDULER_Schedule(callbackHandle, FAILSAFE_TIMEOUT_MS, CALLBACK_UPDATEMODE_LATER);
}
/**
* Processes queue events
*/
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
// FlightTelemetryStatsData flightStats;
// GCSTelemetryStatsData gcsTelemetryStatsData;
// int32_t retries;
// int32_t success;
if (ev->obj == 0) {
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else if (ev->obj == TelemetrySettingsHandle()) {
updateSettings();
} else {
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
}
mavlink_message_t msg;
mavlink_system.sysid = 20;
mavlink_system.compid = MAV_COMP_ID_IMU;
mavlink_system.type = MAV_TYPE_FIXED_WING;
uint8_t mavClass = MAV_AUTOPILOT_OPENPILOT;
AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
// Setup type and object id fields
uint32_t objId = UAVObjGetID(ev->obj);
// uint64_t timeStamp = 0;
switch(objId) {
case BAROALTITUDE_OBJID:
{
BaroAltitudeGet(&baroAltitude);
pressure.press_abs = baroAltitude.Pressure*10.0f;
pressure.temperature = baroAltitude.Temperature*100.0f;
mavlink_msg_scaled_pressure_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &pressure);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case FLIGHTTELEMETRYSTATS_OBJID:
{
// FlightTelemetryStatsData flightTelemetryStats;
FlightTelemetryStatsGet(&flightStats);
// XXX this is a hack to make it think it got a confirmed
// connection
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_CONNECTED;
GCSTelemetryStatsGet(&gcsTelemetryStatsData);
gcsTelemetryStatsData.Status = GCSTELEMETRYSTATS_STATUS_CONNECTED;
//
//
// //mavlink_msg_heartbeat_send(MAVLINK_COMM_0,mavlink_system.type,mavClass);
// mavlink_msg_heartbeat_pack(mavlink_system.sysid, mavlink_system.compid, &msg, mavlink_system.type, mavClass);
// // Copy the message to the send buffer
// uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// // Send buffer
// PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case SYSTEMSTATS_OBJID:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t system_state = MAV_STATE_UNINIT;
uint8_t base_mode = 0;
uint8_t custom_mode = 0;
// Set flight mode
switch (flightStatus.FlightMode)
{
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
base_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
default:
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
}
// Set arming state
switch (flightStatus.Armed)
{
case FLIGHTSTATUS_ARMED_ARMING:
case FLIGHTSTATUS_ARMED_ARMED:
system_state = MAV_STATE_ACTIVE;
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
break;
case FLIGHTSTATUS_ARMED_DISARMED:
system_state = MAV_STATE_STANDBY;
base_mode &= !MAV_MODE_FLAG_SAFETY_ARMED;
break;
}
// Set HIL
if (hilEnabled) base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
mavlink_msg_heartbeat_send(MAVLINK_COMM_0, mavlink_system.type, mavClass, base_mode, custom_mode, system_state);
SystemStatsData stats;
SystemStatsGet(&stats);
FlightBatteryStateData flightBatteryData;
FlightBatteryStateGet(&flightBatteryData);
FlightBatterySettingsData flightBatterySettings;
FlightBatterySettingsGet(&flightBatterySettings);
uint16_t batteryVoltage = (uint16_t)(flightBatteryData.Voltage*1000.0f);
int16_t batteryCurrent = -1; // -1: Not present / not estimated
int8_t batteryPercent = -1; // -1: Not present / not estimated
// if (flightBatterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR] == 0)
// {
// Factor is zero, sensor is not present
// Estimate remaining capacity based on lipo curve
batteryPercent = 100.0f*((flightBatteryData.Voltage - 9.6f)/(12.6f - 9.6f));
// }
// else
// {
// // Use capacity and current
// batteryPercent = 100.0f*((flightBatterySettings.Capacity - flightBatteryData.ConsumedEnergy) / flightBatterySettings.Capacity);
// batteryCurrent = flightBatteryData.Current*100;
// }
mavlink_msg_sys_status_send(MAVLINK_COMM_0, 0xFF, 0xFF, 0xFF, ((uint16_t)stats.CPULoad*10), batteryVoltage, batteryCurrent, batteryPercent, 0, 0, 0, 0, 0, 0);
// // Copy the message to the send buffer
// uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// // Send buffer
// PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case ATTITUDERAW_OBJID:
{
AttitudeRawGet(&attitudeRaw);
// Copy data
attitude_raw.xacc = attitudeRaw.accels[ATTITUDERAW_ACCELS_X];
attitude_raw.yacc = attitudeRaw.accels[ATTITUDERAW_ACCELS_Y];
attitude_raw.zacc = attitudeRaw.accels[ATTITUDERAW_ACCELS_Z];
attitude_raw.xgyro = attitudeRaw.gyros[ATTITUDERAW_GYROS_X];
attitude_raw.ygyro = attitudeRaw.gyros[ATTITUDERAW_GYROS_Y];
attitude_raw.zgyro = attitudeRaw.gyros[ATTITUDERAW_GYROS_Z];
attitude_raw.xmag = attitudeRaw.magnetometers[ATTITUDERAW_MAGNETOMETERS_X];
attitude_raw.ymag = attitudeRaw.magnetometers[ATTITUDERAW_MAGNETOMETERS_Y];
attitude_raw.zmag = attitudeRaw.magnetometers[ATTITUDERAW_MAGNETOMETERS_Z];
mavlink_msg_raw_imu_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &attitude_raw);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
if (hilEnabled)
{
mavlink_hil_controls_t controls;
// Copy data
controls.roll_ailerons = 0.1;
controls.pitch_elevator = 0.1;
controls.yaw_rudder = 0.0;
controls.throttle = 0.8;
mavlink_msg_hil_controls_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &controls);
// Copy the message to the send buffer
len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
}
break;
}
case ATTITUDEMATRIX_OBJID:
{
AttitudeMatrixGet(&attitudeMatrix);
// Copy data
attitude.roll = attitudeMatrix.Roll;
attitude.pitch = attitudeMatrix.Pitch;
attitude.yaw = attitudeMatrix.Yaw;
attitude.rollspeed = attitudeMatrix.AngularRates[0];
attitude.pitchspeed = attitudeMatrix.AngularRates[1];
attitude.yawspeed = attitudeMatrix.AngularRates[2];
mavlink_msg_attitude_encode(mavlink_system.sysid,
mavlink_system.compid, &msg, &attitude);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case GPSPOSITION_OBJID:
{
GPSPositionGet(&gpsPosition);
gps_raw.time_usec = 0;
gps_raw.lat = gpsPosition.Latitude*10;
gps_raw.lon = gpsPosition.Longitude*10;
gps_raw.alt = gpsPosition.Altitude*10;
gps_raw.eph = gpsPosition.HDOP*100;
gps_raw.epv = gpsPosition.VDOP*100;
gps_raw.cog = gpsPosition.Heading*100;
gps_raw.satellites_visible = gpsPosition.Satellites;
gps_raw.fix_type = gpsPosition.Status;
mavlink_msg_gps_raw_int_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &gps_raw);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
// mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, gps_raw.usec, gps_raw.lat, gps_raw.lon, gps_raw.alt, gps_raw.eph, gps_raw.epv, gps_raw.hdg, gps_raw.satellites_visible, gps_raw.fix_type, 0);
break;
}
case POSITIONACTUAL_OBJID:
{
PositionActualData pos;
PositionActualGet(&pos);
mavlink_local_position_ned_t m_pos;
m_pos.time_boot_ms = 0;
m_pos.x = pos.North;
m_pos.y = pos.East;
m_pos.z = pos.Down;
m_pos.vx = 0.0f;
m_pos.vy = 0.0f;
m_pos.vz = 0.0f;
mavlink_msg_local_position_ned_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &m_pos);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
}
break;
case ACTUATORCOMMAND_OBJID:
{
mavlink_rc_channels_scaled_t rc;
float val;
ManualControlCommandRollGet(&val);
rc.chan1_scaled = val*1000;
ManualControlCommandPitchGet(&val);
rc.chan2_scaled = val*1000;
ManualControlCommandYawGet(&val);
rc.chan3_scaled = val*1000;
ManualControlCommandThrottleGet(&val);
rc.chan4_scaled = val*1000;
ActuatorCommandData act;
ActuatorCommandGet(&act);
rc.chan5_scaled = act.Channel[0];
rc.chan6_scaled = act.Channel[1];
rc.chan7_scaled = act.Channel[2];
rc.chan8_scaled = act.Channel[3];
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
rc.rssi = ((uint8_t)(cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE))*255;
rc.port = 0;
mavlink_msg_rc_channels_scaled_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &rc);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, mavlinkTxBuf, len);
break;
}
case MANUALCONTROLCOMMAND_OBJID:
{
mavlink_rc_channels_scaled_t rc;
float val;
ManualControlCommandRollGet(&val);
rc.chan1_scaled = val*1000;
ManualControlCommandPitchGet(&val);
rc.chan2_scaled = val*1000;
ManualControlCommandYawGet(&val);
rc.chan3_scaled = val*1000;
ManualControlCommandThrottleGet(&val);
rc.chan4_scaled = val*1000;
rc.chan5_scaled = 0;
rc.chan6_scaled = 0;
rc.chan7_scaled = 0;
rc.chan8_scaled = 0;
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
rc.rssi = ((uint8_t)(cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE))*255;
rc.port = 0;
mavlink_msg_rc_channels_scaled_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &rc);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, mavlinkTxBuf, len);
break;
}
default:
{
//printf("unknown object: %x\n",(unsigned int)objId);
break;
}
}
}
}
/**
* Compute desired attitude from the desired velocity
* @param[in] dT the time since last evaluation
* @param[in] att_adj an adjustment to the attitude for loiter mode
*
* Takes in @ref NedActual which has the acceleration in the
* NED frame as the feedback term and then compares the
* @ref VelocityActual against the @ref VelocityDesired
*/
int32_t vtol_follower_control_attitude(float dT, const float *att_adj)
{
vtol_follower_control_accel(dT);
float default_adj[2] = {0,0};
if (!att_adj) {
att_adj = default_adj;
}
AccelDesiredData accelDesired;
AccelDesiredGet(&accelDesired);
StabilizationSettingsData stabSet;
StabilizationSettingsGet(&stabSet);
float northCommand = accelDesired.North;
float eastCommand = accelDesired.East;
// Project the north and east acceleration signals into body frame
float yaw;
AttitudeActualYawGet(&yaw);
float forward_accel_desired = -northCommand * cosf(yaw * DEG2RAD) + -eastCommand * sinf(yaw * DEG2RAD);
float right_accel_desired = -northCommand * sinf(yaw * DEG2RAD) + eastCommand * cosf(yaw * DEG2RAD);
StabilizationDesiredData stabDesired;
// Set the angle that would achieve the desired acceleration given the thrust is enough for a hover
stabDesired.Pitch = bound_sym(RAD2DEG * atanf(forward_accel_desired / GRAVITY), guidanceSettings.MaxRollPitch) + att_adj[1];
stabDesired.Roll = bound_sym(RAD2DEG * atanf(right_accel_desired / GRAVITY), guidanceSettings.MaxRollPitch) + att_adj[0];
// Re-bound based on maximum attitude settings
stabDesired.Pitch = bound_sym(stabDesired.Pitch, stabSet.PitchMax);
stabDesired.Roll = bound_sym(stabDesired.Roll, stabSet.RollMax);
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
// Calculate the throttle setting or use pass through from transmitter
if (guidanceSettings.ThrottleControl == VTOLPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
ManualControlCommandThrottleGet(&stabDesired.Throttle);
} else {
float downCommand = vtol_follower_control_altitude(accelDesired.Down);
stabDesired.Throttle = bound_min_max(downCommand, 0, 1);
}
// Various ways to control the yaw that are essentially manual passthrough. However, because we do not have a fine
// grained mechanism of manual setting the yaw as it normally would we need to duplicate that code here
switch(guidanceSettings.YawMode) {
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_RATE:
/* This is awkward. This allows the transmitter to control the yaw while flying navigation */
ManualControlCommandYawGet(&yaw);
stabDesired.Yaw = stabSet.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] * yaw;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_AXISLOCK:
ManualControlCommandYawGet(&yaw);
stabDesired.Yaw = stabSet.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] * yaw;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_ATTITUDE:
{
ManualControlCommandYawGet(&yaw);
stabDesired.Yaw = stabSet.YawMax * yaw;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
}
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_PATH:
{
// Face forward on the path
VelocityDesiredData velocityDesired;
VelocityDesiredGet(&velocityDesired);
float total_vel2 = velocityDesired.East*velocityDesired.East + velocityDesired.North*velocityDesired.North;
float path_direction = atan2f(velocityDesired.East, velocityDesired.North) * RAD2DEG;
if (total_vel2 > 1) {
stabDesired.Yaw = path_direction;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
} else {
stabDesired.Yaw = 0;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
}
}
break;
case VTOLPATHFOLLOWERSETTINGS_YAWMODE_POI:
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_POI;
break;
}
StabilizationDesiredSet(&stabDesired);
return 0;
}
