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61 lines
2.3 KiB
61 lines
2.3 KiB
#include "mode.h" |
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#include "Rover.h" |
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bool ModeLoiter::_enter() |
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{ |
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// set _destination to reasonable stopping point |
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calc_stopping_location(_destination); |
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// initialise desired speed to current speed |
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if (!attitude_control.get_forward_speed(_desired_speed)) { |
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_desired_speed = 0.0f; |
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} |
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// initialise heading to current heading |
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_desired_yaw_cd = ahrs.yaw_sensor; |
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return true; |
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} |
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void ModeLoiter::update() |
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{ |
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// get distance (in meters) to destination |
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_distance_to_destination = rover.current_loc.get_distance(_destination); |
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// if within loiter radius slew desired speed towards zero and use existing desired heading |
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if (_distance_to_destination <= g2.loit_radius) { |
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// sailboats do not stop |
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const float desired_speed_within_radius = rover.g2.sailboat.enabled() ? 0.1f : 0.0f; |
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_desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt); |
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} else { |
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// P controller with hard-coded gain to convert distance to desired speed |
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// To-Do: make gain configurable or calculate from attitude controller's maximum accelearation |
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_desired_speed = MIN((_distance_to_destination - g2.loit_radius) * 0.5f, g2.wp_nav.get_default_speed()); |
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// calculate bearing to destination |
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_desired_yaw_cd = rover.current_loc.get_bearing_to(_destination); |
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float yaw_error_cd = wrap_180_cd(_desired_yaw_cd - ahrs.yaw_sensor); |
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// if destination is behind vehicle, reverse towards it |
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if (fabsf(yaw_error_cd) > 9000 && g2.loit_type == 0) { |
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_desired_yaw_cd = wrap_180_cd(_desired_yaw_cd + 18000); |
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yaw_error_cd = wrap_180_cd(_desired_yaw_cd - ahrs.yaw_sensor); |
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_desired_speed = -_desired_speed; |
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} |
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// reduce desired speed if yaw_error is large |
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// 45deg of error reduces speed to 75%, 90deg of error reduces speed to 50% |
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float yaw_error_ratio = 1.0f - constrain_float(fabsf(yaw_error_cd / 9000.0f), 0.0f, 1.0f) * 0.5f; |
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_desired_speed *= yaw_error_ratio; |
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} |
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// run steering and throttle controllers |
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calc_steering_to_heading(_desired_yaw_cd); |
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calc_throttle(_desired_speed, true); |
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} |
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// get desired location |
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bool ModeLoiter::get_desired_location(Location& destination) const |
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{ |
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destination = _destination; |
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return true; |
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}
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