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100 lines
4.1 KiB
100 lines
4.1 KiB
#pragma once |
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/// @file AC_AttitudeControl_Multi.h |
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/// @brief ArduCopter attitude control library |
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#include "AC_AttitudeControl.h" |
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#include <AP_Motors/AP_MotorsMulticopter.h> |
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// default rate controller PID gains |
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#ifndef AC_ATC_MULTI_RATE_RP_P |
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# define AC_ATC_MULTI_RATE_RP_P 0.135f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_RP_I |
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# define AC_ATC_MULTI_RATE_RP_I 0.135f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_RP_D |
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# define AC_ATC_MULTI_RATE_RP_D 0.0036f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_RP_IMAX |
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# define AC_ATC_MULTI_RATE_RP_IMAX 0.5f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ |
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# define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_YAW_P |
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# define AC_ATC_MULTI_RATE_YAW_P 0.180f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_YAW_I |
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# define AC_ATC_MULTI_RATE_YAW_I 0.018f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_YAW_D |
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# define AC_ATC_MULTI_RATE_YAW_D 0.0f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_YAW_IMAX |
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# define AC_ATC_MULTI_RATE_YAW_IMAX 0.5f |
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#endif |
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#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ |
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# define AC_ATC_MULTI_RATE_YAW_FILT_HZ 2.5f |
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#endif |
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class AC_AttitudeControl_Multi : public AC_AttitudeControl { |
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public: |
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AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt); |
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// empty destructor to suppress compiler warning |
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virtual ~AC_AttitudeControl_Multi() {} |
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// pid accessors |
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AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; } |
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AC_PID& get_rate_pitch_pid() override { return _pid_rate_pitch; } |
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AC_PID& get_rate_yaw_pid() override { return _pid_rate_yaw; } |
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// Update Alt_Hold angle maximum |
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void update_althold_lean_angle_max(float throttle_in) override; |
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// Set output throttle |
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void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override; |
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// calculate total body frame throttle required to produce the given earth frame throttle |
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float get_throttle_boosted(float throttle_in); |
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// set desired throttle vs attitude mixing (actual mix is slewed towards this value over 1~2 seconds) |
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// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle |
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// has no effect when throttle is above hover throttle |
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void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; } |
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void set_throttle_mix_man() override { _throttle_rpy_mix_desired = _thr_mix_man; } |
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void set_throttle_mix_max(float ratio) override; |
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void set_throttle_mix_value(float value) override { _throttle_rpy_mix_desired = _throttle_rpy_mix = value; } |
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float get_throttle_mix(void) const override { return _throttle_rpy_mix; } |
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// are we producing min throttle? |
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bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f * _thr_mix_min); } |
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// run lowest level body-frame rate controller and send outputs to the motors |
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void rate_controller_run() override; |
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// sanity check parameters. should be called once before take-off |
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void parameter_sanity_check() override; |
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// user settable parameters |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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// update_throttle_rpy_mix - updates thr_low_comp value towards the target |
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void update_throttle_rpy_mix(); |
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// get maximum value throttle can be raised to based on throttle vs attitude prioritisation |
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float get_throttle_avg_max(float throttle_in); |
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AP_MotorsMulticopter& _motors_multi; |
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AC_PID _pid_rate_roll; |
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AC_PID _pid_rate_pitch; |
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AC_PID _pid_rate_yaw; |
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AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle) |
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AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle) |
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AP_Float _thr_mix_max; // throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle) |
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};
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