void Rover::calc_lateral_acceleration() {
switch (control_mode) {
case AUTO:
// If we have reached the waypoint previously navigate
// back to it from our current position
if (previously_reached_wp && (loiter_duration > 0)) {
nav_controller->update_waypoint(current_loc, next_WP);
} else {
nav_controller->update_waypoint(prev_WP, next_WP);
}
break;
case RTL:
case GUIDED:
case STEERING:
nav_controller->update_waypoint(current_loc, next_WP);
break;
default:
return;
}
// Calculate the required turn of the wheels
// negative error = left turn
// positive error = right turn
lateral_acceleration = nav_controller->lateral_acceleration();
if (use_pivot_steering()) {
const int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
if (bearing_error > 0) {
lateral_acceleration = g.turn_max_g * GRAVITY_MSS;
} else {
lateral_acceleration = -g.turn_max_g * GRAVITY_MSS;
}
}
}
// calculate steering output to drive along line from origin to destination waypoint
// relies on update_distance_and_bearing_to_destination being called first so _wp_bearing_cd has been updated
void AR_WPNav::update_steering(const Location& current_loc, float current_speed)
{
// calculate yaw error for determining if vehicle should pivot towards waypoint
float yaw_cd = _reversed ? wrap_360_cd(_wp_bearing_cd + 18000) : _wp_bearing_cd;
float yaw_error_cd = wrap_180_cd(yaw_cd - AP::ahrs().yaw_sensor);
// calculate desired turn rate and update desired heading
if (use_pivot_steering(yaw_error_cd)) {
_cross_track_error = 0.0f;
_desired_heading_cd = yaw_cd;
_desired_lat_accel = 0.0f;
_desired_turn_rate_rads = _atc.get_turn_rate_from_heading(radians(yaw_cd * 0.01f), radians(_pivot_rate));
} else {
// run L1 controller
_nav_controller.set_reverse(_reversed);
_nav_controller.update_waypoint((_reached_destination ? current_loc : _origin), _destination, _radius);
// retrieve lateral acceleration, heading back towards line and crosstrack error
_desired_lat_accel = constrain_float(_nav_controller.lateral_acceleration(), -_turn_max_mss, _turn_max_mss);
_desired_heading_cd = wrap_360_cd(_nav_controller.nav_bearing_cd());
if (_reversed) {
_desired_lat_accel *= -1.0f;
_desired_heading_cd = wrap_360_cd(_desired_heading_cd + 18000);
}
_cross_track_error = _nav_controller.crosstrack_error();
_desired_turn_rate_rads = _atc.get_turn_rate_from_lat_accel(_desired_lat_accel, current_speed);
}
}
/*
calculate the throtte for auto-throttle modes
*/
void Rover::calc_throttle(float target_speed) {
// If not autostarting OR we are loitering at a waypoint
// then set the throttle to minimum
if (!auto_check_trigger() || in_stationary_loiter()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
// Stop rotation in case of loitering and skid steering
if (g.skid_steer_out) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
return;
}
const float throttle_base = (fabsf(target_speed) / g.speed_cruise) * g.throttle_cruise;
const int throttle_target = throttle_base + throttle_nudge;
/*
reduce target speed in proportion to turning rate, up to the
SPEED_TURN_GAIN percentage.
*/
float steer_rate = fabsf(lateral_acceleration / (g.turn_max_g*GRAVITY_MSS));
steer_rate = constrain_float(steer_rate, 0.0f, 1.0f);
// use g.speed_turn_gain for a 90 degree turn, and in proportion
// for other turn angles
const int32_t turn_angle = wrap_180_cd(next_navigation_leg_cd - ahrs.yaw_sensor);
const float speed_turn_ratio = constrain_float(fabsf(turn_angle / 9000.0f), 0, 1);
const float speed_turn_reduction = (100 - g.speed_turn_gain) * speed_turn_ratio * 0.01f;
float reduction = 1.0f - steer_rate * speed_turn_reduction;
if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
// in auto-modes we reduce speed when approaching waypoints
const float reduction2 = 1.0f - speed_turn_reduction;
if (reduction2 < reduction) {
reduction = reduction2;
}
}
// reduce the target speed by the reduction factor
target_speed *= reduction;
groundspeed_error = fabsf(target_speed) - ground_speed;
throttle = throttle_target + (g.pidSpeedThrottle.get_pid(groundspeed_error * 100) / 100);
// also reduce the throttle by the reduction factor. This gives a
// much faster response in turns
throttle *= reduction;
if (in_reverse) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(-throttle, -g.throttle_max, -g.throttle_min));
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(throttle, g.throttle_min, g.throttle_max));
}
if (!in_reverse && g.braking_percent != 0 && groundspeed_error < -g.braking_speederr) {
// the user has asked to use reverse throttle to brake. Apply
// it in proportion to the ground speed error, but only when
// our ground speed error is more than BRAKING_SPEEDERR.
//
// We use a linear gain, with 0 gain at a ground speed error
// of braking_speederr, and 100% gain when groundspeed_error
// is 2*braking_speederr
const float brake_gain = constrain_float(((-groundspeed_error)-g.braking_speederr)/g.braking_speederr, 0, 1);
const int16_t braking_throttle = g.throttle_max * (g.braking_percent * 0.01f) * brake_gain;
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(-braking_throttle, -g.throttle_max, -g.throttle_min));
// temporarily set us in reverse to allow the PWM setting to
// go negative
set_reverse(true);
}
if (use_pivot_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
}
}
