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remove ArduBoat sketch, deprecated since removal of APO

mission-4.1.18
Pat Hickey 12 years ago committed by Andrew Tridgell
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d53572e163
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4370f1d4e4
6 changed files with 0 additions and 377 deletions
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  1. 29
      ArduBoat/ArduBoat.pde
  2. 65
      ArduBoat/BoatGeneric.h
  3. 117
      ArduBoat/ControllerBoat.h
  4. 104
      ArduBoat/ControllerSailboat.h
  5. 1
      ArduBoat/Makefile
  6. 61
      ArduBoat/SailboatLaser.h

29
ArduBoat/ArduBoat.pde
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// Libraries
#include <Wire.h>
#include <FastSerial.h>
#include <AP_Common.h>
#include <APM_RC.h>
#include <AP_RangeFinder.h>
#include <GCS_MAVLink.h>
#include <AP_ADC.h>
#include <AP_DCM.h>
#include <AP_Compass.h>
#include <Wire.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
#include <AP_AnalogSource.h>
#include <AP_InertialSensor.h>
#include <AP_Camera.h>
#include <AP_Mount.h>
#include <AP_Relay.h>
#include <RC_Channel.h>
// Vehicle Configuration
//#include "BoatGeneric.h"
#include "SailboatLaser.h"
// ArduPilotOne Default Setup
#include "APO_DefaultSetup.h"

65
ArduBoat/BoatGeneric.h
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/*
* BoatGeneric.h
*
* Created on: May 1, 2011
* Author: jgoppert
*
*/
#ifndef BOATGENERIC_H_
#define BOATGENERIC_H_
using namespace apo;
// vehicle options
static const AP_Board::options_t options = AP_Board::opt_gps | AP_Board::opt_baro | AP_Board::opt_compass;
static const MAV_TYPE vehicle = UGV_SURFACE_SHIP;
static const apo::halMode_t halMode = apo::MODE_LIVE;
//static const apo::AP_Board::mode_e = apo::AP_Board::MODE_HIL_CNTL;
static const apo::AP_Board::mode_e = apo::AP_Board::MODE_LIVE;
static const uint8_t heartBeatTimeout = 0;
// algorithm selection
#define CONTROLLER_CLASS ControllerBoat
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS Navigator_Dcm
// hardware selection
//#define BOARD_TYPE Board_APM1
//#define BOARD_TYPE Board_APM1_2560
#define BOARD_TYPE Board_APM2
// loop rates
static const float loopRate = 150; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
// controller
static const bool useForwardReverseSwitch = true;
// gains
static const float steeringP = 0.1;
static const float steeringI = 0.0;
static const float steeringD = 0.1;
static const float steeringIMax = 0.0;
static const float steeringYMax = 1;
static const float steeringDFCut = 25.0;
static const float throttleP = 0.1;
static const float throttleI = 0.0;
static const float throttleD = 0.0;
static const float throttleIMax = 0.0;
static const float throttleYMax = 1;
static const float throttleDFCut = 0.0;
// guidance
static const float velCmd = 5;
static const float xt = 10;
static const float xtLim = 90;
#include "ControllerBoat.h"
#endif /* BOATGENERIC_H_ */
// vim:ts=4:sw=4:expandtab

117
ArduBoat/ControllerBoat.h
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/*
* ControllerBoat.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERBOAT_H_
#define CONTROLLERBOAT_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerBoat: public AP_Controller {
public:
ControllerBoat(AP_Navigator * nav, AP_Guide * guide,
AP_Board * board) :
AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _thrustCmd(0),
_rangeFinderFront()
{
_board->debug->println_P(PSTR("initializing boat controller"));
_board->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_board->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_board->rc.push_back(
new AP_RcChannel(k_chThrust, PSTR("THR_"), board->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
_board->rc.push_back(
new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), board->radio, 4, 1100, 1500,
1900, RC_MODE_IN, false));
for (uint8_t i = 0; i < _board->rangeFinders.getSize(); i++) {
RangeFinder * rF = _board->rangeFinders[i];
if (rF == NULL)
continue;
if (rF->orientation_x == 1 && rF->orientation_y == 0
&& rF->orientation_z == 0)
_rangeFinderFront = rF;
}
}
private:
// methods
void manualLoop(const float dt) {
_strCmd = _board->rc[ch_str]->getRadioPosition();
_thrustCmd = _board->rc[ch_thrust]->getRadioPosition();
if (useForwardReverseSwitch && _board->rc[ch_FwdRev]->getRadioPosition() < 0.0)
_thrustCmd = -_thrustCmd;
}
void autoLoop(const float dt) {
//_board->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_board->rc[ch_thrust]->getRadioPosition(), _board->rc[ch_str]->getRadioPosition());
// neglects heading command derivative
float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
float thrust = pidThrust.update(
_guide->getGroundSpeedCommand()
- _nav->getGroundSpeed(), dt);
// obstacle avoidance overrides
// try to drive around the obstacle in front. if this fails, stop
if (_rangeFinderFront) {
_rangeFinderFront->read();
int distanceToObstacle = _rangeFinderFront->distance;
if (distanceToObstacle < 100) {
thrust = 0; // Avoidance didn't work out. Stopping
}
else if (distanceToObstacle < 650) {
// Deviating from the course. Deviation angle is inverse proportional
// to the distance to the obstacle, with 15 degrees min angle, 180 - max
steering += (15 + 165 *
(1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad;
}
}
_strCmd = steering;
_thrustCmd = thrust;
}
void setMotors() {
_board->rc[ch_str]->setPosition(_strCmd);
_board->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
}
void handleFailsafe() {
// turn off
setMode(MAV_MODE_LOCKED);
}
// attributes
enum {
ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
};
enum {
k_pidStr = k_controllersStart, k_pidThrust
};
BlockPIDDfb pidStr;
BlockPID pidThrust;
float _strCmd, _thrustCmd;
RangeFinder * _rangeFinderFront;
};
} // namespace apo
#endif /* CONTROLLERBOAT_H_ */
// vim:ts=4:sw=4:expandtab

104
ArduBoat/ControllerSailboat.h
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/*
* ControllerSailboat.h
*
* Created on: Jun 30, 2011
* Author: jgoppert
*/
#ifndef CONTROLLERSAILBOAT_H_
#define CONTROLLERSAILBOAT_H_
#include "../APO/AP_Controller.h"
namespace apo {
class ControllerSailboat: public AP_Controller {
public:
ControllerSailboat(AP_Navigator * nav, AP_Guide * guide,
AP_Board * board) :
AP_Controller(nav, guide, board,new AP_ArmingMechanism(board,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
steeringI, steeringD, steeringIMax, steeringYMax),
pidSail(new AP_Var_group(k_pidSail, PSTR("SAIL_")), 1, throttleP,
throttleI, throttleD, throttleIMax, throttleYMax,
throttleDFCut), _strCmd(0), _sailCmd(0)
{
_board->debug->println_P(PSTR("initializing sailboat controller"));
_board->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), board->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_board->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), board->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_board->rc.push_back(
new AP_RcChannel(k_chSail, PSTR("SAIL_"), board->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
}
private:
// methods
void manualLoop(const float dt) {
_strCmd = -_board->rc[ch_str]->getRadioPosition();
_sailCmd = _board->rc[ch_sail]->getRadioPosition();
_board->debug->printf_P(PSTR("sail: %f, steering: %f\n"),_sailCmd,_strCmd);
}
void autoLoop(const float dt) {
//_board->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_board->rc[ch_sail]->getRadioPosition(), _board->rc[ch_str]->getRadioPosition());
static AP_AnalogSource_Arduino wind_pin(1);
float windDir = -.339373*wind_pin.read_average()+175.999;
// neglects heading command derivative
float steering = -pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
float sail = 0.00587302*fabs(windDir) - 0.05;
if (sail < 0.0) sail = 0.0;
//_board->debug->printf_P(PSTR("heading: %f\n"),heading); //Print Heading
//if(fabs(psi)<45) //Tacking Logic
//{
//if(psi<-10)
//alpha = -45;
//else if(psi>10)
//alpha = 45;
//else
//{
//if(psi==10)
//alpha = 45;
//else if(psi==-10)
//alpha = -45;
//else
//alpha = alpha;
//}
//}*/
_strCmd = steering;
_sailCmd = sail;
}
void setMotors() {
_board->rc[ch_str]->setPosition(_strCmd);
_board->rc[ch_sail]->setPosition(_sailCmd);
}
void handleFailsafe() {
// turn off
setMode(MAV_MODE_LOCKED);
}
// attributes
enum {
ch_mode = 0, ch_str, ch_sail
};
enum {
k_chMode = k_radioChannelsStart, k_chStr, k_chSail
};
enum {
k_pidStr = k_controllersStart, k_pidSail
};
BlockPIDDfb pidStr;
BlockPID pidSail;
float _strCmd, _sailCmd;
};
} // namespace apo
#endif /* CONTROLLERSAILBOAT_H_ */
// vim:ts=4:sw=4:expandtab

1
ArduBoat/Makefile
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include ../libraries/AP_Common/Arduino.mk

61
ArduBoat/SailboatLaser.h
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/*
* SailboatLaser.h
*
* Created on: May 1, 2011
* Author: jgoppert
*
*/
#ifndef SAILBOATLASER_H_
#define SAILBOATLASER_H_
using namespace apo;
// vehicle options
static const AP_Board::options_t options = AP_Board::opt_gps | AP_Board::opt_baro | AP_Board::opt_compass;
static const MAV_TYPE vehicle = UGV_SURFACE_SHIP;
static const apo::AP_Board::mode_e boardMode = apo::AP_Board::MODE_HIL_CNTL;
//static const apo::AP_Board::mode_e boardMode = apo::AP_Board::MODE_LIVE;
static const uint8_t heartBeatTimeout = 0;
// algorithm selection
#define CONTROLLER_CLASS ControllerSailboat
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS Navigator_Dcm
// hardware selection
#define BOARD_TYPE Board_APM1
//#define BOARD_TYPE Board_APM1_2560
//#define BOARD_TYPE Board_APM2
// loop rates
static const float loopRate = 150; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
// gains
static const float steeringP = 0.1;
static const float steeringI = 0.0;
static const float steeringD = 0.1;
static const float steeringIMax = 0.0;
static const float steeringYMax = 1;
static const float steeringDFCut = 25.0;
static const float throttleP = 0.1;
static const float throttleI = 0.0;
static const float throttleD = 0.2;
static const float throttleIMax = 0.0;
static const float throttleYMax = 1;
static const float throttleDFCut = 0.0;
// guidance
static const float velCmd = 2;
static const float xt = 10;
static const float xtLim = 90;
#include "ControllerSailboat.h"
#endif /* SAILBOATLASER_H_ */
// vim:ts=4:sw=4:expandtab
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