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168 lines
6.7 KiB
168 lines
6.7 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#include "AC_AttitudeControl_Multi.h" |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Math/AP_Math.h> |
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// table of user settable parameters |
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const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = { |
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// parameters from parent vehicle |
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AP_NESTEDGROUPINFO(AC_AttitudeControl, 0), |
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// @Param: RAT_RLL_P |
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// @DisplayName: Roll axis rate controller P gain |
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// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output |
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// @Range: 0.08 0.30 |
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// @Increment: 0.005 |
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// @User: Standard |
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// @Param: RAT_RLL_I |
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// @DisplayName: Roll axis rate controller I gain |
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate |
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// @Range: 0.01 0.5 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_RLL_IMAX |
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// @DisplayName: Roll axis rate controller I gain maximum |
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @Units: Percent |
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// @User: Standard |
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// @Param: RAT_RLL_D |
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// @DisplayName: Roll axis rate controller D gain |
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate |
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// @Range: 0.0 0.02 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_RLL_FILT |
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// @DisplayName: Roll axis rate conroller input frequency in Hz |
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// @Description: Roll axis rate conroller input frequency in Hz |
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// @Range: 1 100 |
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// @Increment: 1 |
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// @Units: Hz |
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AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID), |
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// @Param: RAT_PIT_P |
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// @DisplayName: Pitch axis rate controller P gain |
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// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output |
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// @Range: 0.08 0.30 |
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// @Increment: 0.005 |
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// @User: Standard |
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// @Param: RAT_PIT_I |
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// @DisplayName: Pitch axis rate controller I gain |
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// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate |
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// @Range: 0.01 0.5 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_PIT_IMAX |
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// @DisplayName: Pitch axis rate controller I gain maximum |
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// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @Units: Percent |
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// @User: Standard |
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// @Param: RAT_PIT_D |
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// @DisplayName: Pitch axis rate controller D gain |
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// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate |
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// @Range: 0.0 0.02 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_PIT_FILT |
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// @DisplayName: Pitch axis rate conroller input frequency in Hz |
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// @Description: Pitch axis rate conroller input frequency in Hz |
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// @Range: 1 100 |
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// @Increment: 1 |
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// @Units: Hz |
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AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID), |
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// @Param: RAT_YAW_P |
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// @DisplayName: Yaw axis rate controller P gain |
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// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output |
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// @Range: 0.10 0.50 |
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// @Increment: 0.005 |
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// @User: Standard |
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// @Param: RAT_YAW_I |
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// @DisplayName: Yaw axis rate controller I gain |
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// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate |
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// @Range: 0.010 0.05 |
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// @Increment: 0.01 |
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// @User: Standard |
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// @Param: RAT_YAW_IMAX |
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// @DisplayName: Yaw axis rate controller I gain maximum |
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// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output |
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// @Range: 0 1 |
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// @Increment: 0.01 |
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// @Units: Percent |
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// @User: Standard |
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// @Param: RAT_YAW_D |
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// @DisplayName: Yaw axis rate controller D gain |
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// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate |
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// @Range: 0.000 0.02 |
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// @Increment: 0.001 |
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// @User: Standard |
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// @Param: RAT_YAW_FILT |
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// @DisplayName: Yaw axis rate conroller input frequency in Hz |
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// @Description: Yaw axis rate conroller input frequency in Hz |
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// @Range: 1 100 |
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// @Increment: 1 |
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// @Units: Hz |
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AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID), |
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AP_GROUPEND |
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}; |
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AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) : |
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AC_AttitudeControl(ahrs, aparm, motors, dt), |
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_motors_multi(motors), |
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_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt), |
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_pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt), |
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_pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_YAW_FILT_HZ, dt) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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// get lean angle max for pilot input that prioritises altitude hold over lean angle |
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float AC_AttitudeControl_Multi::get_althold_lean_angle_max() const |
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{ |
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// calc maximum tilt angle based on throttle |
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float thr_max = _motors_multi.get_throttle_thrust_max(); |
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// divide by zero check |
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if (is_zero(thr_max)) { |
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return 0.0f; |
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} |
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return ToDeg(acos(constrain_float(_throttle_in_filt.get()/(0.9f * thr_max), 0.0f, 1.0f))) * 100.0f; |
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} |
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// returns a throttle including compensation for roll/pitch angle |
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// throttle value should be 0 ~ 1 |
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float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in) |
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{ |
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if (!_angle_boost_enabled) { |
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_angle_boost = 0; |
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return throttle_in; |
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} |
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// inverted_factor is 1 for tilt angles below 60 degrees |
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// inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees |
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float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll(); |
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float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f); |
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float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f); |
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float throttle_out = throttle_in*inverted_factor*boost_factor; |
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_angle_boost = constrain_float(throttle_out - throttle_in,-1.0f,1.0f); |
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return throttle_out; |
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}
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