mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
101 lines
4.7 KiB
C
101 lines
4.7 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup StabilizationModule Stabilization Module
|
|
* @brief cruisecontrol mode
|
|
* @note This file implements the logic for a cruisecontrol
|
|
* @{
|
|
*
|
|
* @file cruisecontrol.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
|
* @brief Attitude stabilization module.
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#include <openpilot.h>
|
|
#include <stabilization.h>
|
|
#include <attitudestate.h>
|
|
|
|
static float cruisecontrol_factor = 1.0f;
|
|
|
|
void cruisecontrol_compute_factor(AttitudeStateData *attitude)
|
|
{
|
|
// safe CPU, only execute every 8th attitude update
|
|
static uint8_t cpusafer = 0;
|
|
|
|
if (cpusafer++ % (8 / OUTERLOOP_SKIPCOUNT)) {
|
|
return;
|
|
}
|
|
float angleCosine;
|
|
|
|
// get attitude state and calculate angle
|
|
// spherical right triangle
|
|
// 0 <= acosf() <= Pi
|
|
|
|
// angle = RAD2DEG(acosf(cos_lookup_deg(attitudeState.Roll) * cos_lookup_deg(attitudeState.Pitch)));
|
|
// more efficient calculation: see coordinateconversion.h Quaternion2R()
|
|
angleCosine = (attitude->q1 * attitude->q1) - (attitude->q2 * attitude->q2) - (attitude->q3 * attitude->q3) + (attitude->q4 * attitude->q4);
|
|
|
|
// if past the cutoff angle (60 to 180 (180 means never))
|
|
if (angleCosine < stabSettings.cruiseControl.cruise_control_max_angle_cosine) {
|
|
// -1 reversed collective, 0 zero power, or 1 normal power
|
|
// these are all unboosted
|
|
cruisecontrol_factor = stabSettings.cruiseControl.cruise_control_inverted_power_switch;
|
|
} else {
|
|
// avoid singularity
|
|
if (angleCosine > -1e-4f && angleCosine < 1e-4f) {
|
|
cruisecontrol_factor = stabSettings.cruiseControl.cruise_control_max_power_factor;
|
|
} else {
|
|
cruisecontrol_factor = boundf(1.0f / angleCosine,
|
|
-stabSettings.cruiseControl.cruise_control_max_power_factor,
|
|
stabSettings.cruiseControl.cruise_control_max_power_factor);
|
|
}
|
|
// factor in the power trim, no effect at 1.0, linear effect increases with factor
|
|
cruisecontrol_factor = (cruisecontrol_factor - 1.0f) * stabSettings.cruiseControl.cruise_control_power_trim + 1.0f;
|
|
// if inverted and they want negative boost
|
|
if (angleCosine < 0.0f && stabSettings.cruiseControl.cruise_control_inverted_power_switch == (int8_t)-1) {
|
|
cruisecontrol_factor = -cruisecontrol_factor;
|
|
// WARNING: might not go well together with power_trim adjustment above, WARNING: might have bad side effects regarding wound up integral accumulators in all 3 axis at transition stage!
|
|
// as long as thrust is getting reversed
|
|
// we may as well do pitch and yaw for a complete "invert switch"
|
|
// WARNING: currently not implementable in this control scheme, needs to be done elsewhere!
|
|
// actuatorDesired.Pitch = -actuatorDesired.Pitch;
|
|
// actuatorDesired.Yaw = -actuatorDesired.Yaw;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
float cruisecontrol_apply_factor(float raw)
|
|
{
|
|
if (stabSettings.cruiseControl.cruise_control_max_power_factor > 0.0001f) {
|
|
// don't adjust thrust if <= 0, leaves neg alone and zero thrust stops motors
|
|
if (raw > stabSettings.cruiseControl.cruise_control_min_thrust) {
|
|
// quad example factor of 2 at hover power of 40%: (0.4 - 0.0) * 2.0 + 0.0 = 0.8
|
|
// CP heli example factor of 2 at hover stick of 60%: (0.6 - 0.5) * 2.0 + 0.5 = 0.7
|
|
raw = boundf((raw - stabSettings.cruiseControl.cruise_control_neutral_thrust) * cruisecontrol_factor + stabSettings.cruiseControl.cruise_control_neutral_thrust,
|
|
stabSettings.cruiseControl.cruise_control_min_thrust,
|
|
stabSettings.cruiseControl.cruise_control_max_thrust);
|
|
}
|
|
}
|
|
return raw;
|
|
}
|