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60 lines
2.3 KiB
60 lines
2.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Tracker.h" |
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/* |
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* Auto control mode |
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*/ |
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/* |
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* update_auto - runs the auto controller |
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* called at 50hz while control_mode is 'AUTO' |
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*/ |
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void Tracker::update_auto(void) |
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{ |
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// exit immediately if we do not have a valid vehicle position |
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if (!vehicle.location_valid) { |
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return; |
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} |
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float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100); // target yaw in centidegrees |
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float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90) * 100; // target pitch in centidegrees |
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calc_angle_error(pitch, yaw); |
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float bf_pitch; |
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float bf_yaw; |
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calc_body_frame_target(pitch, yaw, bf_pitch, bf_yaw); |
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// only move servos if target is at least distance_min away |
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if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min)) { |
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update_pitch_servo(bf_pitch); |
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update_yaw_servo(bf_yaw); |
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} |
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} |
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void Tracker::calc_angle_error( float pitch, float yaw) |
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{ |
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// Pitch angle error in centidegrees |
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// Positive error means the target is above current pitch |
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// Negative error means the target is below current pitch |
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float ahrs_pitch = ahrs.pitch_sensor; |
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nav_status.angle_error_pitch = pitch - ahrs_pitch; |
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// Yaw angle error in centidegrees |
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// Positive error means the target is right of current yaw |
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// Negative error means the target is left of current yaw |
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int32_t ahrs_yaw_cd = wrap_180_cd(ahrs.yaw_sensor); |
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nav_status.angle_error_yaw = wrap_180_cd(yaw - ahrs_yaw_cd); |
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// earth frame to body frame angle error conversion |
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float bf_pitch_err = ahrs.cos_roll() * nav_status.angle_error_pitch + ahrs.sin_roll() * ahrs.cos_pitch() * nav_status.angle_error_yaw; |
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float bf_yaw_err = -ahrs.sin_roll() * nav_status.angle_error_pitch + ahrs.cos_pitch() * ahrs.cos_roll() * nav_status.angle_error_yaw; |
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nav_status.angle_error_pitch = bf_pitch_err; |
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nav_status.angle_error_yaw = bf_yaw_err; |
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} |
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void Tracker::calc_body_frame_target(float pitch, float yaw, float& bf_pitch, float& bf_yaw) |
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{ |
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// earth frame to body frame pitch and yaw conversion |
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bf_pitch = ahrs.cos_roll() * pitch + ahrs.sin_roll() * ahrs.cos_pitch() * yaw; |
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bf_yaw = -ahrs.sin_roll() * pitch + ahrs.cos_pitch() * ahrs.cos_roll() * yaw; |
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}
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