Randy Mackay
11 years ago
committed by
Andrew Tridgell
3 changed files with 353 additions and 3 deletions
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include "AC_AttitudeControl_Heli.h" |
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#include <AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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// table of user settable parameters
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const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = { |
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// @Param: DUMMY
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// @DisplayName: Dummy parameter
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// @Description: This is the dummy parameters
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// @Increment: 0.1
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// @User: User
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AP_GROUPINFO("DUMMY", 0, AC_AttitudeControl_Heli, _dummy_param, 0), |
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// @Param: RATE_RLL_FF
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// @DisplayName: Rate Roll Feed Forward
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// @Description: Rate Roll Feed Forward (for TradHeli Only)
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// @Range: 0 10
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// @Increment: 0.01
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// @User: Standard
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AP_GROUPINFO("RATE_RLL_FF", 1, AC_AttitudeControl_Heli, _heli_roll_ff, AC_ATTITUDE_HELI_ROLL_FF), |
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// @Param: RATE_PIT_FF
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// @DisplayName: Rate Pitch Feed Forward
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// @Description: Rate Pitch Feed Forward (for TradHeli Only)
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// @Range: 0 10
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// @Increment: 0.01
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// @User: Standard
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AP_GROUPINFO("RATE_PIT_FF", 2, AC_AttitudeControl_Heli, _heli_pitch_ff, AC_ATTITUDE_HELI_ROLL_FF), |
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// @Param: RATE_YAW_FF
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// @DisplayName: Rate Yaw Feed Forward
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// @Description: Rate Yaw Feed Forward (for TradHeli Only)
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// @Range: 0 10
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// @Increment: 0.01
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// @User: Standard
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AP_GROUPINFO("RATE_YAW_FF", 3, AC_AttitudeControl_Heli, _heli_yaw_ff, AC_ATTITUDE_HELI_YAW_FF), |
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AP_GROUPEND |
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}; |
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//
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// rate controller (body-frame) methods
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//
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// rate_controller_run - run lowest level rate controller and send outputs to the motors
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// should be called at 100hz or more
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void AC_AttitudeControl_Heli::rate_controller_run() |
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{
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// call rate controllers and send output to motors object
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// To-Do: should the outputs from get_rate_roll, pitch, yaw be int16_t which is the input to the motors library?
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// To-Do: skip this step if the throttle out is zero?
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rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y, _motor_roll, _motor_pitch); |
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_motor_yaw = rate_bf_to_motor_yaw(_rate_bf_target.z); |
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} |
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//
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// private methods
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//
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//
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// body-frame rate controller
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//
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// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target rate in centi-degrees / second
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void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds, int16_t& motor_roll, int16_t& motor_pitch) |
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{ |
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float roll_pd, roll_i; // used to capture pid values
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float pitch_pd, pitch_i; // used to capture pid values
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float current_rate; // this iteration's rate
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float rate_roll_error, rate_pitch_error; // simply target_rate - current_rate
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float roll_out, pitch_out; |
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const Vector3f& gyro = _ins.get_gyro(); // get current rates
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AP_MotorsHeli& heli_motors = (AP_MotorsHeli&)_motors; |
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// calculate error
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rate_roll_error = rate_roll_target_cds - gyro.x * AC_ATTITUDE_CONTROL_DEGX100; |
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rate_pitch_error = rate_pitch_target_cds - gyro.y * AC_ATTITUDE_CONTROL_DEGX100; |
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// call p and d controllers
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roll_pd = _pid_rate_roll.get_p(rate_roll_error) + _pid_rate_roll.get_d(rate_roll_error, _dt); |
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pitch_pd = _pid_rate_pitch.get_p(rate_pitch_error) + _pid_rate_pitch.get_d(rate_pitch_error, _dt); |
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// get roll i term
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roll_i = _pid_rate_roll.get_integrator(); |
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_roll || ((roll_i>0&&rate_roll_error<0)||(roll_i<0&&rate_roll_error>0))){ |
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if (heli_motors.has_flybar()) { // Mechanical Flybars get regular integral for rate auto trim
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if (rate_roll_target_cds > -50 && rate_roll_target_cds < 50){ // Frozen at high rates
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roll_i = _pid_rate_roll.get_i(rate_roll_error, _dt); |
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} |
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}else{ |
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if (_flags_heli.leaky_i){ |
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roll_i = _pid_rate_roll.get_leaky_i(rate_roll_error, _dt, AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE); |
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}else{ |
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roll_i = _pid_rate_roll.get_i(rate_roll_error, _dt); |
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} |
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} |
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} |
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// get pitch i term
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pitch_i = _pid_rate_pitch.get_integrator(); |
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_flags_heli.limit_pitch || ((pitch_i>0&&rate_pitch_error<0)||(pitch_i<0&&rate_pitch_error>0))){ |
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if (heli_motors.has_flybar()) { // Mechanical Flybars get regular integral for rate auto trim
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if (rate_pitch_target_cds > -50 && rate_pitch_target_cds < 50){ // Frozen at high rates
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pitch_i = _pid_rate_pitch.get_i(rate_pitch_error, _dt); |
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} |
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}else{ |
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if (_flags_heli.leaky_i){ |
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pitch_i = _pid_rate_pitch.get_leaky_i(rate_pitch_error, _dt, AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE); |
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}else{ |
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pitch_i = _pid_rate_pitch.get_i(rate_pitch_error, _dt); |
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} |
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} |
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} |
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// add feed forward and final output
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roll_out = (_heli_roll_ff * rate_roll_target_cds) + roll_pd + roll_i; |
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pitch_out = (_heli_pitch_ff * rate_pitch_target_cds) + pitch_pd + pitch_i; |
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// constrain output and update limit flags
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if (fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) { |
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roll_out = constrain_float(roll_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX); |
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_flags_heli.limit_roll = true; |
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}else{ |
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_flags_heli.limit_roll = false; |
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} |
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if (fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) { |
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pitch_out = constrain_float(pitch_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX); |
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_flags_heli.limit_pitch = true; |
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}else{ |
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_flags_heli.limit_pitch = false; |
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} |
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// output to motors
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motor_roll = roll_out; |
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motor_pitch = pitch_out; |
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/*
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#if AC_ATTITUDE_HELI_CC_COMP == ENABLED |
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// Do cross-coupling compensation for low rpm helis
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// Credit: Jolyon Saunders
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// Note: This is not widely tested at this time. Will not be used by default yet.
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float cc_axis_ratio = 2.0f; // Ratio of compensation on pitch vs roll axes. Number >1 means pitch is affected more than roll
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float cc_kp = 0.0002f; // Compensation p term. Setting this to zero gives h_phang only, while increasing it will increase the p term of correction
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float cc_kd = 0.127f; // Compensation d term, scaled. This accounts for flexing of the blades, dampers etc. Originally was (motors.ext_gyro_gain * 0.0001)
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float cc_angle, cc_total_output; |
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uint32_t cc_roll_d, cc_pitch_d, cc_sum_d; |
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int32_t cc_scaled_roll; |
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int32_t cc_roll_output; // Used to temporarily hold output while rotation is being calculated
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int32_t cc_pitch_output; // Used to temporarily hold output while rotation is being calculated
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static int32_t last_roll_output = 0; |
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static int32_t last_pitch_output = 0; |
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cc_scaled_roll = roll_output / cc_axis_ratio; // apply axis ratio to roll
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cc_total_output = safe_sqrt(cc_scaled_roll * cc_scaled_roll + pitch_output * pitch_output) * cc_kp; |
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// find the delta component
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cc_roll_d = (roll_output - last_roll_output) / cc_axis_ratio; |
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cc_pitch_d = pitch_output - last_pitch_output; |
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cc_sum_d = safe_sqrt(cc_roll_d * cc_roll_d + cc_pitch_d * cc_pitch_d); |
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// do the magic.
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cc_angle = cc_kd * cc_sum_d * cc_total_output - cc_total_output * motors.get_phase_angle(); |
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// smooth angle variations, apply constraints
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cc_angle = rate_dynamics_filter.apply(cc_angle); |
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cc_angle = constrain_float(cc_angle, -90.0f, 0.0f); |
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cc_angle = radians(cc_angle); |
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// Make swash rate vector
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Vector2f swashratevector; |
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swashratevector.x = cosf(cc_angle); |
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swashratevector.y = sinf(cc_angle); |
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swashratevector.normalize(); |
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// rotate the output
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cc_roll_output = roll_output; |
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cc_pitch_output = pitch_output; |
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roll_output = - (cc_pitch_output * swashratevector.y - cc_roll_output * swashratevector.x); |
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pitch_output = cc_pitch_output * swashratevector.x + cc_roll_output * swashratevector.y; |
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// make current outputs old, for next iteration
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last_roll_output = cc_roll_output; |
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last_pitch_output = cc_pitch_output; |
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# endif // HELI_CC_COMP
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#if AC_ATTITUDE_HELI_PIRO_COMP == ENABLED |
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if (control_mode <= ACRO){ |
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int32_t piro_roll_i, piro_pitch_i; // used to hold i term while doing prio comp
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piro_roll_i = roll_i; |
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piro_pitch_i = pitch_i; |
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Vector2f yawratevector; |
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yawratevector.x = cos(-omega.z/100); |
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yawratevector.y = sin(-omega.z/100); |
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yawratevector.normalize(); |
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roll_i = piro_roll_i * yawratevector.x - piro_pitch_i * yawratevector.y; |
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pitch_i = piro_pitch_i * yawratevector.x + piro_roll_i * yawratevector.y; |
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g.pid_rate_pitch.set_integrator(pitch_i); |
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g.pid_rate_roll.set_integrator(roll_i); |
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} |
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#endif //HELI_PIRO_COMP
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*/ |
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} |
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// rate_bf_to_motor_yaw - ask the rate controller to calculate the motor outputs to achieve the target rate in centi-degrees / second
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float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds) |
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{ |
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float p,i,d; // used to capture pid values for logging
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float current_rate; // this iteration's rate
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float rate_error; // simply target_rate - current_rate
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// get current rate
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// To-Do: make getting gyro rates more efficient?
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current_rate = (_ins.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100); |
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// calculate error and call pid controller
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rate_error = rate_target_cds - current_rate; |
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p = _pid_rate_yaw.get_p(rate_error); |
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// separately calculate p, i, d values for logging
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p = _pid_rate_yaw.get_p(rate_error); |
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// get i term
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i = _pid_rate_yaw.get_integrator(); |
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!_motors.limit.yaw || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) { |
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i = _pid_rate_yaw.get_i(rate_error, _dt); |
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} |
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// get d value
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d = _pid_rate_yaw.get_d(rate_error, _dt); |
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// constrain output and return
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return constrain_float((p+i+d), -AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX); |
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// To-Do: allow logging of PIDs?
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} |
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//
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// throttle functions
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//
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// get_angle_boost - returns a throttle including compensation for roll/pitch angle
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// throttle value should be 0 ~ 1000
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int16_t AC_AttitudeControl_Heli::get_angle_boost(int16_t throttle_pwm) |
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{ |
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float temp = _cos_pitch * _cos_roll; |
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int16_t throttle_out; |
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temp = constrain_float(temp, 0.5f, 1.0f); |
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// reduce throttle if we go inverted
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temp = constrain_float(9000-max(labs(_ahrs.roll_sensor),labs(_ahrs.pitch_sensor)), 0, 3000) / (3000 * temp); |
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// apply scale and constrain throttle
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// To-Do: move throttle_min and throttle_max into the AP_Vehicles class?
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throttle_out = constrain_float((float)(throttle_pwm-_motors.throttle_min()) * temp + _motors.throttle_min(), _motors.throttle_min(), 1000); |
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// record angle boost for logging
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_angle_boost = throttle_out - throttle_pwm; |
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return throttle_out; |
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} |
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@ -0,0 +1,73 @@
@@ -0,0 +1,73 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AC_AttitudeControl_Heli.h
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/// @brief ArduCopter attitude control library for traditional helicopters
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#ifndef AC_ATTITUDECONTROL_HELI_H |
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#define AC_ATTITUDECONTROL_HELI_H |
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#include <AC_AttitudeControl.h> |
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#define AC_ATTITUDE_HELI_ROLL_FF 0.0f |
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#define AC_ATTITUDE_HELI_PITCH_FF 0.0f |
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#define AC_ATTITUDE_HELI_YAW_FF 0.0f |
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#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f |
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class AC_AttitudeControl_Heli : public AC_AttitudeControl { |
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public: |
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AC_AttitudeControl_Heli( AP_AHRS &ahrs, |
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AP_InertialSensor& ins, |
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const AP_Vehicle::MultiCopter &aparm, |
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AP_MotorsHeli& motors, |
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APM_PI& pi_angle_roll, APM_PI& pi_angle_pitch, APM_PI& pi_angle_yaw, |
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AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw, |
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int16_t& motor_roll, int16_t& motor_pitch, int16_t& motor_yaw, int16_t& motor_throttle |
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) : |
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AC_AttitudeControl(ahrs, ins, aparm, motors, |
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pi_angle_roll, pi_angle_pitch, pi_angle_yaw, |
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pid_rate_roll, pid_rate_pitch, pid_rate_yaw, |
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motor_roll, motor_pitch, motor_yaw, motor_throttle) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
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// should be called at 100hz or more
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virtual void rate_controller_run(); |
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// use_leaky_i - controls whether we use leaky i term for body-frame to motor output stage
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void use_leaky_i(bool leaky_i) { _flags_heli.leaky_i = leaky_i; } |
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// user settable parameters
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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// To-Do: move these limits flags into the heli motors class
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struct AttControlHeliFlags { |
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uint8_t limit_roll : 1; // 1 if we have requested larger roll angle than swash can physically move
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uint8_t limit_pitch : 1; // 1 if we have requested larger pitch angle than swash can physically move
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uint8_t leaky_i : 1; // 1 if we should use leaky i term for body-frame rate to motor stage
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} _flags_heli; |
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//
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// body-frame rate controller
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//
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// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target body-frame rate (in centi-degrees/sec) for roll, pitch and yaw
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void rate_bf_to_motor_roll_pitch(float rate_roll_target_cds, float rate_pitch_target_cds, int16_t& motor_roll, int16_t& motor_pitch); |
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virtual float rate_bf_to_motor_yaw(float rate_yaw_cds); |
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//
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// throttle methods
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//
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// get_angle_boost - calculate total body frame throttle required to produce the given earth frame throttle
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int16_t get_angle_boost(int16_t throttle_pwm); |
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// parameters
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AP_Float _heli_roll_ff; // body-frame roll rate to motor output feed forward
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AP_Float _heli_pitch_ff; // body-frame pitch rate to motor output feed forward
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AP_Float _heli_yaw_ff; // body-frame yaw rate to motor output feed forward
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}; |
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#endif //AC_ATTITUDECONTROL_HELI_H
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