/// update_velocity_controller_xy - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xy() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void AC_PosControl::update_vel_controller_xy()
{
// capture time since last iteration
uint32_t now = AP_HAL::millis();
float dt = (now - _last_update_xy_ms)*0.001f;
// sanity check dt
if (dt >= 0.2f) {
dt = 0.0f;
}
// check for ekf xy position reset
check_for_ekf_xy_reset();
// check if xy leash needs to be recalculated
calc_leash_length_xy();
// apply desired velocity request to position target
// TODO: this will need to be removed and added to the calling function.
desired_vel_to_pos(dt);
// run position controller
run_xy_controller(dt);
// update xy update time
_last_update_xy_ms = now;
}
/// update_velocity_controller_xy - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xy() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler)
{
// capture time since last iteration
uint32_t now = AP_HAL::millis();
float dt = (now - _last_update_xy_ms)*0.001f;
// call xy controller
if (dt >= get_dt_xy()) {
// sanity check dt
if (dt >= 0.2f) {
dt = 0.0f;
}
// check for ekf xy position reset
check_for_ekf_xy_reset();
// check if xy leash needs to be recalculated
calc_leash_length_xy();
// apply desired velocity request to position target
desired_vel_to_pos(dt);
// run position controller's position error to desired velocity step
pos_to_rate_xy(XY_MODE_POS_LIMITED_AND_VEL_FF, dt, ekfNavVelGainScaler);
// run velocity to acceleration step
rate_to_accel_xy(dt, ekfNavVelGainScaler);
// run acceleration to lean angle step
accel_to_lean_angles(dt, ekfNavVelGainScaler, false);
// update xy update time
_last_update_xy_ms = now;
}
}
/// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
void AC_PosControl::update_xy_controller()
{
// compute dt
uint32_t now = AP_HAL::millis();
float dt = (now - _last_update_xy_ms)*0.001f;
// sanity check dt
if (dt >= POSCONTROL_ACTIVE_TIMEOUT_MS*1.0e-3f) {
dt = 0.0f;
}
// check for ekf xy position reset
check_for_ekf_xy_reset();
// check if xy leash needs to be recalculated
calc_leash_length_xy();
// translate any adjustments from pilot to loiter target
desired_vel_to_pos(dt);
// run horizontal position controller
run_xy_controller(dt);
// update xy update time
_last_update_xy_ms = now;
}
/// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
void AC_PosControl::update_xy_controller(xy_mode mode, float ekfNavVelGainScaler, bool use_althold_lean_angle)
{
// compute dt
uint32_t now = AP_HAL::millis();
float dt = (now - _last_update_xy_ms)*0.001f;
_last_update_xy_ms = now;
// sanity check dt - expect to be called faster than ~5hz
if (dt > POSCONTROL_ACTIVE_TIMEOUT_MS*1.0e-3f) {
dt = 0.0f;
}
// check for ekf xy position reset
check_for_ekf_xy_reset();
// check if xy leash needs to be recalculated
calc_leash_length_xy();
// translate any adjustments from pilot to loiter target
desired_vel_to_pos(dt);
// run position controller's position error to desired velocity step
pos_to_rate_xy(mode, dt, ekfNavVelGainScaler);
// run position controller's velocity to acceleration step
rate_to_accel_xy(dt, ekfNavVelGainScaler);
// run position controller's acceleration to lean angle step
accel_to_lean_angles(dt, ekfNavVelGainScaler, use_althold_lean_angle);
}
