コード例 #1
0
ファイル: mode_loiter.cpp プロジェクト: FantasyJXF/ardupilot
// loiter_run - runs the loiter controller
// should be called at 100hz or more
void Copter::ModeLoiter::run()
{
    LoiterModeState loiter_state;
    float target_yaw_rate = 0.0f;
    float target_climb_rate = 0.0f;
    float takeoff_climb_rate = 0.0f;

    // initialize vertical speed and acceleration
    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
    pos_control->set_accel_z(g.pilot_accel_z);

    // process pilot inputs unless we are in radio failsafe
    if (!copter.failsafe.radio) {
        // apply SIMPLE mode transform to pilot inputs
        update_simple_mode();

        // process pilot's roll and pitch input
        wp_nav->set_pilot_desired_acceleration(channel_roll->get_control_in(), channel_pitch->get_control_in());

        // get pilot's desired yaw rate
        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

        // get pilot desired climb rate
        target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
        target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
    } else {
        // clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
        wp_nav->clear_pilot_desired_acceleration();
    }

    // relax loiter target if we might be landed
    if (ap.land_complete_maybe) {
        wp_nav->loiter_soften_for_landing();
    }

    // Loiter State Machine Determination
    if (!motors->armed() || !motors->get_interlock()) {
        loiter_state = Loiter_MotorStopped;
    } else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
        loiter_state = Loiter_Takeoff;
    } else if (!ap.auto_armed || ap.land_complete) {
        loiter_state = Loiter_Landed;
    } else {
        loiter_state = Loiter_Flying;
    }

    // Loiter State Machine
    switch (loiter_state) {

    case Loiter_MotorStopped:

        motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
#if FRAME_CONFIG == HELI_FRAME
        // force descent rate and call position controller
        pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
#else
        wp_nav->init_loiter_target();
        attitude_control->reset_rate_controller_I_terms();
        attitude_control->set_yaw_target_to_current_heading();
        pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
#endif
        wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());
        pos_control->update_z_controller();
        break;

    case Loiter_Takeoff:
        // set motors to full range
        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

        // initiate take-off
        if (!takeoff_state.running) {
            takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
            // indicate we are taking off
            set_land_complete(false);
            // clear i term when we're taking off
            set_throttle_takeoff();
        }

        // get takeoff adjusted pilot and takeoff climb rates
        takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);

        // get avoidance adjusted climb rate
        target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

        // run loiter controller
        wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);

        // call attitude controller
        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());

        // update altitude target and call position controller
        pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
        pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
        pos_control->update_z_controller();
        break;

    case Loiter_Landed:
        // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
        if (target_climb_rate < 0.0f) {
            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        } else {
            motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
        }
        wp_nav->init_loiter_target();
        attitude_control->reset_rate_controller_I_terms();
        attitude_control->set_yaw_target_to_current_heading();
        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
        pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
        pos_control->update_z_controller();
        break;

    case Loiter_Flying:

        // set motors to full range
        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

#if PRECISION_LANDING == ENABLED
        if (do_precision_loiter()) {
            precision_loiter_xy();
        }
#endif

        // run loiter controller
        wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);

        // call attitude controller
        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain());

        // adjust climb rate using rangefinder
        if (copter.rangefinder_alt_ok()) {
            // if rangefinder is ok, use surface tracking
            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
        }

        // get avoidance adjusted climb rate
        target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

        // update altitude target and call position controller
        pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
        pos_control->update_z_controller();
        break;
    }
}
コード例 #2
0
ファイル: mode_sport.cpp プロジェクト: langfan1990/ardupilot
// sport_run - runs the sport controller
// should be called at 100hz or more
void Copter::ModeSport::run()
{
    SportModeState sport_state;
    float takeoff_climb_rate = 0.0f;

    // initialize vertical speed and acceleration
    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
    pos_control->set_accel_z(g.pilot_accel_z);

    // apply SIMPLE mode transform
    update_simple_mode();

    // get pilot's desired roll and pitch rates

    // calculate rate requests
    float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
    float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;

    // get attitude targets
    const Vector3f att_target = attitude_control->get_att_target_euler_cd();

    // Calculate trainer mode earth frame rate command for roll
    int32_t roll_angle = wrap_180_cd(att_target.x);
    target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;

    // Calculate trainer mode earth frame rate command for pitch
    int32_t pitch_angle = wrap_180_cd(att_target.y);
    target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;

    AP_Vehicle::MultiCopter &aparm = copter.aparm;
    if (roll_angle > aparm.angle_max){
        target_roll_rate -=  g.acro_rp_p*(roll_angle-aparm.angle_max);
    }else if (roll_angle < -aparm.angle_max) {
        target_roll_rate -=  g.acro_rp_p*(roll_angle+aparm.angle_max);
    }

    if (pitch_angle > aparm.angle_max){
        target_pitch_rate -=  g.acro_rp_p*(pitch_angle-aparm.angle_max);
    }else if (pitch_angle < -aparm.angle_max) {
        target_pitch_rate -=  g.acro_rp_p*(pitch_angle+aparm.angle_max);
    }

    // get pilot's desired yaw rate
    float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

    // get pilot desired climb rate
    float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
    target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);

    // State Machine Determination
    if (!motors->armed() || !motors->get_interlock()) {
        sport_state = Sport_MotorStopped;
    } else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
        sport_state = Sport_Takeoff;
    } else if (!ap.auto_armed || ap.land_complete) {
        sport_state = Sport_Landed;
    } else {
        sport_state = Sport_Flying;
    }

    // State Machine
    switch (sport_state) {

    case Sport_MotorStopped:

        motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
        attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
#if FRAME_CONFIG == HELI_FRAME
        // force descent rate and call position controller
        pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
#else
        attitude_control->relax_attitude_controllers();
        attitude_control->reset_rate_controller_I_terms();
        attitude_control->set_yaw_target_to_current_heading();
        pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
#endif
        pos_control->update_z_controller();
        break;

    case Sport_Takeoff:
        // set motors to full range
        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

        // initiate take-off
        if (!takeoff_state.running) {
            takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
            // indicate we are taking off
            set_land_complete(false);
            // clear i terms
            set_throttle_takeoff();
        }

        // get take-off adjusted pilot and takeoff climb rates
        takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);

        // get avoidance adjusted climb rate
        target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

        // call attitude controller
        attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);

        // call position controller
        pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
        pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
        pos_control->update_z_controller();
        break;

    case Sport_Landed:
        // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
        if (target_climb_rate < 0.0f) {
            motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        } else {
            motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
        }

        attitude_control->reset_rate_controller_I_terms();
        attitude_control->set_yaw_target_to_current_heading();
        attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
        pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
        pos_control->update_z_controller();
        break;

    case Sport_Flying:
        motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
        // call attitude controller
        attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);

        // adjust climb rate using rangefinder
        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);

        // get avoidance adjusted climb rate
        target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);

        // call position controller
        pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
        pos_control->update_z_controller();
        break;
    }
}
コード例 #3
0
ファイル: mode_flowhold.cpp プロジェクト: MonashUAS/ardupilot
// flowhold_run - runs the flowhold controller
// should be called at 100hz or more
void Copter::ModeFlowHold::run()
{
    FlowHoldModeState flowhold_state;
    float takeoff_climb_rate = 0.0f;

    update_height_estimate();
    
    // initialize vertical speeds and acceleration
    copter.pos_control->set_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
    copter.pos_control->set_accel_z(copter.g.pilot_accel_z);

    // apply SIMPLE mode transform to pilot inputs
    copter.update_simple_mode();

    // check for filter change
    if (!is_equal(flow_filter.get_cutoff_freq(), flow_filter_hz.get())) {
        flow_filter.set_cutoff_frequency(flow_filter_hz.get());
    }

    // get pilot desired climb rate
    float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
    target_climb_rate = constrain_float(target_climb_rate, -copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);

    // get pilot's desired yaw rate
    float target_yaw_rate = copter.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
    
    if (!copter.motors->armed() || !copter.motors->get_interlock()) {
        flowhold_state = FlowHold_MotorStopped;
    } else if (copter.takeoff_state.running || takeoff_triggered(target_climb_rate)) {
        flowhold_state = FlowHold_Takeoff;
    } else if (!copter.ap.auto_armed || copter.ap.land_complete) {
        flowhold_state = FlowHold_Landed;
    } else {
        flowhold_state = FlowHold_Flying;
    }

    if (copter.optflow.healthy()) {
        const float filter_constant = 0.95;
        quality_filtered = filter_constant * quality_filtered + (1-filter_constant) * copter.optflow.quality();
    } else {
        quality_filtered = 0;
    }
    
    Vector2f bf_angles;

    // calculate alt-hold angles
    int16_t roll_in = copter.channel_roll->get_control_in();
    int16_t pitch_in = copter.channel_pitch->get_control_in();
    float angle_max = copter.attitude_control->get_althold_lean_angle_max();
    get_pilot_desired_lean_angles(bf_angles.x, bf_angles.y,angle_max, attitude_control->get_althold_lean_angle_max());
    
    if (quality_filtered >= flow_min_quality &&
        AP_HAL::millis() - copter.arm_time_ms > 3000) {
        // don't use for first 3s when we are just taking off
        Vector2f flow_angles;

        flowhold_flow_to_angle(flow_angles, (roll_in != 0) || (pitch_in != 0));
        flow_angles.x = constrain_float(flow_angles.x, -angle_max/2, angle_max/2);
        flow_angles.y = constrain_float(flow_angles.y, -angle_max/2, angle_max/2);
        bf_angles += flow_angles;
    }
    bf_angles.x = constrain_float(bf_angles.x, -angle_max, angle_max);
    bf_angles.y = constrain_float(bf_angles.y, -angle_max, angle_max);
            
    // Flow Hold State Machine
    switch (flowhold_state) {

    case FlowHold_MotorStopped:

        copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
#if FRAME_CONFIG == HELI_FRAME    
        // force descent rate and call position controller
        copter.pos_control->set_alt_target_from_climb_rate(-abs(copter.g.land_speed), copter.G_Dt, false);
#else
        copter.attitude_control->reset_rate_controller_I_terms();
        copter.attitude_control->set_yaw_target_to_current_heading();
        copter.pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
#endif
        flow_pi_xy.reset_I();
        copter.pos_control->update_z_controller();
        break;

    case FlowHold_Takeoff:
        // set motors to full range
        copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

        // initiate take-off
        if (!copter.takeoff_state.running) {
            copter.takeoff_timer_start(constrain_float(copter.g.pilot_takeoff_alt,0.0f,1000.0f));
            // indicate we are taking off
            copter.set_land_complete(false);
            // clear i terms
            copter.set_throttle_takeoff();
        }

        // get take-off adjusted pilot and takeoff climb rates
        copter.takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);

        // get avoidance adjusted climb rate
        target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);

        // call attitude controller
        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);

        // call position controller
        copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
        copter.pos_control->add_takeoff_climb_rate(takeoff_climb_rate, copter.G_Dt);
        copter.pos_control->update_z_controller();
        break;

    case FlowHold_Landed:
        // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
        if (target_climb_rate < 0.0f) {
            copter.motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        } else {
            copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
        }

        copter.attitude_control->reset_rate_controller_I_terms();
        copter.attitude_control->set_yaw_target_to_current_heading();
        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);
        copter.pos_control->relax_alt_hold_controllers(0.0f);   // forces throttle output to go to zero
        copter.pos_control->update_z_controller();
        break;

    case FlowHold_Flying:
        copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

#if AC_AVOID_ENABLED == ENABLED
        // apply avoidance
        copter.avoid.adjust_roll_pitch(bf_angles.x, bf_angles.y, copter.aparm.angle_max);
#endif

        // call attitude controller
        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(bf_angles.x, bf_angles.y, target_yaw_rate);

        // adjust climb rate using rangefinder
        if (copter.rangefinder_alt_ok()) {
            // if rangefinder is ok, use surface tracking
            target_climb_rate = copter.get_surface_tracking_climb_rate(target_climb_rate, copter.pos_control->get_alt_target(), copter.G_Dt);
        }

        // get avoidance adjusted climb rate
        target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);

        // call position controller
        copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
        copter.pos_control->update_z_controller();
        break;
    }
}