zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_WindVane: mini onion

master
Peter Hall 6 years ago committed by Randy Mackay
parent
dbbf09d018
commit
9dba9867c6
16 changed files with 736 additions and 353 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 393
      libraries/AP_WindVane/AP_WindVane.cpp
  2. 102
      libraries/AP_WindVane/AP_WindVane.h
  3. 30
      libraries/AP_WindVane/AP_WindVane_Airspeed.cpp
  4. 29
      libraries/AP_WindVane/AP_WindVane_Airspeed.h
  5. 72
      libraries/AP_WindVane/AP_WindVane_Analog.cpp
  6. 42
      libraries/AP_WindVane/AP_WindVane_Analog.h
  7. 62
      libraries/AP_WindVane/AP_WindVane_Backend.cpp
  8. 49
      libraries/AP_WindVane/AP_WindVane_Backend.h
  9. 36
      libraries/AP_WindVane/AP_WindVane_Home.cpp
  10. 28
      libraries/AP_WindVane/AP_WindVane_Home.h
  11. 54
      libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
  12. 40
      libraries/AP_WindVane/AP_WindVane_ModernDevice.h
  13. 33
      libraries/AP_WindVane/AP_WindVane_RPM.cpp
  14. 29
      libraries/AP_WindVane/AP_WindVane_RPM.h
  15. 60
      libraries/AP_WindVane/AP_WindVane_SITL.cpp
  16. 30
      libraries/AP_WindVane/AP_WindVane_SITL.h

393
libraries/AP_WindVane/AP_WindVane.cpp
Unescape View File

@ -13,21 +13,16 @@ @@ -13,21 +13,16 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_WindVane/AP_WindVane.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
#include <Filter/Filter.h>
#include <utility>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
#include "AP_WindVane.h"
extern const AP_HAL::HAL& hal;
#include "AP_WindVane_Home.h"
#include "AP_WindVane_Analog.h"
#include "AP_WindVane_ModernDevice.h"
#include "AP_WindVane_Airspeed.h"
#include "AP_WindVane_RPM.h"
#include "AP_WindVane_SITL.h"
#define WINDVANE_DEFAULT_PIN 15 // default wind vane sensor analog pin
#define WINDVANE_CALIBRATION_VOLT_DIFF_MIN 1.0f // calibration routine's min voltage difference required for success
#define WINDSPEED_DEFAULT_SPEED_PIN 14 // default pin for reading speed from ModernDevice rev p wind sensor
#define WINDSPEED_DEFAULT_TEMP_PIN 13 // default pin for reading temperature from ModernDevice rev p wind sensor
#define WINDSPEED_DEFAULT_VOLT_OFFSET 1.346 // default voltage offset between speed and temp pins from ModernDevice rev p wind sensor
@ -39,7 +34,8 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = { @@ -39,7 +34,8 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
// @Description: Wind Vane type
// @Values: 0:None,1:Heading when armed,2:RC input offset heading when armed,3:Analog
// @User: Standard
AP_GROUPINFO_FLAGS("TYPE", 1, AP_WindVane, _type, 0, AP_PARAM_FLAG_ENABLE),
// @RebootRequired: True
AP_GROUPINFO_FLAGS("TYPE", 1, AP_WindVane, _direction_type, 0, AP_PARAM_FLAG_ENABLE),
// @Param: RC_IN_NO
// @DisplayName: Wind vane sensor RC Input Channel
@ -92,8 +88,8 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = { @@ -92,8 +88,8 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
// @Param: CAL
// @DisplayName: Wind vane calibration start
// @Description: Start wind vane calibration by setting this to 1
// @Values: 0:None, 1:Calibrate
// @Description: Start wind vane calibration by setting this to 1 or 2
// @Values: 0:None, 1:Calibrate direction, 2:Calibrate speed
// @User: Standard
AP_GROUPINFO("CAL", 8, AP_WindVane, _calibration, 0),
@ -120,6 +116,7 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = { @@ -120,6 +116,7 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
// @Description: Wind speed sensor type
// @Values: 0:None,1:Airspeed library,2:Modern Devices Wind Sensor,3:RPM library,10:SITL
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("SPEED_TYPE", 11, AP_WindVane, _speed_sensor_type, 0),
// @Param: SPEED_PIN
@ -178,63 +175,126 @@ AP_WindVane *AP_WindVane::get_singleton() @@ -178,63 +175,126 @@ AP_WindVane *AP_WindVane::get_singleton()
// return true if wind vane is enabled
bool AP_WindVane::enabled() const
{
return (_type != WINDVANE_NONE);
return _direction_type != WINDVANE_NONE;
}
// Initialize the Wind Vane object and prepare it for use
void AP_WindVane::init()
{
// a pin for reading the Wind Vane voltage
dir_analog_source = hal.analogin->channel(_dir_analog_pin);
// don't init twice
if (_direction_driver != nullptr || _speed_driver != nullptr ) {
return;
}
// pins for ModernDevice rev p wind sensor
speed_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
speed_temp_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
// wind direction
switch (_direction_type) {
case WindVaneType::WINDVANE_NONE:
// WindVane disabled
return;
case WindVaneType::WINDVANE_HOME_HEADING:
case WindVaneType::WINDVANE_PWM_PIN:
_direction_driver = new AP_WindVane_Home(*this);
break;
case WindVaneType::WINDVANE_ANALOG_PIN:
_direction_driver = new AP_WindVane_Analog(*this);
break;
case WindVaneType::WINDVANE_SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
_direction_driver = new AP_WindVane_SITL(*this);
#endif
break;
}
// check that airspeed is enabled if it is selected as sensor type, if not revert to no wind speed sensor
AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (_speed_sensor_type == Speed_type::WINDSPEED_AIRSPEED && (airspeed == nullptr || !airspeed->enabled())) {
_speed_sensor_type.set(Speed_type::WINDSPEED_NONE);
// wind speed
switch (_speed_sensor_type) {
case Speed_type::WINDSPEED_NONE:
break;
case Speed_type::WINDSPEED_AIRSPEED:
_speed_driver = new AP_WindVane_Airspeed(*this);
break;
case Speed_type::WINDVANE_WIND_SENSOR_REV_P:
_speed_driver = new AP_WindVane_ModernDevice(*this);
break;
case Speed_type::WINDSPEED_SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// single driver does both speed and direction
if (_direction_type != WINDVANE_SITL) {
_speed_driver = new AP_WindVane_SITL(*this);
} else {
_speed_driver = _direction_driver;
}
#endif
break;
case Speed_type::WINDSPEED_RPM:
_speed_driver = new AP_WindVane_RPM(*this);
break;
}
}
// update wind vane, expected to be called at 20hz
void AP_WindVane::update()
{
bool have_speed = _speed_driver != nullptr;
bool have_direciton = _direction_driver != nullptr;
// exit immediately if not enabled
if (!enabled()) {
if (!enabled() || (!have_speed && !have_direciton)) {
return;
}
// check for calibration
calibrate();
// calibrate if booted and disarmed
if (!hal.util->get_soft_armed()) {
if (_calibration == 1 && have_direciton) {
_direction_driver->calibrate();
} else if (_calibration == 2 && have_speed) {
_speed_driver->calibrate();
} else if (_calibration != 0) {
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: driver not found");
_calibration.set_and_save(0);
}
} else if (_calibration != 0) {
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: disarm for cal");
_calibration.set_and_save(0);
}
// read apparent wind speed
update_apparent_wind_speed();
if (have_speed) {
_speed_driver->update_speed();
}
// read apparent wind direction (relies on wind speed above)
update_apparent_wind_direction();
// read apparent wind direction
if (_speed_apparent >= _dir_speed_cutoff && have_direciton) {
// only update if enough wind to move vane
_direction_driver->update_direction();
}
// calculate true wind speed and direction from apparent wind
update_true_wind_speed_and_direction();
if (have_speed && have_direciton) {
update_true_wind_speed_and_direction();
} else {
// no wind speed sensor, so can't do true wind calcs
_direction_absolute = _direction_apparent_ef;
_speed_true = 0.0f;
return;
}
}
// get the apparent wind direction in radians, 0 = head to wind
float AP_WindVane::get_apparent_wind_direction_rad() const
{
return wrap_PI(_direction_apparent_ef - AP::ahrs().yaw);
}
// record home heading for use as wind direction if no sensor is fitted
void AP_WindVane::record_home_heading()
// to start direction calibration from mavlink or other
bool AP_WindVane::start_direction_calibration()
{
_home_heading = AP::ahrs().yaw;
if (enabled() && (_calibration == 0)) {
_calibration = 1;
return true;
}
return false;
}
bool AP_WindVane::start_calibration()
// to start speed calibration from mavlink or other
bool AP_WindVane::start_speed_calibration()
{
if (enabled() && (_calibration == 0)) {
_calibration = 1;
_calibration = 2;
return true;
}
return false;
@ -256,204 +316,10 @@ void AP_WindVane::send_wind(mavlink_channel_t chan) @@ -256,204 +316,10 @@ void AP_WindVane::send_wind(mavlink_channel_t chan)
0);
}
// read an analog port and calculate the wind direction in earth-frame in radians
// assumes voltage increases as wind vane moves clockwise
float AP_WindVane::read_analog_direction_ef()
{
dir_analog_source->set_pin(_dir_analog_pin);
_current_analog_voltage = dir_analog_source->voltage_average_ratiometric();
const float voltage_ratio = linear_interpolate(0.0f, 1.0f, _current_analog_voltage, _dir_analog_volt_min, _dir_analog_volt_max);
const float direction = (voltage_ratio * radians(360 - _dir_analog_deadzone)) + radians(_dir_analog_bearing_offset);
return wrap_PI(direction + AP::ahrs().yaw);
}
// read rc input of apparent wind direction in earth-frame in radians
float AP_WindVane::read_PWM_direction_ef()
{
RC_Channel *chan = rc().channel(_rc_in_no-1);
if (chan == nullptr) {
return 0.0f;
}
float direction = chan->norm_input() * radians(45);
return wrap_PI(direction + _home_heading);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// read SITL's apparent wind direction in earth-frame in radians
float AP_WindVane::read_SITL_direction_ef()
{
// temporarily store true speed and direction for easy access
const float wind_speed = AP::sitl()->wind_speed_active;
const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
// Note than the SITL wind direction is defined as the direction the wind is traveling to
// This is accounted for in these calculations
// convert true wind speed and direction into a 2D vector
Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
// add vehicle speed to get apparent wind vector
wind_vector_ef.x += AP::sitl()->state.speedN;
wind_vector_ef.y += AP::sitl()->state.speedE;
return atan2f(wind_vector_ef.y, wind_vector_ef.x);
}
// read the apparent wind speed in m/s from SITL
float AP_WindVane::read_wind_speed_SITL()
{
// temporarily store true speed and direction for easy access
const float wind_speed = AP::sitl()->wind_speed_active;
const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
// convert true wind speed and direction into a 2D vector
Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
// add vehicle speed to get apparent wind vector
wind_vector_ef.x += AP::sitl()->state.speedN;
wind_vector_ef.y += AP::sitl()->state.speedE;
return wind_vector_ef.length();
}
#endif
// read wind speed from Modern Device rev p wind sensor
// https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
float AP_WindVane::read_wind_speed_ModernDevice()
{
float analog_voltage = 0.0f;
// only read temp pin if defined, sensor will do OK assuming constant temp
float temp_ambient = 28.0f; // equations were generated at this temp in above data sheet
if (is_positive(_speed_sensor_temp_pin)) {
speed_temp_analog_source->set_pin(_speed_sensor_temp_pin);
analog_voltage = speed_temp_analog_source->voltage_average();
temp_ambient = (analog_voltage - 0.4f) / 0.0195f; // deg C
// constrain to reasonable range to avoid deviating from calibration too much and potential divide by zero
temp_ambient = constrain_float(temp_ambient, 10.0f, 40.0f);
}
speed_analog_source->set_pin(_speed_sensor_speed_pin);
analog_voltage = speed_analog_source->voltage_average();
// apply voltage offset and make sure not negative
// by default the voltage offset is the number provide by the manufacturer
analog_voltage = analog_voltage - _speed_sensor_voltage_offset;
if (is_negative(analog_voltage)) {
analog_voltage = 0.0f;
}
// simplified equation from data sheet, converted from mph to m/s
return 24.254896f * powf((analog_voltage / powf(temp_ambient, 0.115157f)), 3.009364f);
}
// update the apparent wind speed
void AP_WindVane::update_apparent_wind_speed()
{
float apparent_speed_in = 0.0f;
switch (_speed_sensor_type) {
case WINDSPEED_NONE:
_speed_apparent = 0.0f;
break;
case WINDSPEED_AIRSPEED: {
const AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) {
apparent_speed_in = airspeed->get_airspeed();
}
break;
}
case WINDVANE_WIND_SENSOR_REV_P:
apparent_speed_in = read_wind_speed_ModernDevice();
break;
case WINDSPEED_SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
apparent_speed_in = read_wind_speed_SITL();
#endif
break;
case WINDSPEED_RPM: {
const AP_RPM* rpm = AP_RPM::get_singleton();
if (rpm != nullptr) {
const float temp_speed = rpm->get_rpm(0);
if (!is_negative(temp_speed)) {
apparent_speed_in = temp_speed;
}
}
break;
}
}
// apply low pass filter if enabled
if (is_positive(_speed_filt_hz)) {
_speed_filt.set_cutoff_frequency(_speed_filt_hz);
_speed_apparent = _speed_filt.apply(apparent_speed_in, 0.02f);
} else {
_speed_apparent = apparent_speed_in;
}
}
// calculate the apparent wind direction in radians, the wind comes from this direction, 0 = head to wind
// expected to be called at 20hz after apparent wind speed has been updated
void AP_WindVane::update_apparent_wind_direction()
{
float apparent_angle_ef = 0.0f;
switch (_type) {
case WindVaneType::WINDVANE_HOME_HEADING:
// this is a approximation as we are not considering boat speed and wind speed
// do not filter home heading
_direction_apparent_ef = _home_heading;
return;
case WindVaneType::WINDVANE_PWM_PIN:
// this is a approximation as we are not considering boat speed and wind speed
// do not filter pwm input from pilot
_direction_apparent_ef = read_PWM_direction_ef();
return;
case WindVaneType::WINDVANE_ANALOG_PIN:
apparent_angle_ef = read_analog_direction_ef();
break;
case WindVaneType::WINDVANE_SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
apparent_angle_ef = read_SITL_direction_ef();
#endif
break;
}
// if not enough wind to move vane do not update the value
if (_speed_apparent < _dir_speed_cutoff){
return;
}
// apply low pass filter if enabled
if (is_positive(_dir_filt_hz)) {
_dir_sin_filt.set_cutoff_frequency(_dir_filt_hz);
_dir_cos_filt.set_cutoff_frequency(_dir_filt_hz);
// https://en.wikipedia.org/wiki/Mean_of_circular_quantities
const float filtered_sin = _dir_sin_filt.apply(sinf(apparent_angle_ef), 0.05f);
const float filtered_cos = _dir_cos_filt.apply(cosf(apparent_angle_ef), 0.05f);
_direction_apparent_ef = atan2f(filtered_sin, filtered_cos);
} else {
_direction_apparent_ef = apparent_angle_ef;
}
// make sure between -pi and pi
_direction_apparent_ef = wrap_PI(_direction_apparent_ef);
}
// calculate true wind speed and direction from apparent wind
// https://en.wikipedia.org/wiki/Apparent_wind
void AP_WindVane::update_true_wind_speed_and_direction()
{
if (_speed_sensor_type == Speed_type::WINDSPEED_NONE) {
// no wind speed sensor, so can't do true wind calcs
_direction_absolute = _direction_apparent_ef;
_speed_true = 0.0f;
return;
}
// if no vehicle speed, can't do calcs
Vector3f veh_velocity;
if (!AP::ahrs().get_velocity_NED(veh_velocity)) {
@ -475,61 +341,6 @@ void AP_WindVane::update_true_wind_speed_and_direction() @@ -475,61 +341,6 @@ void AP_WindVane::update_true_wind_speed_and_direction()
_speed_true = wind_true_vec.length();
}
// calibrate windvane
void AP_WindVane::calibrate()
{
// exit immediately if armed or too soon after start
if (hal.util->get_soft_armed()) {
return;
}
// return if not calibrating
if (_calibration == 0) {
return;
}
switch (_type) {
case WindVaneType::WINDVANE_HOME_HEADING:
case WindVaneType::WINDVANE_PWM_PIN:
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: No cal required");
_calibration.set_and_save(0);
break;
case WindVaneType::WINDVANE_ANALOG_PIN:
// start calibration
if (_cal_start_ms == 0) {
_cal_start_ms = AP_HAL::millis();
_cal_volt_max = _current_analog_voltage;
_cal_volt_min = _current_analog_voltage;
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration started, rotate wind vane");
}
// record min and max voltage
_cal_volt_max = MAX(_cal_volt_max, _current_analog_voltage);
_cal_volt_min = MIN(_cal_volt_min, _current_analog_voltage);
// calibrate for 30 seconds
if ((AP_HAL::millis() - _cal_start_ms) > 30000) {
// check for required voltage difference
const float volt_diff = _cal_volt_max - _cal_volt_min;
if (volt_diff >= WINDVANE_CALIBRATION_VOLT_DIFF_MIN) {
// save min and max voltage
_dir_analog_volt_max.set_and_save(_cal_volt_max);
_dir_analog_volt_min.set_and_save(_cal_volt_min);
_calibration.set_and_save(0);
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration complete (volt min:%.1f max:%1.f)",
(double)_cal_volt_min,
(double)_cal_volt_max);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration failed (volt diff %.1f below %.1f)",
(double)volt_diff,
(double)WINDVANE_CALIBRATION_VOLT_DIFF_MIN);
}
_cal_start_ms = 0;
}
break;
}
}
AP_WindVane *AP_WindVane::_singleton = nullptr;
namespace AP {

102
libraries/AP_WindVane/AP_WindVane.h
Unescape View File

@ -14,24 +14,22 @@ @@ -14,24 +14,22 @@
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_RPM/AP_RPM.h>
#include <AP_AHRS/AP_AHRS.h>
class AP_WindVane_Backend;
class AP_WindVane
{
public:
enum WindVaneType {
WINDVANE_NONE = 0,
WINDVANE_HOME_HEADING = 1,
WINDVANE_PWM_PIN = 2,
WINDVANE_ANALOG_PIN = 3,
WINDVANE_SITL = 10
};
friend class AP_WindVane_Backend;
friend class AP_WindVane_Home;
friend class AP_WindVane_Analog;
friend class AP_WindVane_SITL;
friend class AP_WindVane_ModernDevice;
friend class AP_WindVane_Airspeed;
friend class AP_WindVane_RPM;
AP_WindVane();
@ -51,7 +49,9 @@ public: @@ -51,7 +49,9 @@ public:
void update();
// get the apparent wind direction in body-frame in radians, 0 = head to wind
float get_apparent_wind_direction_rad() const;
float get_apparent_wind_direction_rad() const {
return wrap_PI(_direction_apparent_ef - AP::ahrs().yaw);
}
// get the absolute wind direction in radians, 0 = wind coming from north
float get_absolute_wind_direction_rad() const { return _direction_absolute; }
@ -62,11 +62,12 @@ public: @@ -62,11 +62,12 @@ public:
// Return true wind speed
float get_true_wind_speed() const { return _speed_true; }
// record home heading
void record_home_heading();
// record home heading for use as wind direction if no sensor is fitted
void record_home_heading() { _home_heading = AP::ahrs().yaw; }
// start calibration routine
bool start_calibration();
bool start_direction_calibration();
bool start_speed_calibration();
// send mavlink wind message
void send_wind(mavlink_channel_t chan);
@ -76,37 +77,8 @@ public: @@ -76,37 +77,8 @@ public:
private:
// read an analog port and calculate the wind direction in earth-frame in radians
float read_analog_direction_ef();
// read rc input of apparent wind direction in earth-frame in radians
float read_PWM_direction_ef();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// read SITL's apparent wind direction in earth-frame in radians
float read_SITL_direction_ef();
// read the apparent wind speed in m/s from SITL
float read_wind_speed_SITL();
#endif
// read wind speed from ModernDevice wind speed sensor rev p
float read_wind_speed_ModernDevice();
// update wind speed sensor
void update_apparent_wind_speed();
// update apparent wind direction
void update_apparent_wind_direction();
// calculate true wind speed and direction from apparent wind
void update_true_wind_speed_and_direction();
// calibrate
void calibrate();
// parameters
AP_Int8 _type; // type of windvane being used
AP_Int8 _direction_type; // type of windvane being used
AP_Int8 _rc_in_no; // RC input channel to use
AP_Int8 _dir_analog_pin; // analog pin connected to wind vane direction sensor
AP_Float _dir_analog_volt_min; // minimum voltage read by windvane
@ -122,22 +94,36 @@ private: @@ -122,22 +94,36 @@ private:
AP_Float _speed_sensor_voltage_offset; // analog speed zero wind voltage offset
AP_Float _speed_filt_hz; // speed sensor low pass filter frequency
static AP_WindVane *_singleton;
AP_WindVane_Backend *_direction_driver;
AP_WindVane_Backend *_speed_driver;
// update wind speed sensor
void update_apparent_wind_speed();
// update apparent wind direction
void update_apparent_wind_direction();
// calculate true wind speed and direction from apparent wind
void update_true_wind_speed_and_direction();
// wind direction variables
float _home_heading; // heading in radians recorded when vehicle was armed
float _direction_apparent_ef; // wind's apparent direction in radians (0 = ahead of vehicle)
float _direction_absolute; // wind's absolute direction in radians (0 = North)
float _current_analog_voltage; // wind direction's latest analog voltage reading
// wind speed variables
float _speed_apparent; // wind's apparent speed in m/s
float _speed_true; // wind's true estimated speed in m/s
// calibration variables
uint32_t _cal_start_ms = 0; // calibration start time in milliseconds after boot
float _cal_volt_max; // maximum observed voltage during calibration
float _cal_volt_min; // minimum observed voltage during calibration
// heading in radians recorded when vehicle was armed
float _home_heading;
enum WindVaneType {
WINDVANE_NONE = 0,
WINDVANE_HOME_HEADING = 1,
WINDVANE_PWM_PIN = 2,
WINDVANE_ANALOG_PIN = 3,
WINDVANE_SITL = 10
};
enum Speed_type {
WINDSPEED_NONE = 0,
@ -147,15 +133,7 @@ private: @@ -147,15 +133,7 @@ private:
WINDSPEED_SITL = 10
};
// pin for reading analog voltage
AP_HAL::AnalogSource *dir_analog_source;
AP_HAL::AnalogSource *speed_analog_source;
AP_HAL::AnalogSource *speed_temp_analog_source;
// low pass filters of direction and speed
LowPassFilterFloat _dir_sin_filt = LowPassFilterFloat(2.0f);
LowPassFilterFloat _dir_cos_filt = LowPassFilterFloat(2.0f);
LowPassFilterFloat _speed_filt = LowPassFilterFloat(2.0f);
static AP_WindVane *_singleton;
};
namespace AP {

30
libraries/AP_WindVane/AP_WindVane_Airspeed.cpp
Unescape View File

@ -0,0 +1,30 @@ @@ -0,0 +1,30 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_Airspeed.h"
// constructor
AP_WindVane_Airspeed::AP_WindVane_Airspeed(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
}
void AP_WindVane_Airspeed::update_speed()
{
const AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) {
speed_update_frontend(airspeed->get_airspeed());
}
}

29
libraries/AP_WindVane/AP_WindVane_Airspeed.h
Unescape View File

@ -0,0 +1,29 @@ @@ -0,0 +1,29 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane_Backend.h"
#include <AP_Airspeed/AP_Airspeed.h>
class AP_WindVane_Airspeed : public AP_WindVane_Backend
{
public:
// constructor
AP_WindVane_Airspeed(AP_WindVane &frontend);
// update state
void update_speed() override;
};

72
libraries/AP_WindVane/AP_WindVane_Analog.cpp
Unescape View File

@ -0,0 +1,72 @@ @@ -0,0 +1,72 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_Analog.h"
#define WINDVANE_CALIBRATION_VOLT_DIFF_MIN 1.0f // calibration routine's min voltage difference required for success
// constructor
AP_WindVane_Analog::AP_WindVane_Analog(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
_dir_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
}
void AP_WindVane_Analog::update_direction()
{
_dir_analog_source->set_pin(_frontend._dir_analog_pin);
_current_analog_voltage = _dir_analog_source->voltage_average_ratiometric();
const float voltage_ratio = linear_interpolate(0.0f, 1.0f, _current_analog_voltage, _frontend._dir_analog_volt_min, _frontend._dir_analog_volt_max);
const float direction = (voltage_ratio * radians(360 - _frontend._dir_analog_deadzone)) + radians(_frontend._dir_analog_bearing_offset);
direction_update_frontend(wrap_PI(direction + AP::ahrs().yaw));
}
void AP_WindVane_Analog::calibrate()
{
// start calibration
if (_cal_start_ms == 0) {
_cal_start_ms = AP_HAL::millis();
_cal_volt_max = _current_analog_voltage;
_cal_volt_min = _current_analog_voltage;
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration started, rotate wind vane");
}
// record min and max voltage
_cal_volt_max = MAX(_cal_volt_max, _current_analog_voltage);
_cal_volt_min = MIN(_cal_volt_min, _current_analog_voltage);
// calibrate for 30 seconds
if ((AP_HAL::millis() - _cal_start_ms) > 30000) {
// check for required voltage difference
const float volt_diff = _cal_volt_max - _cal_volt_min;
if (volt_diff >= WINDVANE_CALIBRATION_VOLT_DIFF_MIN) {
// save min and max voltage
_frontend._dir_analog_volt_max.set_and_save(_cal_volt_max);
_frontend._dir_analog_volt_min.set_and_save(_cal_volt_min);
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration complete (volt min:%.1f max:%1.f)",
(double)_cal_volt_min,
(double)_cal_volt_max);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration failed (volt diff %.1f below %.1f)",
(double)volt_diff,
(double)WINDVANE_CALIBRATION_VOLT_DIFF_MIN);
}
_frontend._calibration.set_and_save(0);
_cal_start_ms = 0;
}
}

42
libraries/AP_WindVane/AP_WindVane_Analog.h
Unescape View File

@ -0,0 +1,42 @@ @@ -0,0 +1,42 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane_Backend.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
class AP_WindVane_Analog : public AP_WindVane_Backend
{
public:
// constructor
AP_WindVane_Analog(AP_WindVane &frontend);
// update state
void update_direction() override;
void calibrate() override;
private:
// pin for reading analog voltage
AP_HAL::AnalogSource *_dir_analog_source;
float _current_analog_voltage;
uint32_t _cal_start_ms = 0;
float _cal_volt_min;
float _cal_volt_max;
};

62
libraries/AP_WindVane/AP_WindVane_Backend.cpp
Unescape View File

@ -0,0 +1,62 @@ @@ -0,0 +1,62 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane.h"
#include "AP_WindVane_Backend.h"
// base class constructor.
AP_WindVane_Backend::AP_WindVane_Backend(AP_WindVane &frontend) :
_frontend(frontend)
{
}
// update speed to frontend
void AP_WindVane_Backend::speed_update_frontend(float apparent_speed_in)
{
// apply low pass filter if enabled
if (is_positive(_frontend._speed_filt_hz)) {
_speed_filt.set_cutoff_frequency(_frontend._speed_filt_hz);
_frontend._speed_apparent = _speed_filt.apply(apparent_speed_in, 0.02f);
} else {
_frontend._speed_apparent = apparent_speed_in;
}
}
// update direction to frontend
void AP_WindVane_Backend::direction_update_frontend(float apparent_angle_ef)
{
// apply low pass filter if enabled
if (is_positive(_frontend._dir_filt_hz)) {
_dir_sin_filt.set_cutoff_frequency(_frontend._dir_filt_hz);
_dir_cos_filt.set_cutoff_frequency(_frontend._dir_filt_hz);
// https://en.wikipedia.org/wiki/Mean_of_circular_quantities
const float filtered_sin = _dir_sin_filt.apply(sinf(apparent_angle_ef), 0.05f);
const float filtered_cos = _dir_cos_filt.apply(cosf(apparent_angle_ef), 0.05f);
_frontend._direction_apparent_ef = atan2f(filtered_sin, filtered_cos);
} else {
_frontend._direction_apparent_ef = apparent_angle_ef;
}
// make sure between -pi and pi
_frontend._direction_apparent_ef = wrap_PI(_frontend._direction_apparent_ef);
}
// calibrate WindVane
void AP_WindVane_Backend::calibrate()
{
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: No cal required");
_frontend._calibration.set_and_save(0);
return;
}

49
libraries/AP_WindVane/AP_WindVane_Backend.h
Unescape View File

@ -0,0 +1,49 @@ @@ -0,0 +1,49 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane.h"
#include <GCS_MAVLink/GCS.h>
#include <Filter/Filter.h>
class AP_WindVane_Backend
{
public:
// constructor. This incorporates initialization as well.
AP_WindVane_Backend(AP_WindVane &frontend);
// we declare a virtual destructor so that WindVane drivers can
// override with a custom destructor if need be
virtual ~AP_WindVane_Backend() {}
// update the state structure
virtual void update_speed() {};
virtual void update_direction() {};
virtual void calibrate();
protected:
// update frontend
void speed_update_frontend(float apparent_speed_in);
void direction_update_frontend(float apparent_angle_ef);
AP_WindVane &_frontend;
private:
// low pass filters of direction and speed
LowPassFilterFloat _dir_sin_filt = LowPassFilterFloat(2.0f);
LowPassFilterFloat _dir_cos_filt = LowPassFilterFloat(2.0f);
LowPassFilterFloat _speed_filt = LowPassFilterFloat(2.0f);
};

36
libraries/AP_WindVane/AP_WindVane_Home.cpp
Unescape View File

@ -0,0 +1,36 @@ @@ -0,0 +1,36 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_Home.h"
// constructor
AP_WindVane_Home::AP_WindVane_Home(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
}
void AP_WindVane_Home::update_direction()
{
float direction_apparent_ef = _frontend._home_heading;
if (_frontend._direction_type == _frontend.WINDVANE_PWM_PIN && _frontend._rc_in_no != 0) {
RC_Channel *chan = rc().channel(_frontend._rc_in_no-1);
if (chan != nullptr) {
direction_apparent_ef = wrap_PI(direction_apparent_ef + chan->norm_input() * radians(45));
}
}
direction_update_frontend(direction_apparent_ef);
}

28
libraries/AP_WindVane/AP_WindVane_Home.h
Unescape View File

@ -0,0 +1,28 @@ @@ -0,0 +1,28 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane_Backend.h"
#include <RC_Channel/RC_Channel.h>
class AP_WindVane_Home : public AP_WindVane_Backend
{
public:
// constructor
AP_WindVane_Home(AP_WindVane &frontend);
// update state
void update_direction() override;
};

54
libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
Unescape View File

@ -0,0 +1,54 @@ @@ -0,0 +1,54 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_ModernDevice.h"
// read wind speed from Modern Device rev p wind sensor
// https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
// constructor
AP_WindVane_ModernDevice::AP_WindVane_ModernDevice(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
_speed_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
_temp_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
}
void AP_WindVane_ModernDevice::update_speed()
{
float analog_voltage = 0.0f;
// only read temp pin if defined, sensor will do OK assuming constant temp
float temp_ambient = 28.0f; // equations were generated at this temp in above data sheet
if (is_positive(_frontend._speed_sensor_temp_pin.get())) {
_temp_analog_source->set_pin(_frontend._speed_sensor_temp_pin.get());
analog_voltage = _temp_analog_source->voltage_average();
temp_ambient = (analog_voltage - 0.4f) / 0.0195f; // deg C
// constrain to reasonable range to avoid deviating from calibration too much and potential divide by zero
temp_ambient = constrain_float(temp_ambient, 10.0f, 40.0f);
}
_speed_analog_source->set_pin(_frontend._speed_sensor_speed_pin.get());
_current_analog_voltage = _speed_analog_source->voltage_average();
// apply voltage offset and make sure not negative
// by default the voltage offset is the number provide by the manufacturer
analog_voltage = _current_analog_voltage - _frontend._speed_sensor_voltage_offset;
if (is_negative(analog_voltage)) {
analog_voltage = 0.0f;
}
// simplified equation from data sheet, converted from mph to m/s
speed_update_frontend(24.254896f * powf((analog_voltage / powf(temp_ambient, 0.115157f)), 3.009364f));
}

40
libraries/AP_WindVane/AP_WindVane_ModernDevice.h
Unescape View File

@ -0,0 +1,40 @@ @@ -0,0 +1,40 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane_Backend.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
class AP_WindVane_ModernDevice : public AP_WindVane_Backend
{
public:
// constructor
AP_WindVane_ModernDevice(AP_WindVane &frontend);
// update state
void update_speed() override;
void calibrate() override;
private:
float _current_analog_voltage;
// pin for reading analog voltage
AP_HAL::AnalogSource *_speed_analog_source;
AP_HAL::AnalogSource *_temp_analog_source;
};

33
libraries/AP_WindVane/AP_WindVane_RPM.cpp
Unescape View File

@ -0,0 +1,33 @@ @@ -0,0 +1,33 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_RPM.h"
// constructor
AP_WindVane_RPM::AP_WindVane_RPM(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
}
void AP_WindVane_RPM::update_speed()
{
const AP_RPM* rpm = AP_RPM::get_singleton();
if (rpm != nullptr) {
const float temp_speed = rpm->get_rpm(0);
if (!is_negative(temp_speed)) {
speed_update_frontend(temp_speed);
}
}
}

29
libraries/AP_WindVane/AP_WindVane_RPM.h
Unescape View File

@ -0,0 +1,29 @@ @@ -0,0 +1,29 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane_Backend.h"
#include <AP_RPM/AP_RPM.h>
class AP_WindVane_RPM : public AP_WindVane_Backend
{
public:
// constructor
AP_WindVane_RPM(AP_WindVane &frontend);
// update state
void update_speed() override;
};

60
libraries/AP_WindVane/AP_WindVane_SITL.cpp
Unescape View File

@ -0,0 +1,60 @@ @@ -0,0 +1,60 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_SITL.h"
// constructor
AP_WindVane_SITL::AP_WindVane_SITL(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
void AP_WindVane_SITL::update_direction()
{
// temporarily store true speed and direction for easy access
const float wind_speed = AP::sitl()->wind_speed_active;
const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
// Note than the SITL wind direction is defined as the direction the wind is traveling to
// This is accounted for in these calculations
// convert true wind speed and direction into a 2D vector
Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
// add vehicle speed to get apparent wind vector
wind_vector_ef.x += AP::sitl()->state.speedN;
wind_vector_ef.y += AP::sitl()->state.speedE;
direction_update_frontend(atan2f(wind_vector_ef.y, wind_vector_ef.x));
}
void AP_WindVane_SITL::update_speed()
{
// temporarily store true speed and direction for easy access
const float wind_speed = AP::sitl()->wind_speed_active;
const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
// convert true wind speed and direction into a 2D vector
Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
// add vehicle speed to get apparent wind vector
wind_vector_ef.x += AP::sitl()->state.speedN;
wind_vector_ef.y += AP::sitl()->state.speedE;
speed_update_frontend(wind_vector_ef.length());
}
#endif

30
libraries/AP_WindVane/AP_WindVane_SITL.h
Unescape View File

@ -0,0 +1,30 @@ @@ -0,0 +1,30 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_WindVane_Backend.h"
class AP_WindVane_SITL : public AP_WindVane_Backend
{
public:
// constructor
AP_WindVane_SITL(AP_WindVane &frontend);
// update state
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
void update_direction() override;
void update_speed() override;
#endif
};
Write Preview
Loading…
Cancel
Save