예제 #1
0
// auto_spline_run - runs the auto spline controller
//      called by auto_run at 100hz or more
void Sub::auto_spline_run()
{
    // if not armed set throttle to zero and exit immediately
    if (!motors.armed()) {
        // To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
        //    (of course it would be better if people just used take-off)
        // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);

        return;
    }

    // process pilot's yaw input
    float target_yaw_rate = 0;
    if (!failsafe.pilot_input) {
        // get pilot's desired yaw rat
        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
        if (!is_zero(target_yaw_rate)) {
            set_auto_yaw_mode(AUTO_YAW_HOLD);
        }
    }

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

    // run waypoint controller
    wp_nav.update_spline();

    float lateral_out, forward_out;
    translate_wpnav_rp(lateral_out, forward_out);

    // Send to forward/lateral outputs
    motors.set_lateral(lateral_out);
    motors.set_forward(forward_out);

    // call z-axis position controller (wpnav should have already updated it's alt target)
    pos_control.update_z_controller();

    // get pilot desired lean angles
    float target_roll, target_pitch;
    get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);

    // call attitude controller
    if (auto_yaw_mode == AUTO_YAW_HOLD) {
        // roll & pitch from waypoint controller, yaw rate from pilot
        attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
    } else {
        // roll, pitch from waypoint controller, yaw heading from auto_heading()
        attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true, get_smoothing_gain());
    }
}
예제 #2
0
// guided_pos_control_run - runs the guided position controller
// called from guided_run
void Sub::guided_pos_control_run()
{
    // if motors not enabled set throttle to zero and exit immediately
    if (!motors.armed()) {
        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);

        return;
    }

    // process pilot's yaw input
    float target_yaw_rate = 0;
    if (!failsafe.pilot_input) {
        // get pilot's desired yaw rate
        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
        if (!is_zero(target_yaw_rate)) {
            set_auto_yaw_mode(AUTO_YAW_HOLD);
        }
    }

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

    // run waypoint controller
    failsafe_terrain_set_status(wp_nav.update_wpnav());

    float lateral_out, forward_out;
    translate_wpnav_rp(lateral_out, forward_out);

    // Send to forward/lateral outputs
    motors.set_lateral(lateral_out);
    motors.set_forward(forward_out);

    // call z-axis position controller (wpnav should have already updated it's alt target)
    pos_control.update_z_controller();

    // call attitude controller
    if (auto_yaw_mode == AUTO_YAW_HOLD) {
        // roll & pitch from waypoint controller, yaw rate from pilot
        attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
    } else {
        // roll, pitch from waypoint controller, yaw heading from auto_heading()
        attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), get_auto_heading(), true);
    }
}
예제 #3
0
// auto_loiter_run - loiter in AUTO flight mode
//      called by auto_run at 100hz or more
void Sub::auto_loiter_run()
{
    // if not armed set throttle to zero and exit immediately
    if (!motors.armed()) {
        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);

        return;
    }

    // accept pilot input of yaw
    float target_yaw_rate = 0;
    if (!failsafe.pilot_input) {
        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
    }

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

    // run waypoint and z-axis position controller
    failsafe_terrain_set_status(wp_nav.update_wpnav());

    ///////////////////////
    // update xy outputs //
    float lateral_out, forward_out;
    translate_wpnav_rp(lateral_out, forward_out);

    // Send to forward/lateral outputs
    motors.set_lateral(lateral_out);
    motors.set_forward(forward_out);

    // call z-axis position controller (wpnav should have already updated it's alt target)
    pos_control.update_z_controller();

    // get pilot desired lean angles
    float target_roll, target_pitch;
    get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);

    // roll & pitch from waypoint controller, yaw rate from pilot
    attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
}
예제 #4
0
// poshold_run - runs the PosHold controller
// should be called at 100hz or more
void Sub::poshold_run()
{
    uint32_t tnow = AP_HAL::millis();
    
    // if not armed set throttle to zero and exit immediately
    if (!motors.armed()) {
        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        wp_nav.init_loiter_target();
        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
        pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
        return;
    }

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

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

    ///////////////////////
    // update xy outputs //
    float pilot_lateral = channel_lateral->norm_input();
    float pilot_forward = channel_forward->norm_input();

    float lateral_out = 0;
    float forward_out = 0;

    // Allow pilot to reposition the sub
    if (fabsf(pilot_lateral) > 0.1 || fabsf(pilot_forward) > 0.1) {
        lateral_out = pilot_lateral;
        forward_out = pilot_forward;
        wp_nav.init_loiter_target(); // initialize target to current position after repositioning
    } else {
        translate_wpnav_rp(lateral_out, forward_out);
    }

    motors.set_lateral(lateral_out);
    motors.set_forward(forward_out);

    /////////////////////
    // Update attitude //

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

    // convert pilot input to lean angles
    // To-Do: convert get_pilot_desired_lean_angles to return angles as floats
    float target_roll, target_pitch;
    get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);

    // update attitude controller targets
    if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
        attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
        last_pilot_heading = ahrs.yaw_sensor;
        last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading

    } else { // hold current heading

        // this check is required to prevent bounce back after very fast yaw maneuvers
        // the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
        if (tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading
            target_yaw_rate = 0; // Stop rotation on yaw axis

            // call attitude controller with target yaw rate = 0 to decelerate on yaw axis
            attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
            last_pilot_heading = ahrs.yaw_sensor; // update heading to hold

        } else { // call attitude controller holding absolute absolute bearing
            attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true, get_smoothing_gain());
        }
    }

    ///////////////////
    // Update z axis //

    // 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, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);

    // adjust climb rate using rangefinder
    if (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);
    }

    // call z axis position controller
    if (ap.at_bottom) {
        pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // clear velocity and position targets, and integrator
        pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
    } else {
        pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
    }

    pos_control.update_z_controller();
}
예제 #5
0
// Attempt recovery from terrain failsafe
// If recovery is successful resume mission
// If recovery fails revert to failsafe action
void Sub::auto_terrain_recover_run()
{
    float target_climb_rate = 0;
    static uint32_t rangefinder_recovery_ms = 0;

    // if not armed set throttle to zero and exit immediately
    if (!motors.armed()) {
        motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
        return;
    }

    switch (rangefinder.status_orient(ROTATION_PITCH_270)) {

    case RangeFinder::RangeFinder_OutOfRangeLow:
        target_climb_rate = wp_nav.get_speed_up();
        rangefinder_recovery_ms = 0;
        break;

    case RangeFinder::RangeFinder_OutOfRangeHigh:
        target_climb_rate = wp_nav.get_speed_down();
        rangefinder_recovery_ms = 0;
        break;

    case RangeFinder::RangeFinder_Good: // exit on success (recovered rangefinder data)

        target_climb_rate = 0; // Attempt to hold current depth

        if (rangefinder_state.alt_healthy) {

            // Start timer as soon as rangefinder is healthy
            if (rangefinder_recovery_ms == 0) {
                rangefinder_recovery_ms = AP_HAL::millis();
                pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // Reset alt hold targets
            }

            // 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled
            if (AP_HAL::millis() > rangefinder_recovery_ms + 1500) {
                gcs().send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!");
                failsafe_terrain_set_status(true); // Reset failsafe timers
                failsafe.terrain = false; // Clear flag
                auto_mode = Auto_Loiter; // Switch back to loiter for next iteration
                mission.resume(); // Resume mission
                rangefinder_recovery_ms = 0; // Reset for subsequent recoveries
            }

        }
        break;

        // Not connected, or no data
    default:
        // Terrain failsafe recovery has failed, terrain data is not available
        // and rangefinder is not connected, or has stopped responding
        gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!");
        failsafe_terrain_act();
        rangefinder_recovery_ms = 0;
        return;
    }

    // exit on failure (timeout)
    if (AP_HAL::millis() > fs_terrain_recover_start_ms + FS_TERRAIN_RECOVER_TIMEOUT_MS) {
        // Recovery has failed, revert to failsafe action
        gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!");
        failsafe_terrain_act();
    }

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

    ///////////////////////
    // update xy targets //
    float lateral_out, forward_out;
    translate_wpnav_rp(lateral_out, forward_out);

    // Send to forward/lateral outputs
    motors.set_lateral(lateral_out);
    motors.set_forward(forward_out);

    /////////////////////
    // update z target //
    pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, true);
    pos_control.update_z_controller();

    ////////////////////////////
    // update angular targets //
    float target_roll = 0;
    float target_pitch = 0;

    // convert pilot input to lean angles
    // To-Do: convert get_pilot_desired_lean_angles to return angles as floats
    get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);

    float target_yaw_rate = 0;

    // call attitude controller
    attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
}