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OP-1259 PowerDelayComp addtl inverted modes
This commit is contained in:
Cliff Geerdes
parent
820e8dfa3e
commit
6d7d10caba
@ -111,7 +111,8 @@ static uint8_t cruise_control_max_angle;
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static float cruise_control_max_power_factor;
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static float cruise_control_power_trim;
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static int8_t cruise_control_inverted_power_switch;
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static float cruise_control_neutral_thrust;
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static float cruise_control_max_power_factor_angle;
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static float cruise_control_half_power_delay;
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static uint8_t cruise_control_flight_mode_switch_pos_enable[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
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// Private functions
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@ -558,55 +559,188 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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actuatorDesired.UpdateTime = dT * 1000;
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actuatorDesired.Thrust = stabDesired.Thrust;
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// Cruise Control
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// modify thrust according to 1/cos(bank angle)
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// to maintain same altitdue with changing bank angle
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// to maintain same altitude with changing bank angle
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// but without manually adjusting thrust
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// do it here and all the various flight modes (e.g. Altitude Hold) can use it
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uint8_t previous_flight_mode_switch_position = 254; // something invalid
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if (flight_mode_switch_position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM
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&& cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t)0
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&& cruise_control_max_power_factor > 0.0001f) {
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static uint8_t toggle;
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static float factor;
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static uint32_t previous_time;
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static uint8_t calc_count;
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float angle;
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uint32_t time;
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// flight mode has changed. there could be a time gap
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if (flight_mode_switch_position != previous_flight_mode_switch_position) {
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// flag to skip this loop because time diff may be invalid
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previous_time = 0;
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}
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time = PIOS_DELAY_GetuS(); // good for 72 minutes, then it wraps (handled OK)
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// get attitude state and calculate angle
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// do it every 8th iteration to save CPU
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if ((toggle++ & 7) == 0) {
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if (time != previous_time && calc_count++ >= 8) {
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static float previous_angle;
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float rate;
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// float thrust;
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calc_count = 0;
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// spherical right triangle
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// 0 <= acosf() <= Pi
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angle = RAD2DEG(acosf(cos_lookup_deg(attitudeState.Roll) * cos_lookup_deg(attitudeState.Pitch)));
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// if past the cutoff angle (60 to 180 (180 means never))
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if (angle > cruise_control_max_angle) {
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// -1 reversed collective, 0 zero power, or 1 normal power
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// these are all unboosted
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factor = cruise_control_inverted_power_switch;
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// combined bank angle change rate in degrees per second
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// rate is currently calculated over the most recent CALCCOUNT loops
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// keeping the sign for rate is important, it can be negative
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if (previous_time == 0UL) {
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rate = 0.0f;
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} else {
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// avoid singularity
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if (angle > 89.999f && angle < 90.001f) {
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factor = cruise_control_max_power_factor;
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} else {
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factor = 1.0f / fabsf(cos_lookup_deg(angle));
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if (factor > cruise_control_max_power_factor) {
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factor = cruise_control_max_power_factor;
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// handle wrap around
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// the assumption here is that it's been less than 0x7fffffff since prev_time
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// and thus likewise since time
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// i.e. that casting prev_time to a signed type produces a negative
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if (time >= previous_time) { // the usual case
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rate = (angle - previous_angle) / ((float) (time - previous_time) / 1000000.0f);
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} else { // the wrap around case
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rate = (angle - previous_angle) / ((float) ((uint32_t) ((int32_t) time - (int32_t) previous_time)) / 1000000.0f);
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}
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}
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previous_time = time;
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previous_angle = angle;
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// define "within range" to be those transitions that should be executing now
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// - recall that each impulse transition is spread out over a range of time / angle
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// there is only one transition and the high power level for it is either
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// = full thrust
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// = max power factor
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// = 1/fabsf(cos(angle))
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// OK, you could say there are two transitions in 360 degrees (90 and 270)
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{
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float thrust;
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{
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float full_thrust_angle;
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// calculate angle where thrust is full (as limited by max_thrust)
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full_thrust_angle = RAD2DEG(acosf(cruise_control_max_thrust / actuatorDesired.Thrust));
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// if full thrust comes before the artificially limited max_power_factor
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if (full_thrust_angle < cruise_control_max_power_factor_angle) {
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thrust = cruise_control_max_thrust;
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} else {
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thrust = cruise_control_max_power_factor * actuatorDesired.Thrust;
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// 'full_thrust_angle' is now the angle that goes with 'thrust'
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full_thrust_angle = cruise_control_max_power_factor_angle;
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}
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// if the transition is outside the max thrust regions
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if (full_thrust_angle < cruise_control_max_angle
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|| 180.0f - cruise_control_max_angle < full_thrust_angle ) {
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// max thrust is 1/cos(transition angle)
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thrust = 1.0f / fabsf(cos_lookup_deg(cruise_control_max_angle));
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}
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}
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// determine if we are in range of the transition
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// calculate the actual proportion of change in thrust
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switch (cruise_control_inverted_power_switch) {
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case -3:
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case -2:
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// CP heli case, stroke is max to -max
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// thrust = (thrust + thrust) / (cruise_control_max_thrust + cruise_control_max_thrust);
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thrust /= cruise_control_max_thrust;
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break;
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case -1:
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// CP heli case, stroke is max to -stick
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thrust = (thrust + actuatorDesired.Thrust) / (cruise_control_max_thrust + cruise_control_max_thrust);
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break;
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case 0:
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// normal multi-copter case, stroke is max to min
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thrust = (thrust - cruise_control_min_thrust) / (cruise_control_max_thrust - cruise_control_min_thrust);
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break;
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case 1:
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// simply turn off boost, stroke is max to stick
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thrust = (thrust - actuatorDesired.Thrust) / (cruise_control_max_thrust - cruise_control_min_thrust);
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break;
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case 2:
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// CP heli case, no transition, stroke is zero
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thrust = 0.0f;
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break;
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}
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// multiply this proportion of max stroke, times the max stroke time, to get this stroke time
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// we only want half of this time before the transition (and half after the transition)
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thrust *= cruise_control_half_power_delay;
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// times angular rate gives angle that this stroke will take to execute
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thrust *= fabsf(rate);
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// if the transition is within range we use it, else we just use the current calculated thrust
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if (cruise_control_max_angle - thrust < angle
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&& angle < cruise_control_max_angle + thrust) {
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// default to a little above max angle
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angle = cruise_control_max_angle + 0.01f;
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// if roll direction is downward then thrust value is taken from below max angle
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if (rate < 0.0f) {
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angle -= 0.02f;
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}
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}
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}
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// avoid singularity
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if (angle > 89.999f && angle < 90.001f) {
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factor = cruise_control_max_power_factor;
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} else {
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// the simple bank angle boost calculation that Cruise Control revolves around
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factor = 1.0f / fabsf(cos_lookup_deg(angle));
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// factor in the power trim, no effect at 1.0, linear effect increases with factor
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factor = (factor - 1.0f) * cruise_control_power_trim + 1.0f;
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// if inverted and they want negative boost
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if (angle > 90.0f && cruise_control_inverted_power_switch == (int8_t)-1) {
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factor = -factor;
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// as long as thrust is getting reversed
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// we may as well do pitch and yaw for a complete "invert switch"
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// limit to user specified max power multiplier
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if (factor > cruise_control_max_power_factor) {
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factor = cruise_control_max_power_factor;
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}
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}
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/*
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convert these to enums? something like
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upright power: zero, normal, boosted
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inverted thrust direction: unchanged, reversed
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inverted power: zero, normal, boosted
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inverted yaw/pitch reverse: off, on
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*/
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// if past max angle and so needing to go into an inverted mode
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if (angle >= cruise_control_max_angle) {
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// -3 inverted mode, -2 boosted reverse, -1 normal reverse, 0 zero power, 1 normal power, 2 boosted power
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switch (cruise_control_inverted_power_switch) {
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case -3: // reversed boosted thrust with pitch/yaw reverse
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actuatorDesired.Pitch = -actuatorDesired.Pitch;
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actuatorDesired.Yaw = -actuatorDesired.Yaw;
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factor = -factor;
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break;
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case -2: // reversed boosted thrust
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factor = -factor;
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break;
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case -1: // reversed normal thrust
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factor = -1.0f;
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break;
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case 0: // no thrust
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factor = -0.0f;
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break;
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case 1: // normal thrust
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factor = 1.0f;
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break;
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case 2: // normal boosted thrust
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// no change to factor
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break;
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}
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}
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}
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// also don't adjust thrust if <= 0, leaves neg alone and zero thrust stops motors
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if (actuatorDesired.Thrust > cruise_control_min_thrust) {
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// quad example factor of 2 at hover power of 40%: (0.4 - 0.0) * 2.0 + 0.0 = 0.8
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// CP heli example factor of 2 at hover stick of 60%: (0.6 - 0.5) * 2.0 + 0.5 = 0.7
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actuatorDesired.Thrust = (actuatorDesired.Thrust - cruise_control_neutral_thrust) * factor + cruise_control_neutral_thrust;
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actuatorDesired.Thrust *= factor;
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// limit to user specified absolute max thrust
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if (actuatorDesired.Thrust > cruise_control_max_thrust) {
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actuatorDesired.Thrust = cruise_control_max_thrust;
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} else if (actuatorDesired.Thrust < cruise_control_min_thrust) {
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@ -615,6 +749,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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}
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}
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previous_flight_mode_switch_position = flight_mode_switch_position;
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if (flightStatus.ControlChain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
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ActuatorDesiredSet(&actuatorDesired);
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} else {
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@ -827,13 +963,14 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransistion / 100.0f;
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}
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cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f;
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cruise_control_max_thrust = (float)settings.CruiseControlMaxThrust / 100.0f;
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cruise_control_max_angle = settings.CruiseControlMaxAngle;
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cruise_control_max_power_factor = settings.CruiseControlMaxPowerFactor;
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cruise_control_power_trim = settings.CruiseControlPowerTrim / 100.0f;
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cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch;
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cruise_control_neutral_thrust = (float)settings.CruiseControlNeutralThrust / 100.0f;
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cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f;
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cruise_control_max_thrust = (float)settings.CruiseControlMaxThrust / 100.0f;
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cruise_control_max_angle = settings.CruiseControlMaxAngle;
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cruise_control_max_power_factor = settings.CruiseControlMaxPowerFactor;
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cruise_control_power_trim = settings.CruiseControlPowerTrim / 100.0f;
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cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch;
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cruise_control_half_power_delay = settings.CruiseControlPowerDelayComp / 2.0f;
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cruise_control_max_power_factor_angle = RAD2DEG(acosf(1.0f / settings.CruiseControlMaxPowerFactor));
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memcpy(
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cruise_control_flight_mode_switch_pos_enable,
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@ -40,7 +40,9 @@
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/* EP1 */
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/* rx/tx buffer base address */
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#define ENDP1_TXADDR (0x60)
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#define ENDP1_RXADDR (0x80)
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// fix the F1 USB issue
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//#define ENDP1_RXADDR (0x80)
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#define ENDP1_RXADDR (0xa0)
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/* EP2 */
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/* rx/tx buffer base address */
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@ -13377,7 +13377,6 @@ border-radius: 5;</string>
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</property>
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<property name="decimals">
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<number>5</number>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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@ -19418,7 +19417,6 @@ border-radius: 5;</string>
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</property>
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<property name="autoFillBackground">
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<bool>false</bool>
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</property>
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<property name="styleSheet">
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<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
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@ -19943,7 +19941,6 @@ border-radius: 5;</string>
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<red>39</red>
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<green>39</green>
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<blue>39</blue>
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</color>
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</brush>
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</colorrole>
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@ -21978,7 +21975,6 @@ border-radius: 5;</string>
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</size>
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</property>
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</spacer>
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</item>
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<item row="1" column="3">
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<widget class="QDoubleSpinBox" name="AccelKp">
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@ -24199,7 +24195,7 @@ border-radius: 5;</string>
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<item row="1" column="4">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_6">
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<property name="toolTip">
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<string><html><head/><body><p>-1, 0, or 1. Cruise Control multiplies the throttle/collective stick by this value if the bank angle is past MaxAngle. The default is 0 which says to turn the motors off (actually set them to MinThrust) when inverted. 1 says to use the unboosted stick value. -1 (DON'T USE, INCOMPLETE, UNTESTED, for use by CP helis using idle up) says to reverse the collective stick when inverted.
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<string><html><head/><body><p>-3, -2, -1, 0, 1, or 2. Cruise Control uses this to determine the inverted power mode which is used if the bank angle is past MaxAngle. The default is 0 which says to turn the motors off (actually set them to MinThrust) when inverted. 1 says to use the unboosted stick value. 2 says use the boosted stick value. -1 (UNTESTED, for use by CP helis using idle up) says to reverse the collective channel when inverted. -2 is -1 but boosted. -3 is -2 but with pitch and yaw also inverted.
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</p></body></html></string>
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</property>
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<property name="alignment">
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@ -24212,10 +24208,10 @@ border-radius: 5;</string>
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<number>0</number>
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</property>
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<property name="minimum">
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<double>-1.000000000000000</double>
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<double>-3.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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<double>2.000000000000000</double>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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@ -24345,7 +24341,7 @@ border-radius: 5;</string>
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<item row="3" column="4">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_7">
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<property name="toolTip">
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<string><html><head/><body><p>This needs to be 0 for all copters except CP helis that are using idle up.</p></body></html></string>
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<string><html><head/><body><p>The fraction of a second it takes for your vehicle to go from zero thrust (10%) for multis (full negative thrust (-90%) for CP helis) to full positive thrust (+90%). Increase this if continuous left flips walk off to the left.</p></body></html></string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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@ -24354,12 +24350,21 @@ border-radius: 5;</string>
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<bool>true</bool>
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</property>
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<property name="decimals">
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<number>0</number>
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<number>5</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.250000000000000</double>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:StabilizationSettings</string>
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<string>fieldname:CruiseControlNeutralThrust</string>
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<string>fieldname:CruiseControlPowerDelayComp</string>
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<string>haslimits:no</string>
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<string>scale:1</string>
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<string>buttongroup:16</string>
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@ -24557,7 +24562,7 @@ color: rgb(255, 255, 255);
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border-radius: 5;</string>
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</property>
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<property name="text">
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<string>NeutralThrust</string>
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<string>PowerDelayComp</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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@ -26162,7 +26167,6 @@ border-radius: 5;</string>
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</property>
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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||||
<property name="styleSheet">
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<string notr="true"/>
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@ -30,13 +30,13 @@
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<field name="RattitudeModeTransistion" units="%" type="uint8" elements="1" defaultvalue="80"/>
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<field name="CruiseControlMinThrust" units="%" type="uint8" elements="1" defaultvalue="5"/>
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<field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="90"/>
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<field name="CruiseControlMinThrust" units="%" type="uint8" elements="1" defaultvalue="5"/>
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<field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="90"/>
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<field name="CruiseControlMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="105"/>
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<field name="CruiseControlMaxPowerFactor" units="x" type="float" elements="1" defaultvalue="3.0"/>
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<field name="CruiseControlPowerTrim" units="%" type="float" elements="1" defaultvalue="100.0"/>
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<field name="CruiseControlInvertedPowerSwitch" units="" type="int8" elements="1" defaultvalue="0"/>
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<field name="CruiseControlNeutralThrust" units="%" type="uint8" elements="1" defaultvalue="0"/>
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<field name="CruiseControlPowerDelayComp" units="sec" type="float" elements="1" defaultvalue="0.25"/>
|
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<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
|
||||
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
|
||||
|
||||
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Reference in New Issue
Block a user