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https://bitbucket.org/librepilot/librepilot.git
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7d603bc6cb
Set assisted control state to HOLD when Brake controller transitions to HOLD. This impacts throttle stick behavior as it is different during braking and on brake completion in the hold state. Also cleanuped and removed unused/old code that triggered HOLD in plans.c
373 lines
14 KiB
C++
373 lines
14 KiB
C++
/*
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******************************************************************************
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*
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* @file vtolbrakecontroller.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief This landing state machine is a helper state machine to the
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* pathfollower task/thread to implement detailed landing controls.
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* This is to be called only from the pathfollower task.
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* Note that initiation of the land occurs in the manual control
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* command thread calling plans.c plan_setup_land which writes
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* the required PathDesired LAND mode.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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extern "C" {
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#include <openpilot.h>
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#include <callbackinfo.h>
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#include <math.h>
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#include <pid.h>
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#include <CoordinateConversions.h>
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#include <sin_lookup.h>
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#include <pathdesired.h>
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#include <paths.h>
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#include "plans.h"
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#include <sanitycheck.h>
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#include <accelstate.h>
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#include <vtolpathfollowersettings.h>
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#include <flightstatus.h>
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#include <flightmodesettings.h>
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#include <pathstatus.h>
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#include <positionstate.h>
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#include <velocitystate.h>
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#include <velocitydesired.h>
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#include <stabilizationdesired.h>
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#include <attitudestate.h>
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#include <takeofflocation.h>
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#include <manualcontrolcommand.h>
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#include <systemsettings.h>
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#include <stabilizationbank.h>
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#include <stabilizationdesired.h>
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#include <vtolselftuningstats.h>
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#include <pathsummary.h>
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}
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// C++ includes
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#include "vtolbrakecontroller.h"
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#include "pathfollowerfsm.h"
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#include "vtolbrakefsm.h"
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#include "pidcontroldown.h"
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// Private constants
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#define BRAKE_RATE_MINIMUM 0.2f
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// pointer to a singleton instance
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VtolBrakeController *VtolBrakeController::p_inst = 0;
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VtolBrakeController::VtolBrakeController()
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: fsm(0), vtolPathFollowerSettings(0), mActive(false), mHoldActive(false), mManualThrust(false)
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{}
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// Called when mode first engaged
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void VtolBrakeController::Activate(void)
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{
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if (!mActive) {
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mActive = true;
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mHoldActive = false;
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mManualThrust = false;
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SettingsUpdated();
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fsm->Activate();
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controlDown.Activate();
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controlNE.Activate();
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}
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}
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uint8_t VtolBrakeController::IsActive(void)
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{
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return mActive;
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}
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uint8_t VtolBrakeController::Mode(void)
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{
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return PATHDESIRED_MODE_BRAKE;
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}
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// Objective updated in pathdesired
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void VtolBrakeController::ObjectiveUpdated(void)
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{
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// Set the objective's target velocity
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controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN]);
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controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH],
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pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST]);
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if (pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] > 0.0f) {
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pathStatus->path_time = 0.0f;
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}
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}
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void VtolBrakeController::Deactivate(void)
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{
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if (mActive) {
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mActive = false;
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mHoldActive = false;
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mManualThrust = false;
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fsm->Inactive();
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controlDown.Deactivate();
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controlNE.Deactivate();
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}
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}
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void VtolBrakeController::SettingsUpdated(void)
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{
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const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
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controlNE.UpdateParameters(vtolPathFollowerSettings->BrakeHorizontalVelPID.Kp,
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vtolPathFollowerSettings->BrakeHorizontalVelPID.Ki,
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vtolPathFollowerSettings->BrakeHorizontalVelPID.Kd,
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vtolPathFollowerSettings->BrakeHorizontalVelPID.Beta,
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dT,
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10.0f * vtolPathFollowerSettings->HorizontalVelMax); // avoid constraining initial fast entry into brake
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controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
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controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->BrakeMaxPitch, vtolPathFollowerSettings->BrakeMaxPitch, vtolPathFollowerSettings->BrakeVelocityFeedforward);
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controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
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vtolPathFollowerSettings->LandVerticalVelPID.Ki,
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vtolPathFollowerSettings->LandVerticalVelPID.Kd,
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vtolPathFollowerSettings->LandVerticalVelPID.Beta,
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dT,
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10.0f * vtolPathFollowerSettings->VerticalVelMax); // avoid constraining initial fast entry into brake
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controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
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controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
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VtolSelfTuningStatsData vtolSelfTuningStats;
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VtolSelfTuningStatsGet(&vtolSelfTuningStats);
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controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
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fsm->SettingsUpdated();
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t VtolBrakeController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
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{
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PIOS_Assert(ptr_vtolPathFollowerSettings);
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vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
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if (fsm == 0) {
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VtolBrakeFSM::instance()->Initialize(vtolPathFollowerSettings, pathDesired, flightStatus, pathStatus);
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fsm = (PathFollowerFSM *)VtolBrakeFSM::instance();
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controlDown.Initialize(fsm);
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}
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return 0;
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}
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void VtolBrakeController::UpdateVelocityDesired()
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{
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VelocityStateData velocityState;
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VelocityStateGet(&velocityState);
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VelocityDesiredData velocityDesired;
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float brakeRate = vtolPathFollowerSettings->BrakeRate;
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if (brakeRate < BRAKE_RATE_MINIMUM) {
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brakeRate = BRAKE_RATE_MINIMUM; // set a minimum to avoid a divide by zero potential below
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}
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if (fsm->PositionHoldState()) {
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PositionStateData positionState;
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PositionStateGet(&positionState);
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// On first engagement set the position setpoint
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if (!mHoldActive) {
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mHoldActive = true;
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controlNE.UpdatePositionSetpoint(positionState.North, positionState.East);
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if (!mManualThrust) {
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controlDown.UpdatePositionSetpoint(positionState.Down);
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}
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FlightStatusFlightModeAssistOptions flightModeAssist;
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FlightStatusFlightModeAssistGet(&flightModeAssist);
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if (flightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
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// Notify manualcommand via setting hold state in flightstatus assistedcontrolstate
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FlightStatusAssistedControlStateOptions assistedControlFlightMode;
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FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
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// sanity check that we are in brake state according to flight status, which means
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// we are being used for gpsassist
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if (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE) {
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assistedControlFlightMode = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD;
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FlightStatusAssistedControlStateSet(&assistedControlFlightMode);
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}
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}
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}
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// Update position state and control position to create inputs to velocity control
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controlNE.UpdatePositionState(positionState.North, positionState.East);
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controlNE.ControlPosition();
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if (!mManualThrust) {
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controlDown.UpdatePositionState(positionState.Down);
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controlDown.ControlPosition();
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}
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controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
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if (!mManualThrust) {
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controlDown.UpdateVelocityState(velocityState.Down);
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}
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} else {
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controlNE.UpdateVelocityStateWithBrake(velocityState.North, velocityState.East, pathStatus->path_time, brakeRate);
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if (!mManualThrust) {
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controlDown.UpdateVelocityStateWithBrake(velocityState.Down, pathStatus->path_time, brakeRate);
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}
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}
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if (!mManualThrust) {
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velocityDesired.Down = controlDown.GetVelocityDesired();
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} else { velocityDesired.Down = 0.0f; }
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float north, east;
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controlNE.GetVelocityDesired(&north, &east);
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velocityDesired.North = north;
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velocityDesired.East = east;
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VelocityDesiredSet(&velocityDesired);
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// update pathstatus
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float cur_velocity = velocityState.North * velocityState.North + velocityState.East * velocityState.East + velocityState.Down * velocityState.Down;
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cur_velocity = sqrtf(cur_velocity);
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float desired_velocity = velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East + velocityDesired.Down * velocityDesired.Down;
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desired_velocity = sqrtf(desired_velocity);
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pathStatus->error = cur_velocity - desired_velocity;
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pathStatus->fractional_progress = 1.0f;
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if (pathDesired->StartingVelocity > 0.0f) {
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pathStatus->fractional_progress = (pathDesired->StartingVelocity - cur_velocity) / pathDesired->StartingVelocity;
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// sometimes current velocity can exceed starting velocity due to initial acceleration
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if (pathStatus->fractional_progress < 0.0f) {
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pathStatus->fractional_progress = 0.0f;
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}
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}
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pathStatus->path_direction_north = velocityDesired.North;
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pathStatus->path_direction_east = velocityDesired.East;
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pathStatus->path_direction_down = velocityDesired.Down;
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pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
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pathStatus->correction_direction_east = velocityDesired.East - velocityState.East;
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}
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int8_t VtolBrakeController::UpdateStabilizationDesired(void)
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{
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uint8_t result = 1;
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StabilizationDesiredData stabDesired;
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AttitudeStateData attitudeState;
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StabilizationBankData stabSettings;
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float northCommand;
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float eastCommand;
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StabilizationDesiredGet(&stabDesired);
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AttitudeStateGet(&attitudeState);
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StabilizationBankGet(&stabSettings);
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controlNE.GetNECommand(&northCommand, &eastCommand);
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float angle_radians = DEG2RAD(attitudeState.Yaw);
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float cos_angle = cosf(angle_radians);
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float sine_angle = sinf(angle_radians);
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float maxPitch = vtolPathFollowerSettings->BrakeMaxPitch;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch); // this should be in the controller
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
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ManualControlCommandData manualControl;
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ManualControlCommandGet(&manualControl);
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
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stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
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// default thrust mode to cruise control
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stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
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// when flight mode assist is active but in primary-thrust mode, the thrust mode must be set to the same as per the primary mode.
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if (flightStatus->FlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST) {
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FlightModeSettingsData settings;
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FlightModeSettingsGet(&settings);
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uint8_t thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
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switch (flightStatus->FlightMode) {
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
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thrustMode = settings.Stabilization1Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
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thrustMode = settings.Stabilization2Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
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thrustMode = settings.Stabilization3Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
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thrustMode = settings.Stabilization4Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
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thrustMode = settings.Stabilization5Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
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thrustMode = settings.Stabilization6Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
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// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
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// is a more appropriate throttle mode. "GPSAssist" adds braking
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// and a better throttle management to the standard Position Hold.
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thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
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break;
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default:
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break;
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}
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stabDesired.StabilizationMode.Thrust = (StabilizationDesiredStabilizationModeOptions)thrustMode;
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}
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// set the thrust value
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if (mManualThrust) {
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stabDesired.Thrust = manualControl.Thrust;
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} else {
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stabDesired.Thrust = controlDown.GetDownCommand();
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}
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StabilizationDesiredSet(&stabDesired);
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return result;
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}
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void VtolBrakeController::UpdateAutoPilot()
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{
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if (pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] > 0.0f) {
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pathStatus->path_time += vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
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}
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if (flightStatus->FlightModeAssist && flightStatus->AssistedThrottleState == FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL) {
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mManualThrust = true;
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} else {
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mManualThrust = false;
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}
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fsm->Update(); // This will run above end condition checks
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UpdateVelocityDesired();
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int8_t result = UpdateStabilizationDesired();
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if (!result) {
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fsm->Abort(); // enter PH
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}
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PathStatusSet(pathStatus);
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}
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