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OP-1259 WIP to merge next in locally
This commit is contained in:
Cliff Geerdes
parent
6d7d10caba
commit
81f31e64a9
@ -113,6 +113,7 @@ 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_max_power_factor_angle;
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static float cruise_control_half_power_delay;
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static float cruise_control_thrust_difference;
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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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@ -122,6 +123,9 @@ static void ZeroPids(void);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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static void BankUpdatedCb(UAVObjEvent *ev);
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static void SettingsBankUpdatedCb(UAVObjEvent *ev);
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static float CruiseControlAngleToFactor(float angle);
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static float CruiseControlFactorToThrust(float factor, float stick_thrust);
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static float CruiseControlLimitThrust(float thrust);
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/**
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* Module initialization
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@ -433,7 +437,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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#define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f
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// the following assumes the transition would otherwise be at 0.618033989f
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// and that assumes that Att ramps up to max roll rate
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// and THAT assumes that Att ramps up to max roll rate
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// when a small number of degrees off of where it should be
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// if below the transition angle (still in attitude mode)
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@ -441,21 +445,24 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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if (magnitude <= rattitude_mode_transition_stick_position) {
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magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position;
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} else {
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magnitude = (magnitude - rattitude_mode_transition_stick_position) * (1.0f-STICK_VALUE_AT_MODE_TRANSITION) / (1.0f - rattitude_mode_transition_stick_position) + STICK_VALUE_AT_MODE_TRANSITION;
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magnitude = (magnitude - rattitude_mode_transition_stick_position)
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* (1.0f-STICK_VALUE_AT_MODE_TRANSITION)
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/ (1.0f - rattitude_mode_transition_stick_position)
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+ STICK_VALUE_AT_MODE_TRANSITION;
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}
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rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude
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+ magnitude * rateDesiredAxisRate;
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// Compute the inner loop for the averaged rate
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// actuatorDesiredAxis[i] is the weighted average
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor,
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rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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break;
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}
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case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
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// Store for debugging output
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rateDesiredAxis[i] = stabDesiredAxis[i];
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@ -564,42 +571,47 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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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 float factor;
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static float previous_angle;
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static uint32_t previous_time;
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static bool previous_time_valid; // initially false
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static bool inverted_flight_mode;
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static uint8_t calc_count;
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float angle;
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static uint8_t previous_flight_mode_switch_position;
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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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// flight mode has changed. there could be a time gap. leave thrust alone.
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// angle could be invalid because of the time spent with CC off
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// if (cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != cruise_control_flight_mode_switch_pos_enable[previous_flight_mode_switch_position]) {
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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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previous_flight_mode_switch_position = flight_mode_switch_position;
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// flag to skip delay comp calculations and just use thrust as it is
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// because time diff may be invalid
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previous_time_valid = false;
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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 (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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if ((time != previous_time && calc_count++ >= 8) || previous_time_valid == false) {
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float angle;
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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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// 0 <= acosf() <= Pi(180)
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angle = RAD2DEG(acosf(cos_lookup_deg(attitudeState.Roll) * cos_lookup_deg(attitudeState.Pitch)));
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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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// it may be that the angle doesn't change at all between two consecutive passes
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// because the sensors aren't read that often
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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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if (previous_time_valid) {
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float rate;
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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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@ -609,98 +621,94 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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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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// 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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// 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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if (actuatorDesired.Thrust > 0.0f) {
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float max_thrust;
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// calculate the max positive thrust at the transition
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// <5% t<5
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// 5.01% 19.3
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// 10% 38.6
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// 50% max
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// 100% max
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thrust = CruiseControlFactorToThrust(CruiseControlAngleToFactor(cruise_control_max_angle), actuatorDesired.Thrust);
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/*
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revisit all the GCS settings
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51 <= maxt <= 100
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No (0 <= mint <= 49 plus -51 -> -100)
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0 <= mint <= 49 or maybe -100 -> 49
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1 <= mpf <= 50
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50 <= trim <= 200
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?? <= maxa <= 255?
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0 <= pdc <= 2?
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*/
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// determine if we are in range of the transition
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//CP helis go -max to +max and have min set to 0 and max to +1
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//min_thrust is defined to be where the power goes when inverted
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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_thrust_difference;
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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 + CruiseControlLimitThrust(actuatorDesired.Thrust)) / cruise_control_thrust_difference;
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break;
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case 0:
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// normal multi-copter case, stroke is max to zero
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// technically max to constant min_thrust
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// can be used by CP
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thrust = (thrust - cruise_control_min_thrust) / cruise_control_thrust_difference;
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//shit, cruise_control_thrust_difference is a problem, maybe remove it
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//thrust_difference is always max-min, and now for CP it needs to be max+max here
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//maybe not a problem since we don't limit thrust on the negative side any more
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//CP: max=1.0, min=-1.0 diff=2.0
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//MR: max=0.9, min=0.1 diff=0.8
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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 - CruiseControlLimitThrust(actuatorDesired.Thrust)) / cruise_control_thrust_difference;
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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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// 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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// 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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// 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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factor = CruiseControlAngleToFactor(angle);
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} else { // if thrust > 0 set factor from angle; else
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factor = 1.0f;
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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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// 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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@ -709,47 +717,46 @@ 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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inverted_flight_mode = false;
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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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inverted_flight_mode = true;
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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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}
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} // if previous_time_valid i.e. we've got a rate; else leave (angle and) factor alone
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previous_time = time;
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previous_time_valid = true;
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previous_angle = angle;
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} // every 8th time
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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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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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actuatorDesired.Thrust = cruise_control_min_thrust;
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}
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// don't touch thrust if it's less than min_thrust
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// without this test, props will spin up to min thrust even at zero throttle stick
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actuatorDesired.Thrust = CruiseControlFactorToThrust(factor, actuatorDesired.Thrust);
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if (inverted_flight_mode) {
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actuatorDesired.Pitch = -actuatorDesired.Pitch;
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actuatorDesired.Yaw = -actuatorDesired.Yaw;
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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 Cruise Control is enabled on this flight switch position
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if (flightStatus.ControlChain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
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ActuatorDesiredSet(&actuatorDesired);
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@ -920,6 +927,54 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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}
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static float CruiseControlAngleToFactor(float angle)
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{
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float factor;
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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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// 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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return (factor);
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}
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// assumes 1.0 <= factor <= 100.0
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// a factor of less than 1.0 could make it return a value less than cruise_control_min_thrust
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static float CruiseControlFactorToThrust(float factor, float thrust)
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{
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// don't touch if below min_thrust or we never get to full down stick
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// e.g. multicopter motors always spin
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if (thrust > cruise_control_min_thrust) {
|
||||
thrust = CruiseControlLimitThrust(thrust * factor);
|
||||
}
|
||||
return (thrust);
|
||||
}
|
||||
|
||||
|
||||
// we don't want to limit it to cruise_control_min_thrust on the low side
|
||||
// because that is always close to zero, and CP helis need to run down to -1
|
||||
// but CP needs to have min=-1
|
||||
static float CruiseControlLimitThrust(float thrust)
|
||||
{
|
||||
// limit to user specified absolute max thrust
|
||||
if (thrust > cruise_control_max_thrust) {
|
||||
thrust = cruise_control_max_thrust;
|
||||
// } else if (thrust < cruise_control_min_thrust) {
|
||||
// thrust = cruise_control_min_thrust;
|
||||
}
|
||||
return (thrust);
|
||||
}
|
||||
|
||||
|
||||
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
{
|
||||
StabilizationSettingsGet(&settings);
|
||||
@ -957,10 +1012,10 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
cur_flight_mode = -1;
|
||||
|
||||
// Rattitude stick angle where the attitude to rate transition happens
|
||||
if (settings.RattitudeModeTransistion < (uint8_t) 10) {
|
||||
if (settings.RattitudeModeTransition < (uint8_t) 10) {
|
||||
rattitude_mode_transition_stick_position = 10.0f / 100.0f;
|
||||
} else {
|
||||
rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransistion / 100.0f;
|
||||
rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransition / 100.0f;
|
||||
}
|
||||
|
||||
cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f;
|
||||
@ -971,6 +1026,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch;
|
||||
cruise_control_half_power_delay = settings.CruiseControlPowerDelayComp / 2.0f;
|
||||
cruise_control_max_power_factor_angle = RAD2DEG(acosf(1.0f / settings.CruiseControlMaxPowerFactor));
|
||||
cruise_control_thrust_difference = cruise_control_max_thrust - cruise_control_min_thrust;
|
||||
|
||||
memcpy(
|
||||
cruise_control_flight_mode_switch_pos_enable,
|
||||
|
||||
@ -13377,6 +13377,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
@ -19417,6 +19418,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>false</bool>
|
||||
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<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));
|
||||
@ -19941,6 +19943,7 @@ border-radius: 5;</string>
|
||||
<red>39</red>
|
||||
<green>39</green>
|
||||
<blue>39</blue>
|
||||
|
||||
</color>
|
||||
</brush>
|
||||
</colorrole>
|
||||
@ -21975,6 +21978,7 @@ border-radius: 5;</string>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<widget class="QDoubleSpinBox" name="AccelKp">
|
||||
@ -24004,7 +24008,7 @@ border-radius: 5;</string>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="RattitudeModeTransistion">
|
||||
<widget class="QDoubleSpinBox" name="RattitudeModeTransition">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
@ -24050,7 +24054,7 @@ border-radius: 5;</string>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:RattitudeModeTransistion</string>
|
||||
<string>fieldname:RattitudeModeTransition</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:15</string>
|
||||
|
||||
@ -28,7 +28,7 @@
|
||||
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
|
||||
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
|
||||
|
||||
<field name="RattitudeModeTransistion" units="%" type="uint8" elements="1" defaultvalue="80"/>
|
||||
<field name="RattitudeModeTransition" units="%" type="uint8" elements="1" defaultvalue="80"/>
|
||||
|
||||
<field name="CruiseControlMinThrust" units="%" type="uint8" elements="1" defaultvalue="5"/>
|
||||
<field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="90"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user