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Fixes to PathFollowers
This commit is contained in:
Corvus Corax
parent
e5d5da973a
commit
79b717b4f7
@ -46,7 +46,6 @@
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#include "openpilot.h"
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#include "paths.h"
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#include "fixedwingpathfollower.h"
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#include "accels.h"
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#include "hwsettings.h"
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#include "attitudeactual.h"
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@ -81,7 +80,7 @@
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// Private variables
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static bool followerEnabled = false;
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static xTaskHandle pathfollowerTaskHandle;
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static xQueueHandle queue;
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static PathDesiredData pathDesired;
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static FixedWingPathFollowerSettingsData fixedwingpathfollowerSettings;
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// Private functions
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@ -90,7 +89,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev);
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static void updatePathVelocity();
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static void updateEndpointVelocity();
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static void updateFixedDesiredAttitude();
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static void updateFixedFixedAttitude();
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static void updateFixedAttitude();
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static void baroAirspeedUpdatedCb(UAVObjEvent * ev);
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static float bound(float val, float min, float max);
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@ -118,7 +117,7 @@ int32_t FixedWingPathFollowerInitialize()
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HwSettingsInitialize();
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_VTOLPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_FIXEDWINGPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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followerEnabled = true;
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FixedWingPathFollowerSettingsInitialize();
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FixedWingPathFollowerStatusInitialize();
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@ -184,7 +183,7 @@ static void pathfollowerTask(void *parameters)
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}
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// Continue collecting data if not enough time
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vTaskDelayUntil(&lastUpdateTime, vtolpathfollowerSettings.UpdatePeriod / portTICK_RATE_MS);
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vTaskDelayUntil(&lastUpdateTime, fixedwingpathfollowerSettings.UpdatePeriod / portTICK_RATE_MS);
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FlightStatusGet(&flightStatus);
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@ -196,7 +195,7 @@ static void pathfollowerTask(void *parameters)
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case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
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if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
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updateEndpointVelocity();
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updateVtolDesiredAttitude();
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updateFixedDesiredAttitude();
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
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} else {
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_ERROR);
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@ -206,7 +205,7 @@ static void pathfollowerTask(void *parameters)
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pathStatus.UID = pathDesired.UID;
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pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
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switch(pathDesired.Mode) {
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// TODO: Make updateVtolDesiredAttitude and velocity report success and update PATHSTATUS_STATUS accordingly
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// TODO: Make updateFixedDesiredAttitude and velocity report success and update PATHSTATUS_STATUS accordingly
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case PATHDESIRED_MODE_FLYENDPOINT:
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updateEndpointVelocity();
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updateFixedDesiredAttitude();
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@ -253,7 +252,7 @@ static void pathfollowerTask(void *parameters)
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*/
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static void updatePathVelocity()
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{
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float dT = vtolpathfollowerSettings.UpdatePeriod / 1000.0f;
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//float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
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float downCommand;
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PositionActualData positionActual;
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@ -273,7 +272,7 @@ static void updatePathVelocity()
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velocityDesired.North = progress.path_direction[0] * groundspeed;
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velocityDesired.East = progress.path_direction[1] * groundspeed;
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float error_speed = progress.error * vtolpathfollowerSettings.HorizontalPosP;
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float error_speed = progress.error * fixedwingpathfollowerSettings.HorizontalPosP;
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float correction_velocity[2] = {progress.correction_direction[0] * error_speed,
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progress.correction_direction[1] * error_speed};
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@ -284,10 +283,10 @@ static void updatePathVelocity()
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float total_vel = sqrtf(powf(correction_velocity[0],2) + powf(correction_velocity[1],2));
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float scale = 1;
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if(total_vel > vtolpathfollowerSettings.HorizontalVelMax)
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scale = vtolpathfollowerSettings.HorizontalVelMax / total_vel;
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if (total_vel < vtolpathfollowerSettings.HorizontalVelMin)
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scale = vtolpathfollowerSettings.HorizontalVelMin / total_vel;
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if(total_vel > fixedwingpathfollowerSettings.HorizontalVelMax)
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scale = fixedwingpathfollowerSettings.HorizontalVelMax / total_vel;
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if (total_vel < fixedwingpathfollowerSettings.HorizontalVelMin)
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scale = fixedwingpathfollowerSettings.HorizontalVelMin / total_vel;
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velocityDesired.North += progress.correction_direction[0] * error_speed * scale;
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velocityDesired.East += progress.correction_direction[1] * error_speed * scale;
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@ -296,10 +295,10 @@ static void updatePathVelocity()
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bound(progress.fractional_progress,0,1);
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float downError = altitudeSetpoint - positionActual.Down;
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downCommand = downError * vtolpathfollowerSettings.VerticalPosP;
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downCommand = downError * fixedwingpathfollowerSettings.VerticalPosP;
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velocityDesired.Down = bound(downCommand,
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-vtolpathfollowerSettings.VerticalVelMax,
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vtolpathfollowerSettings.VerticalVelMax);
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-fixedwingpathfollowerSettings.VerticalVelMax,
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fixedwingpathfollowerSettings.VerticalVelMax);
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VelocityDesiredSet(&velocityDesired);
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}
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@ -312,7 +311,7 @@ static void updatePathVelocity()
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*/
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void updateEndpointVelocity()
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{
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float dT = vtolpathfollowerSettings.UpdatePeriod / 1000.0f;
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//float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
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PositionActualData positionActual;
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VelocityDesiredData velocityDesired;
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@ -326,40 +325,35 @@ void updateEndpointVelocity()
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float northCommand;
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float eastCommand;
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float downCommand;
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float northPos = 0, eastPos = 0, downPos = 0;
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northPos = positionActual.North;
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eastPos = positionActual.East;
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downPos = positionActual.Down;
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// Compute commands
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northError = pathDesired.End[PATHDESIRED_END_NORTH] - positionActual.North;
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northCommand = northError * vtolpathfollowerSettings.HorizontalPosP;
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northCommand = northError * fixedwingpathfollowerSettings.HorizontalPosP;
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eastError = pathDesired.End[PATHDESIRED_END_EAST] - eastPos;
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eastCommand = eastError * vtolpathfollowerSettings.HorizontalPosP;
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eastError = pathDesired.End[PATHDESIRED_END_EAST] - positionActual.East;
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eastCommand = eastError * fixedwingpathfollowerSettings.HorizontalPosP;
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// prevent div by zero
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if (fabsf(northCommand)+fabsf(eastCommand) <1e-6) {
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nortCommand=1e-6;
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northCommand=1e-6;
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}
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// Limit the maximum velocity
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float total_vel = sqrtf(powf(northCommand,2) + powf(eastCommand,2));
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float scale = 1;
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if(total_vel > vtolpathfollowerSettings.HorizontalVelMax)
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scale = vtolpathfollowerSettings.HorizontalVelMax / total_vel;
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if (total_vel < vtolpathfollowerSettings.HorizontalVelMin)
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scale = vtolpathfollowerSettings.HorizontalVelMin / total_vel;
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if(total_vel > fixedwingpathfollowerSettings.HorizontalVelMax)
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scale = fixedwingpathfollowerSettings.HorizontalVelMax / total_vel;
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if (total_vel < fixedwingpathfollowerSettings.HorizontalVelMin)
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scale = fixedwingpathfollowerSettings.HorizontalVelMin / total_vel;
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velocityDesired.North = northCommand * scale;
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velocityDesired.East = eastCommand * scale;
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downError = pathDesired.End[PATHDESIRED_END_DOWN] - downPos;
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downCommand = downError * vtolpathfollowerSettings.VerticalPosP;
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downError = pathDesired.End[PATHDESIRED_END_DOWN] - positionActual.Down;
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downCommand = downError * fixedwingpathfollowerSettings.VerticalPosP;
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velocityDesired.Down = bound(downCommand,
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-vtolpathfollowerSettings.VerticalVelMax,
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vtolpathfollowerSettings.VerticalVelMax);
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-fixedwingpathfollowerSettings.VerticalVelMax,
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fixedwingpathfollowerSettings.VerticalVelMax);
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VelocityDesiredSet(&velocityDesired);
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}
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@ -391,7 +385,7 @@ static void updateFixedAttitude(float* attitude)
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*/
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static void updateFixedDesiredAttitude()
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{
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float dT = vtolpathfollowerSettings.UpdatePeriod / 1000.0f;
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float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
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VelocityDesiredData velocityDesired;
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VelocityActualData velocityActual;
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@ -436,89 +430,89 @@ static void updateFixedDesiredAttitude()
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if (courseError<-180.0f) courseError+=360.0f;
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if (courseError>180.0f) courseError-=360.0f;
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courseIntegral = bound(courseIntegral + courseError * dT * fixedwingpathfollowerSettings.CoursePI[GUIDANCESETTINGS_COURSEPI_KI],
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-fixedwingpathfollowerSettings.CoursePI[GUIDANCESETTINGS_COURSEPI_ILIMIT],
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fixedwingpathfollowerSettings.CoursePI[GUIDANCESETTINGS_COURSEPI_ILIMIT]);
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courseCommand = (courseError * fixedwingpathfollowerSettings.CoursePI[GUIDANCESETTINGS_COURSEPI_KP] +
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courseIntegral = bound(courseIntegral + courseError * dT * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KI],
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-fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT],
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fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT]);
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courseCommand = (courseError * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KP] +
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courseIntegral);
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fixedwingpathfollowerStatus.E[GUIDANCESTATUS_E_COURSE] = courseError;
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fixedwingpathfollowerStatus.A[GUIDANCESTATUS_A_COURSE] = courseIntegral;
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fixedwingpathfollowerStatus.C[GUIDANCESTATUS_C_COURSE] = courseCommand;
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fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_COURSE] = courseError;
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fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_COURSE] = courseIntegral;
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fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_COURSE] = courseCommand;
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stabDesired.Roll = bound( fixedwingpathfollowerSettings.RollLimit[GUIDANCESETTINGS_ROLLLIMIT_NEUTRAL] +
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stabDesired.Roll = bound( fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_NEUTRAL] +
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courseCommand,
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fixedwingpathfollowerSettings.RollLimit[GUIDANCESETTINGS_ROLLLIMIT_MIN],
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fixedwingpathfollowerSettings.RollLimit[GUIDANCESETTINGS_ROLLLIMIT_MAX] );
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fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MIN],
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fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MAX] );
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// Compute desired yaw command
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// TODO implement raw control mode for yaw and base on Accels.X
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stabDesired.Yaw = 0;
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// Compute desired speed command TODO: make cruise speed a variable
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speedDesired = fixedwingpathfollowerSettings.CruiseSpeed;
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// Compute desired speed command TODO: find out wind vector and compensate
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speedDesired = sqrtf(velocityDesired.North*velocityDesired.North + velocityDesired.East*velocityDesired.East);
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speedError = speedDesired - speedActual;
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accelDesired = bound( speedError * fixedwingpathfollowerSettings.SpeedP[GUIDANCESETTINGS_SPEEDP_KP],
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-fixedwingpathfollowerSettings.SpeedP[GUIDANCESETTINGS_SPEEDP_MAX],
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fixedwingpathfollowerSettings.SpeedP[GUIDANCESETTINGS_SPEEDP_MAX]);
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accelDesired = bound( speedError * fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_KP],
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-fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_MAX],
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fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_MAX]);
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fixedwingpathfollowerStatus.E[GUIDANCESTATUS_E_SPEED] = speedError;
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fixedwingpathfollowerStatus.A[GUIDANCESTATUS_A_SPEED] = 0.0f;
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fixedwingpathfollowerStatus.C[GUIDANCESTATUS_C_SPEED] = accelDesired;
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fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_SPEED] = speedError;
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fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_SPEED] = 0.0f;
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fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_SPEED] = accelDesired;
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accelError = accelDesired - accels.x;
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accelIntegral = bound(accelIntegral + accelError * dT * fixedwingpathfollowerSettings.AccelPI[GUIDANCESETTINGS_ACCELPI_KI],
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-fixedwingpathfollowerSettings.AccelPI[GUIDANCESETTINGS_ACCELPI_ILIMIT],
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fixedwingpathfollowerSettings.AccelPI[GUIDANCESETTINGS_ACCELPI_ILIMIT]);
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accelCommand = (accelError * fixedwingpathfollowerSettings.AccelPI[GUIDANCESETTINGS_ACCELPI_KP] +
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accelIntegral = bound(accelIntegral + accelError * dT * fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_KI],
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-fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_ILIMIT],
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fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_ILIMIT]);
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accelCommand = (accelError * fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_KP] +
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accelIntegral);
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fixedwingpathfollowerStatus.E[GUIDANCESTATUS_E_ACCEL] = accelError;
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fixedwingpathfollowerStatus.A[GUIDANCESTATUS_A_ACCEL] = accelIntegral;
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fixedwingpathfollowerStatus.C[GUIDANCESTATUS_C_ACCEL] = accelCommand;
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fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_ACCEL] = accelError;
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fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_ACCEL] = accelIntegral;
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fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_ACCEL] = accelCommand;
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stabDesired.Pitch = bound(fixedwingpathfollowerSettings.PitchLimit[GUIDANCESETTINGS_PITCHLIMIT_NEUTRAL] +
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stabDesired.Pitch = bound(fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_NEUTRAL] +
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-accelCommand,
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fixedwingpathfollowerSettings.PitchLimit[GUIDANCESETTINGS_PITCHLIMIT_MIN],
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fixedwingpathfollowerSettings.PitchLimit[GUIDANCESETTINGS_PITCHLIMIT_MAX]);
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fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MIN],
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fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MAX]);
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// Compute desired power command
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powerError = -( velocityDesired.Down - velocityActual.Down ) * fixedwingpathfollowerSettings.ClimbRateBoostFactor + speedError;
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powerIntegral = bound(powerIntegral + powerError * dT * fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_KI],
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-fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_ILIMIT],
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fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_ILIMIT]);
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powerCommand = (powerError * fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_KP] +
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powerIntegral) + fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_NEUTRAL];
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powerIntegral = bound(powerIntegral + powerError * dT * fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_KI],
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-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
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fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
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powerCommand = (powerError * fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_KP] +
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powerIntegral) + fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_NEUTRAL];
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// prevent integral running out of bounds
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if ( powerCommand > fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_MAX]) {
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if ( powerCommand > fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX]) {
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powerIntegral = bound(
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powerIntegral -
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( powerCommand
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- fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_MAX]),
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-fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_ILIMIT],
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fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_ILIMIT]);
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powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_MAX];
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- fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX]),
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-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
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fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
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powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX];
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}
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if ( powerCommand < fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_MIN]) {
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if ( powerCommand < fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN]) {
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powerIntegral = bound(
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powerIntegral -
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( powerCommand
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- fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_MIN]),
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-fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_ILIMIT],
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fixedwingpathfollowerSettings.PowerPI[GUIDANCESETTINGS_POWERPI_ILIMIT]);
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powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[GUIDANCESETTINGS_THROTTLELIMIT_MIN];
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- fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN]),
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-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
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fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
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powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN];
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}
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fixedwingpathfollowerStatus.E[GUIDANCESTATUS_E_POWER] = powerError;
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fixedwingpathfollowerStatus.A[GUIDANCESTATUS_A_POWER] = powerIntegral;
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fixedwingpathfollowerStatus.C[GUIDANCESTATUS_C_POWER] = powerCommand;
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fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_POWER] = powerError;
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fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_POWER] = powerIntegral;
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fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_POWER] = powerCommand;
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// set throttle
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stabDesired.Throttle = powerCommand;
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if(fixedwingpathfollowerSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_FALSE) {
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if(fixedwingpathfollowerSettings.ThrottleControl == FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
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// For now override throttle with manual control. Disable at your risk, quad goes to China.
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ManualControlCommandData manualControl;
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ManualControlCommandGet(&manualControl);
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@ -528,7 +522,7 @@ static void updateFixedDesiredAttitude()
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|
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
|
||||
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_NONE;
|
||||
|
||||
StabilizationDesiredSet(&stabDesired);
|
||||
|
||||
@ -551,7 +545,7 @@ static float bound(float val, float min, float max)
|
||||
|
||||
static void SettingsUpdatedCb(UAVObjEvent * ev)
|
||||
{
|
||||
VtolPathFollowerSettingsGet(&vtolpathfollowerSettings);
|
||||
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
|
||||
PathDesiredGet(&pathDesired);
|
||||
}
|
||||
|
||||
|
||||
@ -280,7 +280,7 @@ static void updatePathVelocity()
|
||||
velocityDesired.North = progress.path_direction[0] * groundspeed;
|
||||
velocityDesired.East = progress.path_direction[1] * groundspeed;
|
||||
|
||||
float error_speed = progress.error * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP];
|
||||
float error_speed = progress.error * vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP];
|
||||
float correction_velocity[2] = {progress.correction_direction[0] * error_speed,
|
||||
progress.correction_direction[1] * error_speed};
|
||||
|
||||
@ -296,10 +296,10 @@ static void updatePathVelocity()
|
||||
bound(progress.fractional_progress,0,1);
|
||||
|
||||
float downError = altitudeSetpoint - positionActual.Down;
|
||||
downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]);
|
||||
downCommand = (downError * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
|
||||
downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT]);
|
||||
downCommand = (downError * vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
|
||||
velocityDesired.Down = bound(downCommand,
|
||||
-vtolpathfollowerSettings.VerticalVelMax,
|
||||
vtolpathfollowerSettings.VerticalVelMax);
|
||||
@ -332,12 +332,12 @@ void updateEndpointVelocity()
|
||||
|
||||
float northPos = 0, eastPos = 0, downPos = 0;
|
||||
switch (vtolpathfollowerSettings.PositionSource) {
|
||||
case GUIDANCESETTINGS_POSITIONSOURCE_EKF:
|
||||
case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_EKF:
|
||||
northPos = positionActual.North;
|
||||
eastPos = positionActual.East;
|
||||
downPos = positionActual.Down;
|
||||
break;
|
||||
case GUIDANCESETTINGS_POSITIONSOURCE_GPSPOS:
|
||||
case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_GPSPOS:
|
||||
{
|
||||
NEDPositionData nedPosition;
|
||||
NEDPositionGet(&nedPosition);
|
||||
@ -353,17 +353,17 @@ void updateEndpointVelocity()
|
||||
|
||||
// Compute desired north command
|
||||
northError = pathDesired.End[PATHDESIRED_END_NORTH] - northPos;
|
||||
northPosIntegral = bound(northPosIntegral + northError * dT * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
|
||||
northCommand = (northError * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
|
||||
northPosIntegral = bound(northPosIntegral + northError * dT * vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT]);
|
||||
northCommand = (northError * vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP] +
|
||||
northPosIntegral);
|
||||
|
||||
eastError = pathDesired.End[PATHDESIRED_END_EAST] - eastPos;
|
||||
eastPosIntegral = bound(eastPosIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
|
||||
eastCommand = (eastError * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
|
||||
eastPosIntegral = bound(eastPosIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT]);
|
||||
eastCommand = (eastError * vtolpathfollowerSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP] +
|
||||
eastPosIntegral);
|
||||
|
||||
// Limit the maximum velocity
|
||||
@ -376,10 +376,10 @@ void updateEndpointVelocity()
|
||||
velocityDesired.East = eastCommand * scale;
|
||||
|
||||
downError = pathDesired.End[PATHDESIRED_END_DOWN] - downPos;
|
||||
downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]);
|
||||
downCommand = (downError * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
|
||||
downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KI],
|
||||
-vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT],
|
||||
vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT]);
|
||||
downCommand = (downError * vtolpathfollowerSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
|
||||
velocityDesired.Down = bound(downCommand,
|
||||
-vtolpathfollowerSettings.VerticalVelMax,
|
||||
vtolpathfollowerSettings.VerticalVelMax);
|
||||
@ -447,12 +447,12 @@ static void updateVtolDesiredAttitude()
|
||||
|
||||
float northVel = 0, eastVel = 0, downVel = 0;
|
||||
switch (vtolpathfollowerSettings.VelocitySource) {
|
||||
case GUIDANCESETTINGS_VELOCITYSOURCE_EKF:
|
||||
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_EKF:
|
||||
northVel = velocityActual.North;
|
||||
eastVel = velocityActual.East;
|
||||
downVel = velocityActual.Down;
|
||||
break;
|
||||
case GUIDANCESETTINGS_VELOCITYSOURCE_NEDVEL:
|
||||
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_NEDVEL:
|
||||
{
|
||||
GPSVelocityData gpsVelocity;
|
||||
GPSVelocityGet(&gpsVelocity);
|
||||
@ -461,7 +461,7 @@ static void updateVtolDesiredAttitude()
|
||||
downVel = gpsVelocity.Down;
|
||||
}
|
||||
break;
|
||||
case GUIDANCESETTINGS_VELOCITYSOURCE_GPSPOS:
|
||||
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_GPSPOS:
|
||||
{
|
||||
GPSPositionData gpsPosition;
|
||||
GPSPositionGet(&gpsPosition);
|
||||
@ -482,34 +482,34 @@ static void updateVtolDesiredAttitude()
|
||||
|
||||
// Compute desired north command
|
||||
northError = velocityDesired.North - northVel;
|
||||
northVelIntegral = bound(northVelIntegral + northError * dT * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI],
|
||||
-vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]);
|
||||
northCommand = (northError * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] +
|
||||
northVelIntegral = bound(northVelIntegral + northError * dT * vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KI],
|
||||
-vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT]);
|
||||
northCommand = (northError * vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KP] +
|
||||
northVelIntegral -
|
||||
nedAccel.North * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] +
|
||||
nedAccel.North * vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD] +
|
||||
velocityDesired.North * vtolpathfollowerSettings.VelocityFeedforward);
|
||||
|
||||
// Compute desired east command
|
||||
eastError = velocityDesired.East - eastVel;
|
||||
eastVelIntegral = bound(eastVelIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI],
|
||||
-vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]);
|
||||
eastCommand = (eastError * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] +
|
||||
eastVelIntegral = bound(eastVelIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KI],
|
||||
-vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT],
|
||||
vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT]);
|
||||
eastCommand = (eastError * vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KP] +
|
||||
eastVelIntegral -
|
||||
nedAccel.East * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] +
|
||||
nedAccel.East * vtolpathfollowerSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD] +
|
||||
velocityDesired.East * vtolpathfollowerSettings.VelocityFeedforward);
|
||||
|
||||
// Compute desired down command
|
||||
downError = velocityDesired.Down - downVel;
|
||||
// Must flip this sign
|
||||
downError = -downError;
|
||||
downVelIntegral = bound(downVelIntegral + downError * dT * vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KI],
|
||||
-vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT],
|
||||
vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT]);
|
||||
downCommand = (downError * vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KP] +
|
||||
downVelIntegral = bound(downVelIntegral + downError * dT * vtolpathfollowerSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_KI],
|
||||
-vtolpathfollowerSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_ILIMIT],
|
||||
vtolpathfollowerSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_ILIMIT]);
|
||||
downCommand = (downError * vtolpathfollowerSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_KP] +
|
||||
downVelIntegral -
|
||||
nedAccel.Down * vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KD]);
|
||||
nedAccel.Down * vtolpathfollowerSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_KD]);
|
||||
|
||||
stabDesired.Throttle = bound(downCommand + throttleOffset, 0, 1);
|
||||
|
||||
@ -522,7 +522,7 @@ static void updateVtolDesiredAttitude()
|
||||
eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
|
||||
-vtolpathfollowerSettings.MaxRollPitch, vtolpathfollowerSettings.MaxRollPitch);
|
||||
|
||||
if(vtolpathfollowerSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_FALSE) {
|
||||
if(vtolpathfollowerSettings.ThrottleControl == VTOLPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
|
||||
// For now override throttle with manual control. Disable at your risk, quad goes to China.
|
||||
ManualControlCommandData manualControl;
|
||||
ManualControlCommandGet(&manualControl);
|
||||
|
||||
@ -53,6 +53,9 @@ FLASH_TOOL = OPENOCD
|
||||
|
||||
# List of modules to include
|
||||
MODULES = ManualControl Stabilization GPS
|
||||
MODULES += PathPlanner
|
||||
MODULES += FixedWingPathFollower
|
||||
MODULES += VtolPathFollower
|
||||
MODULES += CameraStab
|
||||
MODULES += Telemetry
|
||||
#MODULES += OveroSync
|
||||
@ -131,6 +134,7 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
SRC += $(FLIGHTLIB)/WorldMagModel.c
|
||||
SRC += $(FLIGHTLIB)/insgps13state.c
|
||||
SRC += $(FLIGHTLIB)/taskmonitor.c
|
||||
SRC += $(FLIGHTLIB)/paths.c
|
||||
|
||||
## PIOS Hardware (STM32F4xx)
|
||||
include $(PIOS)/posix/library.mk
|
||||
|
||||
@ -36,6 +36,7 @@ UAVOBJSRCFILENAMES += gyrosbias
|
||||
UAVOBJSRCFILENAMES += accels
|
||||
UAVOBJSRCFILENAMES += magnetometer
|
||||
UAVOBJSRCFILENAMES += baroaltitude
|
||||
UAVOBJSRCFILENAMES += baroairspeed
|
||||
UAVOBJSRCFILENAMES += flightbatterysettings
|
||||
UAVOBJSRCFILENAMES += firmwareiapobj
|
||||
UAVOBJSRCFILENAMES += flightbatterystate
|
||||
@ -58,6 +59,7 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
|
||||
UAVOBJSRCFILENAMES += mixersettings
|
||||
UAVOBJSRCFILENAMES += mixerstatus
|
||||
UAVOBJSRCFILENAMES += nedaccel
|
||||
UAVOBJSRCFILENAMES += nedposition
|
||||
UAVOBJSRCFILENAMES += objectpersistence
|
||||
UAVOBJSRCFILENAMES += overosyncstats
|
||||
UAVOBJSRCFILENAMES += pathaction
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user