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134 lines
4.7 KiB
C
134 lines
4.7 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ManualControl
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* @brief Interpretes the control input in ManualControlCommand
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* @{
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*
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* @file altitudehandler.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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*
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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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#include "inc/manualcontrol.h"
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#include <manualcontrolcommand.h>
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#include <stabilizationbank.h>
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#include <altitudeholddesired.h>
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#include <altitudeholdsettings.h>
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#include <positionstate.h>
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#if defined(REVOLUTION)
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// Private constants
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// Private types
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// Private functions
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/**
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* @brief Handler to control deprecated flight modes controlled by AltitudeHold module
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* @input: ManualControlCommand
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* @output: AltitudeHoldDesired
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*/
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void altitudeHandler(bool newinit)
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{
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const float DEADBAND = 0.20f;
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const float DEADBAND_HIGH = 1.0f / 2 + DEADBAND / 2;
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const float DEADBAND_LOW = 1.0f / 2 - DEADBAND / 2;
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if (newinit) {
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StabilizationBankInitialize();
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AltitudeHoldDesiredInitialize();
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AltitudeHoldSettingsInitialize();
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PositionStateInitialize();
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}
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// this is the max speed in m/s at the extents of thrust
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float thrustRate;
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uint8_t thrustExp;
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static uint8_t flightMode;
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static bool newaltitude = true;
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ManualControlCommandData cmd;
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ManualControlCommandGet(&cmd);
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FlightStatusFlightModeGet(&flightMode);
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AltitudeHoldDesiredData altitudeHoldDesiredData;
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AltitudeHoldDesiredGet(&altitudeHoldDesiredData);
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AltitudeHoldSettingsThrustExpGet(&thrustExp);
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AltitudeHoldSettingsThrustRateGet(&thrustRate);
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StabilizationBankData stabSettings;
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StabilizationBankGet(&stabSettings);
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PositionStateData posState;
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PositionStateGet(&posState);
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altitudeHoldDesiredData.Roll = cmd.Roll * stabSettings.RollMax;
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altitudeHoldDesiredData.Pitch = cmd.Pitch * stabSettings.PitchMax;
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altitudeHoldDesiredData.Yaw = cmd.Yaw * stabSettings.ManualRate.Yaw;
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if (newinit) {
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newaltitude = true;
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}
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uint8_t cutOff;
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AltitudeHoldSettingsCutThrustWhenZeroGet(&cutOff);
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if (cutOff && cmd.Thrust < 0) {
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// Cut thrust if desired
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altitudeHoldDesiredData.SetPoint = cmd.Thrust;
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altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_THRUST;
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newaltitude = true;
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} else if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO && cmd.Thrust > DEADBAND_HIGH) {
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// being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
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// then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255
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altitudeHoldDesiredData.SetPoint = -((thrustExp * powf((cmd.Thrust - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - thrustExp) * (cmd.Thrust - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * thrustRate);
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altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY;
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newaltitude = true;
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} else if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO && cmd.Thrust < DEADBAND_LOW) {
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altitudeHoldDesiredData.SetPoint = -(-(thrustExp * powf((DEADBAND_LOW - (cmd.Thrust < 0 ? 0 : cmd.Thrust)) / DEADBAND_LOW, 3) + (255 - thrustExp) * (DEADBAND_LOW - cmd.Thrust) / DEADBAND_LOW) / 255 * thrustRate);
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altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY;
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newaltitude = true;
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} else if (newaltitude == true) {
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altitudeHoldDesiredData.SetPoint = posState.Down;
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altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_ALTITUDE;
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newaltitude = false;
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}
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AltitudeHoldDesiredSet(&altitudeHoldDesiredData);
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}
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#else /* if defined(REVOLUTION) */
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void altitudeHandler(__attribute__((unused)) bool newinit)
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{
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
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}
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#endif // REVOLUTION
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/**
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* @}
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* @}
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*/
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