void motorsCommands(float throtCommand, float pitchCommand, float rollCommand, float ruddCommand) {
float throttle;
float voltageFactor;
float value;
float nominalBatVolts;
int i;
// throttle limiter to prevent control saturation
throttle = constrainFloat(throtCommand - motorsData.throttleLimiter, 0.0f, MOTORS_SCALE);
// calculate voltage factor
if (p[CTRL_BATT_COMP > 0.0]) {
nominalBatVolts = MOTORS_CELL_VOLTS*analogData.batCellCount;
voltageFactor = 1.0f + (nominalBatVolts - analogData.vIn) / nominalBatVolts * p[CTRL_BATT_COMP];
}
// calculate and set each motor value
for (i = 0; i < MOTORS_NUM; i++) {
if (motorsData.active[i]) {
motorsPowerStruct_t *d = &motorsData.distribution[i];
value = 0.0f;
value += (throttle * d->throttle * 0.01f);
value += (pitchCommand * d->pitch * 0.01f);
value += (rollCommand * d->roll * 0.01f);
value += (ruddCommand * d->yaw * 0.01f);
if (p[CTRL_BATT_COMP > 0.0]) {
value *= voltageFactor;
}
// check for over throttle
if (value >= MOTORS_SCALE) {
motorsData.throttleLimiter += MOTORS_THROTTLE_LIMITER;
}
motorsData.value[i] = constrainInt(value, 0, MOTORS_SCALE);
}
}
motorsSendValues();
// decay throttle limit
motorsData.throttleLimiter = constrainFloat(motorsData.throttleLimiter - MOTORS_THROTTLE_LIMITER, 0.0f, MOTORS_SCALE/4);
motorsData.pitch = pitchCommand;
motorsData.roll = rollCommand;
motorsData.yaw = ruddCommand;
motorsData.throttle = throttle;
}
void motorsCommands(float throtCommand, float pitchCommand, float rollCommand, float ruddCommand) {
float throttle;
float value;
int i;
// throttle limiter to prevent control saturation
throttle = constrainFloat(throtCommand - motorsData.throttleLimiter, 0.0f, MOTORS_SCALE);
// calculate and set each motor value
for (int j = 0; j < motorsData.numActive; ++j) {
i = motorsData.activeList[j];
motorsPowerStruct_t *d = &motorsData.distribution[i];
value = 0.0f;
value += (throttle * d->throttle * 0.01f);
value += (pitchCommand * d->pitch * 0.01f);
value += (rollCommand * d->roll * 0.01f);
value += (ruddCommand * d->yaw * 0.01f);
// adjust for voltage factor
value *= motorsVFactor();
// check for over throttle
if (value >= MOTORS_SCALE)
motorsData.throttleLimiter += MOTORS_THROTTLE_LIMITER;
motorsData.value[i] = constrainInt(value, 0, MOTORS_SCALE);
}
motorsSendValues();
// decay throttle limit
motorsData.throttleLimiter = constrainFloat(motorsData.throttleLimiter - MOTORS_THROTTLE_LIMITER, 0.0f, MOTORS_SCALE/4);
motorsData.pitch = pitchCommand;
motorsData.roll = rollCommand;
motorsData.yaw = ruddCommand;
motorsData.throttle = throttle;
}
void control_quadrotor_attitude(
const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att,
const struct vehicle_rates_setpoint_s *rate_sp,
const struct attitude_control_quat_params *control,
struct actuator_controls_s *actuators)
{
float pitchCommand, rollCommand, ruddCommand, throttleCommand;
if(fabsf(rate_sp->yaw) < FLT_MIN) {
// hold heading
float yawRateTarget = pidUpdate(controlData.yawAngle, 0.0f, compassDifferenceRad(controlData.yawSetpoint, att->yaw)); // seek a 0 deg difference between hold heading and actual yaw
ruddCommand = constrainFloat(pidUpdate(controlData.yawRate, yawRateTarget, att->yawspeed), -control->controlMax, control->controlMax);
}
else {
// rate controls
ruddCommand = constrainFloat(pidUpdate(controlData.yawRate, rate_sp->yaw, att->yawspeed), -control->controlMax, control->controlMax);
control_quadrotor_set_yaw(att->yaw);
}
// smooth
float rollTarget = utilFilter3(controlData.rollFilter, att_sp->roll_body);
// roll angle
rollCommand = pidUpdate(controlData.rollAngle, rollTarget, att->roll);
// rate
rollCommand += pidUpdate(controlData.rollRate, 0.0f, att->rollspeed);
rollCommand = constrainFloat(rollCommand, -control->controlMax, control->controlMax);
// smooth
float pitchTarget = utilFilter3(controlData.pitchFilter, att_sp->pitch_body);
// pitch angle
pitchCommand = pidUpdate(controlData.pitchAngle, pitchTarget, att->pitch);
// rate
pitchCommand += pidUpdate(controlData.pitchRate, 0.0f, att->pitchspeed);
pitchCommand = constrainFloat(pitchCommand, -control->controlMax, control->controlMax);
throttleCommand = att_sp->thrust;
actuators->control[0] = rollCommand;
actuators->control[1] = pitchCommand;
actuators->control[2] = ruddCommand;
actuators->control[3] = throttleCommand;
}
void navNavigate(void) {
unsigned long currentTime;
unsigned char leg = navData.missionLeg;
navMission_t *curLeg = &navData.missionLegs[leg];
float tmp;
currentTime = IMU_LASTUPD;
navSetFixType();
// is there sufficient position accuracy to navigate?
if (navData.fixType == 3)
navData.navCapable = 1;
// do not drop out of mission due to (hopefully) temporary GPS degradation
else if (navData.mode < NAV_STATUS_POSHOLD)
navData.navCapable = 0;
// Can we navigate && do we want to be in mission mode?
if ((supervisorData.state & STATE_ARMED) && navData.navCapable && RADIO_FLAPS > 250) {
// are we currently in position hold mode && do we have a clear mission ahead of us?
if ((navData.mode == NAV_STATUS_POSHOLD || navData.mode == NAV_STATUS_DVH) && leg < NAV_MAX_MISSION_LEGS && curLeg->type > 0) {
curLeg = navLoadLeg(leg);
navData.mode = NAV_STATUS_MISSION;
}
}
// do we want to be in position hold mode?
else if ((supervisorData.state & STATE_ARMED) && RADIO_FLAPS > -250) {
// always allow alt hold
if (navData.mode < NAV_STATUS_ALTHOLD) {
// record this altitude as the hold altitude
navSetHoldAlt(ALTITUDE, 0);
// set integral to current RC throttle setting
pidZeroIntegral(navData.altSpeedPID, -VELOCITYD, motorsData.throttle * RADIO_MID_THROTTLE / MOTORS_SCALE);
pidZeroIntegral(navData.altPosPID, ALTITUDE, 0.0f);
navData.holdSpeedAlt = navData.targetHoldSpeedAlt = -VELOCITYD;
navData.holdMaxVertSpeed = p[NAV_ALT_POS_OM];
navData.mode = NAV_STATUS_ALTHOLD;
// notify ground
AQ_NOTICE("Altitude Hold engaged\n");
}
// are we not in position hold mode now?
if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && navData.mode != NAV_STATUS_POSHOLD && navData.mode != NAV_STATUS_DVH) {
// only zero bias if coming from lower mode
if (navData.mode < NAV_STATUS_POSHOLD) {
navData.holdTiltN = 0.0f;
navData.holdTiltE = 0.0f;
// speed
pidZeroIntegral(navData.speedNPID, UKF_VELN, 0.0f);
pidZeroIntegral(navData.speedEPID, UKF_VELE, 0.0f);
// pos
pidZeroIntegral(navData.distanceNPID, UKF_POSN, 0.0f);
pidZeroIntegral(navData.distanceEPID, UKF_POSE, 0.0f);
}
// store this position as hold position
navUkfSetHereAsPositionTarget();
if (navData.navCapable) {
// set this position as home if we have none
if (navData.homeLeg.targetLat == (double)0.0 || navData.homeLeg.targetLon == (double)0.0)
navSetHomeCurrent();
}
// activate pos hold
navData.mode = NAV_STATUS_POSHOLD;
navData.holdSpeedN = 0.0f;
navData.holdSpeedE = 0.0f;
navData.holdMaxHorizSpeed = p[NAV_MAX_SPEED];
navData.holdMaxVertSpeed = p[NAV_ALT_POS_OM];
// notify ground
AQ_NOTICE("Position Hold engaged\n");
}
// DVH
else if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && (
RADIO_PITCH > p[CTRL_DEAD_BAND] ||
RADIO_PITCH < -p[CTRL_DEAD_BAND] ||
RADIO_ROLL > p[CTRL_DEAD_BAND] ||
RADIO_ROLL < -p[CTRL_DEAD_BAND])) {
navData.mode = NAV_STATUS_DVH;
}
else if (navData.mode == NAV_STATUS_DVH) {
// allow speed to drop before holding position (or if RTH engaged)
if ((UKF_VELN < +0.1f && UKF_VELN > -0.1f && UKF_VELE < +0.1f && UKF_VELE > -0.1f) || RADIO_AUX2 < -250) {
navUkfSetHereAsPositionTarget();
navData.mode = NAV_STATUS_POSHOLD;
}
}
}
else {
// switch to manual mode
navData.mode = NAV_STATUS_MANUAL;
// reset mission legs
navData.missionLeg = leg = 0;
// keep up with changing altitude
navSetHoldAlt(ALTITUDE, 0);
}
// ceiling set ?, 0 is disable
if (navData.ceilingAlt) {
// ceiling reached 1st time
if (ALTITUDE > navData.ceilingAlt && !navData.setCeilingFlag) {
navData.setCeilingFlag = 1;
navData.ceilingTimer = timerMicros();
}
// ceiling still reached for 5 seconds
else if (navData.setCeilingFlag && ALTITUDE > navData.ceilingAlt && (timerMicros() - navData.ceilingTimer) > (1e6 * 5) ) {
navData.ceilingTimer = timerMicros();
if (!navData.setCeilingReached)
AQ_NOTICE("Warning: Altitude ceiling reached.");
navData.setCeilingReached = 1;
}
else if ((navData.setCeilingFlag || navData.setCeilingReached) && ALTITUDE <= navData.ceilingAlt) {
if (navData.setCeilingReached)
AQ_NOTICE("Notice: Altitude returned to within ceiling.");
navData.setCeilingFlag = 0;
navData.setCeilingReached = 0;
}
}
// home set
if ((supervisorData.state & STATE_ARMED) && RADIO_AUX2 > 250) {
if (!navData.homeActionFlag) {
navSetHomeCurrent();
navData.homeActionFlag = 1;
}
}
// recall home
else if ((supervisorData.state & STATE_ARMED) && RADIO_AUX2 < -250) {
if (!navData.homeActionFlag) {
navRecallHome();
AQ_NOTICE("Returning to home position\n");
navData.homeActionFlag = 1;
}
}
// switch to middle, clear action flag
else {
navData.homeActionFlag = 0;
}
// heading-free mode
if ((int)p[NAV_HDFRE_CHAN] > 0 && (int)p[NAV_HDFRE_CHAN] <= RADIO_MAX_CHANNELS) {
navSetHeadFreeMode();
// set/maintain headfree frame reference
if (!navData.homeActionFlag && ( navData.headFreeMode == NAV_HEADFREE_SETTING ||
(navData.headFreeMode == NAV_HEADFREE_DYNAMIC && navData.mode == NAV_STATUS_DVH) )) {
uint8_t dfRefTyp = 0;
if ((supervisorData.state & STATE_FLYING) && navData.homeLeg.targetLat != (double)0.0f && navData.homeLeg.targetLon != (double)0.0f) {
if (NAV_HF_HOME_DIST_D_MIN && NAV_HF_HOME_DIST_FREQ && (currentTime - navData.homeDistanceLastUpdate) > (AQ_US_PER_SEC / NAV_HF_HOME_DIST_FREQ)) {
navData.distanceToHome = navCalcDistance(gpsData.lat, gpsData.lon, navData.homeLeg.targetLat, navData.homeLeg.targetLon);
navData.homeDistanceLastUpdate = currentTime;
}
if (!NAV_HF_HOME_DIST_D_MIN || navData.distanceToHome > NAV_HF_HOME_DIST_D_MIN)
dfRefTyp = 1;
}
navSetHfReference(dfRefTyp);
}
}
if (UKF_POSN != 0.0f || UKF_POSE != 0.0f) {
navData.holdCourse = compassNormalize(atan2f(-UKF_POSE, -UKF_POSN) * RAD_TO_DEG);
navData.holdDistance = __sqrtf(UKF_POSN*UKF_POSN + UKF_POSE*UKF_POSE);
}
else {
navData.holdCourse = 0.0f;
navData.holdDistance = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// have we arrived yet?
if (navData.loiterCompleteTime == 0) {
// are we close enough (distance and altitude)?
// goto/home test
if (((curLeg->type == NAV_LEG_GOTO || curLeg->type == NAV_LEG_HOME) &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius) ||
// orbit test
(curLeg->type == NAV_LEG_ORBIT &&
fabsf(navData.holdDistance - curLeg->targetRadius) +
fabsf(navData.holdAlt - ALTITUDE) < 2.0f) ||
// takeoff test
(curLeg->type == NAV_LEG_TAKEOFF &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius)
) {
// freeze heading unless orbiting
if (curLeg->type != NAV_LEG_ORBIT)
navSetHoldHeading(AQ_YAW);
// start the loiter clock
navData.loiterCompleteTime = currentTime + curLeg->loiterTime;
#ifdef USE_MAVLINK
// notify ground
mavlinkWpReached(leg);
#endif
}
}
// have we loitered long enough?
else if (currentTime > navData.loiterCompleteTime && curLeg->type != NAV_LEG_LAND) {
// next leg
if (++leg < NAV_MAX_MISSION_LEGS && navData.missionLegs[leg].type > 0) {
curLeg = navLoadLeg(leg);
}
else {
navData.mode = NAV_STATUS_POSHOLD;
}
}
}
// DVH
if (navData.mode == NAV_STATUS_DVH) {
float factor = (1.0f / 500.0f) * navData.holdMaxHorizSpeed;
float x = 0.0f;
float y = 0.0f;
if (RADIO_PITCH > p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_PITCH < -p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH + p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL > p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL < -p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL + p[CTRL_DEAD_BAND]) * factor;
// do we want to ignore rotation of craft (headfree/carefree mode)?
if (navData.headFreeMode > NAV_HEADFREE_OFF) {
if (navData.hfUseStoredReference) {
// rotate to stored frame
navData.holdSpeedN = x * navData.hfReferenceCos - y * navData.hfReferenceSin;
navData.holdSpeedE = y * navData.hfReferenceCos + x * navData.hfReferenceSin;
}
else {
// don't rotate to any frame (pitch/roll move to N/S/E/W)
navData.holdSpeedN = x;
navData.holdSpeedE = y;
}
}
else {
// rotate to earth frame
navData.holdSpeedN = x * navUkfData.yawCos - y * navUkfData.yawSin;
navData.holdSpeedE = y * navUkfData.yawCos + x * navUkfData.yawSin;
}
}
// orbit POI
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_ORBIT) {
float velX, velY;
// maintain orbital radius
velX = -pidUpdate(navData.distanceNPID, curLeg->targetRadius, navData.holdDistance);
// maintain orbital velocity (clock wise)
velY = -curLeg->maxHorizSpeed;
// rotate to earth frame
navData.holdSpeedN = velX * navUkfData.yawCos - velY * navUkfData.yawSin;
navData.holdSpeedE = velY * navUkfData.yawCos + velX * navUkfData.yawSin;
}
else {
// distance => velocity
navData.holdSpeedN = pidUpdate(navData.distanceNPID, 0.0f, UKF_POSN);
navData.holdSpeedE = pidUpdate(navData.distanceEPID, 0.0f, UKF_POSE);
}
// normalize N/E speed requests to fit below max nav speed
tmp = __sqrtf(navData.holdSpeedN*navData.holdSpeedN + navData.holdSpeedE*navData.holdSpeedE);
if (tmp > navData.holdMaxHorizSpeed) {
navData.holdSpeedN = (navData.holdSpeedN / tmp) * navData.holdMaxHorizSpeed;
navData.holdSpeedE = (navData.holdSpeedE / tmp) * navData.holdMaxHorizSpeed;
}
// velocity => tilt
navData.holdTiltN = -pidUpdate(navData.speedNPID, navData.holdSpeedN, UKF_VELN);
navData.holdTiltE = +pidUpdate(navData.speedEPID, navData.holdSpeedE, UKF_VELE);
if (navData.mode > NAV_STATUS_MANUAL) {
float vertStick;
// Throttle controls vertical speed
vertStick = RADIO_THROT - RADIO_MID_THROTTLE;
if ((vertStick > p[CTRL_DBAND_THRO] && !navData.setCeilingReached) || vertStick < -p[CTRL_DBAND_THRO]) {
// altitude velocity proportional to throttle stick
navData.targetHoldSpeedAlt = (vertStick - p[CTRL_DBAND_THRO] * (vertStick > 0.0f ? 1.0f : -1.0f)) * p[NAV_ALT_POS_OM] * (1.0f / RADIO_MID_THROTTLE);
navData.verticalOverride = 1;
}
// are we trying to land?
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_LAND) {
navData.targetHoldSpeedAlt = -navData.holdMaxVertSpeed;
}
// coming out of vertical override?
else if (navData.verticalOverride) {
navData.targetHoldSpeedAlt = 0.0f;
// slow down before trying to hold altitude
if (fabsf(VELOCITYD) < 0.025f)
navData.verticalOverride = 0;
// set new hold altitude to wherever we are while still in override
if (navData.mode != NAV_STATUS_MISSION)
navSetHoldAlt(ALTITUDE, 0);
}
// PID has the throttle
else {
navData.targetHoldSpeedAlt = pidUpdate(navData.altPosPID, navData.holdAlt, ALTITUDE);
}
// constrain vertical velocity
navData.targetHoldSpeedAlt = constrainFloat(navData.targetHoldSpeedAlt, (navData.holdMaxVertSpeed < p[NAV_MAX_DECENT]) ? -navData.holdMaxVertSpeed : -p[NAV_MAX_DECENT], navData.holdMaxVertSpeed);
// smooth vertical velocity changes
navData.holdSpeedAlt += (navData.targetHoldSpeedAlt - navData.holdSpeedAlt) * 0.05f;
}
else {
navData.verticalOverride = 0;
}
// calculate POI angle (used for tilt in gimbal function)
if (navData.mode == NAV_STATUS_MISSION && curLeg->poiAltitude != 0.0f) {
float a, b, c;
a = navData.holdDistance;
b = ALTITUDE - curLeg->poiAltitude;
c = __sqrtf(a*a + b*b);
navData.poiAngle = asinf(a/c) * RAD_TO_DEG - 90.0f;
}
else {
navData.poiAngle = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// recalculate autonomous heading
navSetHoldHeading(navData.targetHeading);
// wait for low throttle if landing
if (curLeg->type == NAV_LEG_LAND && motorsData.throttle <= 1)
// shut everything down (sure hope we are really on the ground :)
supervisorDisarm();
}
navData.lastUpdate = currentTime;
}
void navNavigate(void) {
unsigned long currentTime = IMU_LASTUPD;
unsigned char leg = navData.missionLeg;
navMission_t *curLeg = &navData.missionLegs[leg];
int reqFlightMode; // requested flight mode based on user controls or other factors
float tmp;
navSetFixType();
// is there sufficient position accuracy to navigate?
if (navData.fixType == 3)
navData.navCapable = 1;
// do not drop out of mission due to (hopefully) temporary GPS degradation
else if (navData.mode < NAV_STATUS_POSHOLD)
navData.navCapable = 0;
bool hasViableMission = (navData.navCapable && ((navData.mode != NAV_STATUS_MISSION && leg < NAV_MAX_MISSION_LEGS && curLeg->type) || (navData.mode == NAV_STATUS_MISSION && navData.hasMissionLeg)));
// this defines the hierarchy of available flight modes in case of failsafe override or conflicting controls being active
if (navData.spvrModeOverride)
reqFlightMode = navData.spvrModeOverride;
else if (rcIsSwitchActive(NAV_CTRL_MISN))
if (hasViableMission)
reqFlightMode = NAV_STATUS_MISSION;
else
reqFlightMode = NAV_STATUS_POSHOLD;
else if (rcIsSwitchActive(NAV_CTRL_PH)) {
reqFlightMode = NAV_STATUS_POSHOLD;
}
else if (rcIsSwitchActive(NAV_CTRL_AH))
reqFlightMode = NAV_STATUS_ALTHOLD;
// always default to manual
else
reqFlightMode = NAV_STATUS_MANUAL;
// Can we navigate && do we want to be in mission mode?
if ((supervisorData.state & STATE_ARMED) && reqFlightMode == NAV_STATUS_MISSION && hasViableMission) {
// are we currently in position hold mode && do we have a clear mission ahead of us?
if (navData.mode == NAV_STATUS_POSHOLD || navData.mode == NAV_STATUS_DVH) {
curLeg = navLoadLeg(leg);
navData.mode = NAV_STATUS_MISSION;
AQ_NOTICE("Mission mode active\n");
}
}
// do we want to be in position hold mode?
else if ((supervisorData.state & STATE_ARMED) && reqFlightMode > NAV_STATUS_MANUAL) {
// check for DVH
if (reqFlightMode == NAV_STATUS_POSHOLD && (RADIO_PITCH > p[CTRL_DEAD_BAND] || RADIO_PITCH < -p[CTRL_DEAD_BAND] || RADIO_ROLL > p[CTRL_DEAD_BAND] || RADIO_ROLL < -p[CTRL_DEAD_BAND]))
reqFlightMode = NAV_STATUS_DVH;
// allow alt hold regardless of GPS or flow quality
if (navData.mode < NAV_STATUS_ALTHOLD || (navData.mode != NAV_STATUS_ALTHOLD && reqFlightMode == NAV_STATUS_ALTHOLD)) {
// record this altitude as the hold altitude
navSetHoldAlt(ALTITUDE, 0);
// set integral to current RC throttle setting
pidZeroIntegral(navData.altSpeedPID, -VELOCITYD, motorsData.throttle * RADIO_MID_THROTTLE / MOTORS_SCALE);
pidZeroIntegral(navData.altPosPID, ALTITUDE, 0.0f);
navData.holdSpeedAlt = navData.targetHoldSpeedAlt = -VELOCITYD;
navData.holdMaxVertSpeed = NAV_DFLT_VRT_SPEED;
navData.mode = NAV_STATUS_ALTHOLD;
// notify ground
AQ_NOTICE("Altitude Hold engaged\n");
}
// are we not in position hold mode now?
if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && reqFlightMode > NAV_STATUS_ALTHOLD && navData.mode != NAV_STATUS_POSHOLD && navData.mode != NAV_STATUS_DVH) {
// only zero bias if coming from lower mode
if (navData.mode < NAV_STATUS_POSHOLD) {
navData.holdTiltN = 0.0f;
navData.holdTiltE = 0.0f;
// speed
pidZeroIntegral(navData.speedNPID, UKF_VELN, 0.0f);
pidZeroIntegral(navData.speedEPID, UKF_VELE, 0.0f);
// pos
pidZeroIntegral(navData.distanceNPID, UKF_POSN, 0.0f);
pidZeroIntegral(navData.distanceEPID, UKF_POSE, 0.0f);
}
// store this position as hold position
navUkfSetHereAsPositionTarget();
if (navData.navCapable) {
// set this position as home if we have none
if (navData.homeLeg.targetLat == (double)0.0 || navData.homeLeg.targetLon == (double)0.0)
navSetHomeCurrent();
}
// activate pos hold
navData.mode = NAV_STATUS_POSHOLD;
navData.holdSpeedN = 0.0f;
navData.holdSpeedE = 0.0f;
navData.holdMaxHorizSpeed = NAV_DFLT_HOR_SPEED;
navData.holdMaxVertSpeed = NAV_DFLT_VRT_SPEED;
// notify ground
AQ_NOTICE("Position Hold engaged\n");
}
// DVH
else if ((navData.navCapable || navUkfData.flowQuality > 0.0f) && reqFlightMode == NAV_STATUS_DVH) {
navData.mode = NAV_STATUS_DVH;
}
// coming out of DVH mode?
else if (navData.mode == NAV_STATUS_DVH) {
// allow speed to drop before holding position (or if RTH engaged)
// FIXME: RTH switch may no longer be engaged but craft is still returning to home?
if ((UKF_VELN < +0.1f && UKF_VELN > -0.1f && UKF_VELE < +0.1f && UKF_VELE > -0.1f) || rcIsSwitchActive(NAV_CTRL_HOM_GO)) {
navUkfSetHereAsPositionTarget();
navData.mode = NAV_STATUS_POSHOLD;
}
}
}
// default to manual mode
else {
if (navData.mode != NAV_STATUS_MANUAL)
AQ_NOTICE("Manual mode active.\n");
navData.mode = NAV_STATUS_MANUAL;
// reset mission legs
navData.missionLeg = leg = 0;
// keep up with changing altitude
navSetHoldAlt(ALTITUDE, 0);
}
// ceiling set ?, 0 is disable
if (navData.ceilingAlt) {
// ceiling reached 1st time
if (ALTITUDE > navData.ceilingAlt && !navData.setCeilingFlag) {
navData.setCeilingFlag = 1;
navData.ceilingTimer = timerMicros();
}
// ceiling still reached for 5 seconds
else if (navData.setCeilingFlag && ALTITUDE > navData.ceilingAlt && (timerMicros() - navData.ceilingTimer) > (1e6 * 5) ) {
navData.ceilingTimer = timerMicros();
if (!navData.setCeilingReached)
AQ_NOTICE("Warning: Altitude ceiling reached.");
navData.setCeilingReached = 1;
}
else if ((navData.setCeilingFlag || navData.setCeilingReached) && ALTITUDE <= navData.ceilingAlt) {
if (navData.setCeilingReached)
AQ_NOTICE("Notice: Altitude returned to within ceiling.");
navData.setCeilingFlag = 0;
navData.setCeilingReached = 0;
}
}
if (!(supervisorData.state & STATE_RADIO_LOSS1))
navDoUserCommands(&leg, curLeg);
if (UKF_POSN != 0.0f || UKF_POSE != 0.0f) {
navData.holdCourse = compassNormalize(atan2f(-UKF_POSE, -UKF_POSN) * RAD_TO_DEG);
navData.holdDistance = __sqrtf(UKF_POSN*UKF_POSN + UKF_POSE*UKF_POSE);
}
else {
navData.holdCourse = 0.0f;
navData.holdDistance = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// have we arrived yet?
if (navData.loiterCompleteTime == 0) {
// are we close enough (distance and altitude)?
// goto/home test
if (((curLeg->type == NAV_LEG_GOTO || curLeg->type == NAV_LEG_HOME) &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius) ||
// orbit test
(curLeg->type == NAV_LEG_ORBIT &&
fabsf(navData.holdDistance - curLeg->targetRadius) <= 2.0f &&
fabsf(navData.holdAlt - ALTITUDE) <= 1.0f) ||
// takeoff test
(curLeg->type == NAV_LEG_TAKEOFF &&
navData.holdDistance < curLeg->targetRadius &&
fabsf(navData.holdAlt - ALTITUDE) < curLeg->targetRadius)
) {
// freeze heading if relative, unless orbiting
if (curLeg->type != NAV_LEG_ORBIT && signbit(navData.targetHeading))
navData.targetHeading = AQ_YAW;
// start the loiter clock
navData.loiterCompleteTime = currentTime + curLeg->loiterTime;
AQ_PRINTF("NAV: Reached waypoint %d.\n", leg);
#ifdef USE_SIGNALING
signalingOnetimeEvent(SIG_EVENT_OT_WP_REACHED);
#endif
#ifdef USE_MAVLINK
// notify ground
mavlinkWpReached(leg);
#endif
}
}
// have we loitered long enough?
else if (currentTime > navData.loiterCompleteTime && curLeg->type != NAV_LEG_LAND) {
// next leg
leg = ++navData.missionLeg;
curLeg = navLoadLeg(leg);
if (!navData.hasMissionLeg)
navData.mode = NAV_STATUS_POSHOLD;
}
}
// DVH
if (navData.mode == NAV_STATUS_DVH) {
float factor = (1.0f / 500.0f) * navData.holdMaxHorizSpeed;
float x = 0.0f;
float y = 0.0f;
if (RADIO_PITCH > p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_PITCH < -p[CTRL_DEAD_BAND])
x = -(RADIO_PITCH + p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL > p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL - p[CTRL_DEAD_BAND]) * factor;
if (RADIO_ROLL < -p[CTRL_DEAD_BAND])
y = +(RADIO_ROLL + p[CTRL_DEAD_BAND]) * factor;
// do we want to ignore rotation of craft (headfree/carefree mode)?
if (navData.headFreeMode > NAV_HEADFREE_OFF) {
if (navData.hfUseStoredReference) {
// rotate to stored frame
navData.holdSpeedN = x * navData.hfReferenceCos - y * navData.hfReferenceSin;
navData.holdSpeedE = y * navData.hfReferenceCos + x * navData.hfReferenceSin;
}
else {
// don't rotate to any frame (pitch/roll move to N/S/E/W)
navData.holdSpeedN = x;
navData.holdSpeedE = y;
}
}
else {
// rotate to earth frame
navData.holdSpeedN = x * navUkfData.yawCos - y * navUkfData.yawSin;
navData.holdSpeedE = y * navUkfData.yawCos + x * navUkfData.yawSin;
}
}
// orbit POI
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_ORBIT) {
float velX, velY;
// maintain orbital radius
velX = -pidUpdate(navData.distanceNPID, curLeg->targetRadius, navData.holdDistance);
// maintain orbital velocity (clock wise)
velY = -curLeg->maxHorizSpeed;
// rotate to earth frame
navData.holdSpeedN = velX * navUkfData.yawCos - velY * navUkfData.yawSin;
navData.holdSpeedE = velY * navUkfData.yawCos + velX * navUkfData.yawSin;
}
else {
// distance => velocity
navData.holdSpeedN = pidUpdate(navData.distanceNPID, 0.0f, UKF_POSN);
navData.holdSpeedE = pidUpdate(navData.distanceEPID, 0.0f, UKF_POSE);
}
// normalize N/E speed requests to fit below max nav speed
tmp = __sqrtf(navData.holdSpeedN*navData.holdSpeedN + navData.holdSpeedE*navData.holdSpeedE);
if (tmp > navData.holdMaxHorizSpeed) {
navData.holdSpeedN = (navData.holdSpeedN / tmp) * navData.holdMaxHorizSpeed;
navData.holdSpeedE = (navData.holdSpeedE / tmp) * navData.holdMaxHorizSpeed;
}
// velocity => tilt
navData.holdTiltN = -pidUpdate(navData.speedNPID, navData.holdSpeedN, UKF_VELN);
navData.holdTiltE = +pidUpdate(navData.speedEPID, navData.holdSpeedE, UKF_VELE);
if (navData.mode > NAV_STATUS_MANUAL) {
float vertStick;
// Throttle controls vertical speed
vertStick = RADIO_THROT - RADIO_MID_THROTTLE;
if ((vertStick > p[CTRL_DBAND_THRO] && !navData.setCeilingReached) || vertStick < -p[CTRL_DBAND_THRO]) {
// altitude velocity proportional to throttle stick
navData.targetHoldSpeedAlt = (vertStick - p[CTRL_DBAND_THRO] * (vertStick > 0.0f ? 1.0f : -1.0f)) * NAV_DFLT_VRT_SPEED * (1.0f / RADIO_MID_THROTTLE);
navData.verticalOverride = 1;
}
// are we trying to land?
else if (navData.mode == NAV_STATUS_MISSION && curLeg->type == NAV_LEG_LAND) {
navData.targetHoldSpeedAlt = -navData.holdMaxVertSpeed;
}
// coming out of vertical override?
else if (navData.verticalOverride) {
navData.targetHoldSpeedAlt = 0.0f;
// slow down before trying to hold altitude
if (fabsf(VELOCITYD) < 0.025f)
navData.verticalOverride = 0;
// set new hold altitude to wherever we are while still in override
if (navData.mode != NAV_STATUS_MISSION)
navSetHoldAlt(ALTITUDE, 0);
}
// PID has the throttle
else {
navData.targetHoldSpeedAlt = pidUpdate(navData.altPosPID, navData.holdAlt, ALTITUDE);
}
// constrain vertical velocity
tmp = configGetParamValue(NAV_MAX_DECENT);
tmp = (navData.holdMaxVertSpeed < tmp) ? -navData.holdMaxVertSpeed : -tmp;
navData.targetHoldSpeedAlt = constrainFloat(navData.targetHoldSpeedAlt, tmp, navData.holdMaxVertSpeed);
// smooth vertical velocity changes
navData.holdSpeedAlt += (navData.targetHoldSpeedAlt - navData.holdSpeedAlt) * 0.05f;
}
else {
navData.verticalOverride = 0;
}
// calculate POI angle (used for tilt in gimbal function)
if (navData.mode == NAV_STATUS_MISSION && curLeg->poiAltitude != 0.0f) {
float a, b, c;
a = navData.holdDistance;
b = ALTITUDE - curLeg->poiAltitude;
c = __sqrtf(a*a + b*b);
navData.poiAngle = asinf(a/c) * RAD_TO_DEG - 90.0f;
}
else {
navData.poiAngle = 0.0f;
}
if (navData.mode == NAV_STATUS_MISSION) {
// recalculate autonomous heading
navSetHoldHeading(navData.targetHeading);
// wait for low throttle if landing
if (curLeg->type == NAV_LEG_LAND && motorsData.throttle <= 1)
// shut everything down (sure hope we are really on the ground :)
supervisorDisarm();
}
navData.lastUpdate = currentTime;
}
void controlTaskCode(void *unused) {
float yaw;
float throttle;
float ratesDesired[3];
uint16_t overrides[3];
#ifdef USE_QUATOS
float quatDesired[4];
float ratesActual[3];
#else
float pitch, roll;
float pitchCommand, rollCommand, ruddCommand;
#endif // USE_QUATOS
AQ_NOTICE("Control task started\n");
// disable all axes' rate overrides
overrides[0] = 0;
overrides[1] = 0;
overrides[2] = 0;
while (1) {
// wait for work
CoWaitForSingleFlag(imuData.dRateFlag, 0);
// this needs to be done ASAP with the freshest of data
if (supervisorData.state & STATE_ARMED) {
if (RADIO_THROT > p[CTRL_MIN_THROT] || navData.mode > NAV_STATUS_MANUAL) {
supervisorThrottleUp(1);
// are we in altitude hold mode?
if (navData.mode > NAV_STATUS_MANUAL) {
// override throttle with nav's request
throttle = pidUpdate(navData.altSpeedPID, navData.holdSpeedAlt, -VELOCITYD) * MOTORS_SCALE / RADIO_MID_THROTTLE;
// don't allow negative throttle to be built up
if (navData.altSpeedPID->iState < 0.0f) {
navData.altSpeedPID->iState = 0.0f;
}
} else {
throttle = ((uint32_t)RADIO_THROT - p[CTRL_MIN_THROT]) * MOTORS_SCALE / RADIO_MID_THROTTLE * p[CTRL_FACT_THRO];
}
// limit
throttle = constrainInt(throttle, 1, MOTORS_SCALE);
// if motors are not yet running, use this heading as hold heading
if (motorsData.throttle == 0) {
navData.holdHeading = AQ_YAW;
controlData.yaw = navData.holdHeading;
// Reset all PIDs
pidZeroIntegral(controlData.pitchRatePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.rollRatePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.yawRatePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.pitchAnglePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.rollAnglePID, 0.0f, 0.0f);
pidZeroIntegral(controlData.yawAnglePID, 0.0f, 0.0f);
// also set this position as hold position
if (navData.mode == NAV_STATUS_POSHOLD) {
navUkfSetHereAsPositionTarget();
}
}
// constrict nav (only) yaw rates
yaw = compassDifference(controlData.yaw, navData.holdHeading);
yaw = constrainFloat(yaw, -p[CTRL_NAV_YAW_RT]/400.0f, +p[CTRL_NAV_YAW_RT]/400.0f);
controlData.yaw = compassNormalize(controlData.yaw + yaw);
// DVH overrides direct user pitch / roll requests
if (navData.mode != NAV_STATUS_DVH) {
controlData.userPitchTarget = RADIO_PITCH * p[CTRL_FACT_PITC];
controlData.userRollTarget = RADIO_ROLL * p[CTRL_FACT_ROLL];
} else {
controlData.userPitchTarget = 0.0f;
controlData.userRollTarget = 0.0f;
}
// navigation requests
if (navData.mode > NAV_STATUS_ALTHOLD) {
controlData.navPitchTarget = navData.holdTiltN;
controlData.navRollTarget = navData.holdTiltE;
} else {
controlData.navPitchTarget = 0.0f;
controlData.navRollTarget = 0.0f;
}
// manual rate cut through for yaw
if (RADIO_RUDD > p[CTRL_DEAD_BAND] || RADIO_RUDD < -p[CTRL_DEAD_BAND]) {
// fisrt remove dead band
if (RADIO_RUDD > p[CTRL_DEAD_BAND]) {
ratesDesired[2] = (RADIO_RUDD - p[CTRL_DEAD_BAND]);
} else {
ratesDesired[2] = (RADIO_RUDD + p[CTRL_DEAD_BAND]);
}
// calculate desired rate based on full stick scale
ratesDesired[2] = ratesDesired[2] * p[CTRL_MAN_YAW_RT] * DEG_TO_RAD * (1.0f / 700.0f);
// keep up with actual craft heading
controlData.yaw = AQ_YAW;
navData.holdHeading = AQ_YAW;
// request override
overrides[2] = CONTROL_MIN_YAW_OVERRIDE;
} else {
// currently overriding?
if (overrides[2] > 0) {
// request zero rate
ratesDesired[2] = 0.0f;
// follow actual craft heading
controlData.yaw = AQ_YAW;
navData.holdHeading = AQ_YAW;
// decrease override timer
overrides[2]--;
}
}
#ifdef USE_QUATOS
// determine which frame of reference to control from
if (navData.mode <= NAV_STATUS_ALTHOLD)
// craft frame - manual
{
eulerToQuatYPR(quatDesired, controlData.yaw, controlData.userPitchTarget, controlData.userRollTarget);
} else
// world frame - autonomous
{
eulerToQuatRPY(quatDesired, controlData.navRollTarget, controlData.navPitchTarget, controlData.yaw);
}
// reset controller on startup
if (motorsData.throttle == 0) {
quatDesired[0] = UKF_Q1;
quatDesired[1] = UKF_Q2;
quatDesired[2] = UKF_Q3;
quatDesired[3] = UKF_Q4;
quatosReset(quatDesired);
}
ratesActual[0] = IMU_DRATEX + UKF_GYO_BIAS_X;
ratesActual[1] = IMU_DRATEY + UKF_GYO_BIAS_Y;
ratesActual[2] = IMU_DRATEZ + UKF_GYO_BIAS_Z;
quatos(&UKF_Q1, quatDesired, ratesActual, ratesDesired, overrides);
quatosPowerDistribution(throttle);
motorsSendThrust();
motorsData.throttle = throttle;
#else
// smooth
controlData.userPitchTarget = utilFilter3(controlData.userPitchFilter, controlData.userPitchTarget);
controlData.userRollTarget = utilFilter3(controlData.userRollFilter, controlData.userRollTarget);
// smooth
controlData.navPitchTarget = utilFilter3(controlData.navPitchFilter, controlData.navPitchTarget);
controlData.navRollTarget = utilFilter3(controlData.navRollFilter, controlData.navRollTarget);
// rotate nav's NE frame of reference to our craft's local frame of reference
pitch = controlData.navPitchTarget * navUkfData.yawCos - controlData.navRollTarget * navUkfData.yawSin;
roll = controlData.navRollTarget * navUkfData.yawCos + controlData.navPitchTarget * navUkfData.yawSin;
// combine nav & user requests (both are already smoothed)
controlData.pitch = pitch + controlData.userPitchTarget;
controlData.roll = roll + controlData.userRollTarget;
if (p[CTRL_PID_TYPE] == 0) {
// pitch angle
pitchCommand = pidUpdate(controlData.pitchAnglePID, controlData.pitch, AQ_PITCH);
// rate
pitchCommand += pidUpdate(controlData.pitchRatePID, 0.0f, IMU_DRATEY);
// roll angle
rollCommand = pidUpdate(controlData.rollAnglePID, controlData.roll, AQ_ROLL);
// rate
rollCommand += pidUpdate(controlData.rollRatePID, 0.0f, IMU_DRATEX);
} else if (p[CTRL_PID_TYPE] == 1) {
// pitch rate from angle
pitchCommand = pidUpdate(controlData.pitchRatePID, pidUpdate(controlData.pitchAnglePID, controlData.pitch, AQ_PITCH), IMU_DRATEY);
// roll rate from angle
rollCommand = pidUpdate(controlData.rollRatePID, pidUpdate(controlData.rollAnglePID, controlData.roll, AQ_ROLL), IMU_DRATEX);
}
else if (p[CTRL_PID_TYPE] == 2) {
// pitch angle
pitchCommand = pidUpdate(controlData.pitchAnglePID, controlData.pitch, AQ_PITCH);
// rate
pitchCommand += pidUpdate(controlData.pitchRatePID, 0.0f, IMU_DRATEY);
int axis = 0; // ROLL
float PID_P = 3.7;
float PID_I = 0.031;
float PID_D = 23.0;
float error, errorAngle, AngleRateTmp, RateError, delta, deltaSum;
float PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
static int16_t lastGyro[3] = { 0, 0, 0 };
static float delta1[3], delta2[3];
static float errorGyroI[3] = { 0, 0, 0 }, errorAngleI[2] = { 0, 0 };
static float lastError[3] = { 0, 0, 0 }, lastDTerm[3] = { 0, 0, 0 }; // pt1 element http://www.multiwii.com/forum/viewtopic.php?f=23&t=2624;
static int16_t axisPID[3];
static float rollPitchRate = 0.0;
static float newpidimax = 0.0;
float dT;
uint8_t ANGLE_MODE = 0;
uint8_t HORIZON_MODE = 0;
uint16_t cycleTime = IMU_LASTUPD -
controlData.lastUpdate; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
if ((ANGLE_MODE || HORIZON_MODE)) { // MODE relying on ACC
errorAngle = constrainFloat(2.0f * (float)controlData.roll, -500.0f, +500.0f) - AQ_ROLL;
}
if (!ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = (float)(rollPitchRate + 27) * (float)controlData.roll *
0.0625f; // AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (HORIZON_MODE) {
AngleRateTmp += PID_I * errorAngle *
0.0390625f; //increased by x10 //0.00390625f AngleRateTmp += (errorAngle * (float)cfg.I8[PIDLEVEL]) >> 8;
}
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
AngleRateTmp = PID_P * errorAngle * 0.0223214286f; // AngleRateTmp = (errorAngle * (float)cfg.P8[PIDLEVEL]) >> 4; * LevelPprescale;
}
RateError = AngleRateTmp - IMU_DRATEX;
PTerm = PID_P * RateError * 0.0078125f;
errorGyroI[axis] += PID_I * RateError * (float)cycleTime / 2048.0f;
errorGyroI[axis] = constrainFloat(errorGyroI[axis], -newpidimax, newpidimax);
ITerm = errorGyroI[axis] / 8192.0f;
delta = RateError - lastError[axis];
lastError[axis] = RateError;
delta = delta * 16383.75f / (float)cycleTime;
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = PID_D * deltaSum * 0.00390625f;
axisPID[axis] = PTerm + ITerm + DTerm;
rollCommand = AngleRateTmp;
}
else {
pitchCommand = 0.0f;
rollCommand = 0.0f;
ruddCommand = 0.0f;
}
// yaw rate override?
if (overrides[2] > 0)
// manual yaw rate
{
ruddCommand = pidUpdate(controlData.yawRatePID, ratesDesired[2], IMU_DRATEZ);
} else
// seek a 0 deg difference between hold heading and actual yaw
{
ruddCommand = pidUpdate(controlData.yawRatePID, pidUpdate(controlData.yawAnglePID, 0.0f, compassDifference(controlData.yaw, AQ_YAW)),
IMU_DRATEZ);
}
rollCommand = constrainFloat(rollCommand, -p[CTRL_MAX], p[CTRL_MAX]);
pitchCommand = constrainFloat(pitchCommand, -p[CTRL_MAX], p[CTRL_MAX]);
ruddCommand = constrainFloat(ruddCommand, -p[CTRL_MAX], p[CTRL_MAX]);
motorsCommands(throttle, pitchCommand, rollCommand, ruddCommand);
#endif
}
// no throttle input
else {
supervisorThrottleUp(0);
motorsOff();
}
}
// not armed
else {
motorsOff();
}
controlData.lastUpdate = IMU_LASTUPD;
controlData.loops++;
}
}
