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112 lines
2.9 KiB
112 lines
2.9 KiB
/* |
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* ControllerBoat.h |
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* |
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* Created on: Jun 30, 2011 |
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* Author: jgoppert |
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*/ |
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#ifndef CONTROLLERBOAT_H_ |
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#define CONTROLLERBOAT_H_ |
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#include "../APO/AP_Controller.h" |
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namespace apo { |
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class ControllerBoat: public AP_Controller { |
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public: |
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enum { |
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ch_mode = 0, ch_str, ch_thrust |
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}; |
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enum { |
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k_chMode = k_radioChannelsStart, k_chStr, k_chThrust |
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}; |
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enum { |
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k_pidStr = k_controllersStart, k_pidThrust |
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}; |
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ControllerBoat(AP_Navigator * nav, AP_Guide * guide, |
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AP_HardwareAbstractionLayer * hal) : |
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AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode), |
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pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP, |
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steeringI, steeringD, steeringIMax, steeringYMax,steeringDFCut), |
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pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP, |
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throttleI, throttleD, throttleIMax, throttleYMax, |
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throttleDFCut), _strCmd(0), _thrustCmd(0) |
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{ |
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_hal->debug->println_P(PSTR("initializing boat controller")); |
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_hal->rc.push_back( |
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new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100, |
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1500, 1900, RC_MODE_IN, false)); |
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_hal->rc.push_back( |
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new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 3, 1100, 1500, |
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1900, RC_MODE_INOUT, false)); |
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_hal->rc.push_back( |
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new AP_RcChannel(k_chThrust, PSTR("THR_"), APM_RC, 2, 1100, 1500, |
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1900, RC_MODE_INOUT, false)); |
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} |
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private: |
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BlockPIDDfb pidStr; |
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BlockPID pidThrust; |
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float _strCmd, _thrustCmd; |
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void manualLoop(const float dt) { |
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setAllRadioChannelsManually(); |
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_strCmd = _hal->rc[ch_str]->getRadioPosition(); |
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_thrustCmd = _hal->rc[ch_thrust]->getRadioPosition(); |
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} |
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void autoLoop(const float dt) { |
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_hal->debug->printf_P(PSTR("hdg cmd: %f, yaw: %f\n"),_guide->getHeadingCommand(),_nav->getYaw()); |
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float headingError = _guide->getHeadingCommand() |
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- _nav->getYaw(); |
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if (headingError > 180 * deg2Rad) |
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headingError -= 360 * deg2Rad; |
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if (headingError < -180 * deg2Rad) |
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headingError += 360 * deg2Rad; |
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_strCmd = pidStr.update(headingError, _nav->getYawRate(), dt); |
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_thrustCmd = pidThrust.update( |
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_guide->getGroundSpeedCommand() |
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- _nav->getGroundSpeed(), dt); |
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} |
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void setMotors() { |
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switch (_hal->getState()) { |
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case MAV_STATE_ACTIVE: { |
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digitalWrite(_hal->aLedPin, HIGH); |
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// turn all motors off if below 0.1 throttle |
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if (fabs(_hal->rc[ch_thrust]->getRadioPosition()) < 0.1) { |
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setAllRadioChannelsToNeutral(); |
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} else { |
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_hal->rc[ch_thrust]->setPosition(_thrustCmd); |
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_hal->rc[ch_str]->setPosition(_strCmd); |
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} |
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break; |
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} |
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case MAV_STATE_EMERGENCY: { |
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digitalWrite(_hal->aLedPin, LOW); |
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setAllRadioChannelsToNeutral(); |
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break; |
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} |
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case MAV_STATE_STANDBY: { |
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digitalWrite(_hal->aLedPin,LOW); |
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setAllRadioChannelsToNeutral(); |
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break; |
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} |
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default: { |
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digitalWrite(_hal->aLedPin, LOW); |
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setAllRadioChannelsToNeutral(); |
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} |
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} |
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} |
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}; |
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} // namespace apo |
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#endif /* CONTROLLERBOAT_H_ */
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