mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-03 11:24:10 +01:00
569 lines
21 KiB
C
569 lines
21 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file fixedwingpathfollower.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
|
|
* and sets @ref AttitudeDesired. It only does this when the FlightMode field
|
|
* of @ref ManualControlCommand is Auto.
|
|
*
|
|
* @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
|
|
*/
|
|
|
|
/**
|
|
* Input object: ActiveWaypoint
|
|
* Input object: PositionActual
|
|
* Input object: ManualControlCommand
|
|
* Output object: AttitudeDesired
|
|
*
|
|
* This module will periodically update the value of the AttitudeDesired object.
|
|
*
|
|
* The module executes in its own thread in this example.
|
|
*
|
|
* Modules have no API, all communication to other modules is done through UAVObjects.
|
|
* However modules may use the API exposed by shared libraries.
|
|
* See the OpenPilot wiki for more details.
|
|
* http://www.openpilot.org/OpenPilot_Application_Architecture
|
|
*
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
#include "paths.h"
|
|
|
|
#include "accels.h"
|
|
#include "hwsettings.h"
|
|
#include "attitudeactual.h"
|
|
#include "pathdesired.h" // object that will be updated by the module
|
|
#include "positionactual.h"
|
|
#include "manualcontrol.h"
|
|
#include "flightstatus.h"
|
|
#include "pathstatus.h"
|
|
#include "baroairspeed.h"
|
|
#include "gpsvelocity.h"
|
|
#include "gpsposition.h"
|
|
#include "fixedwingpathfollowersettings.h"
|
|
#include "fixedwingpathfollowerstatus.h"
|
|
#include "homelocation.h"
|
|
#include "nedposition.h"
|
|
#include "stabilizationdesired.h"
|
|
#include "stabilizationsettings.h"
|
|
#include "systemsettings.h"
|
|
#include "velocitydesired.h"
|
|
#include "velocityactual.h"
|
|
#include "CoordinateConversions.h"
|
|
|
|
// Private constants
|
|
#define MAX_QUEUE_SIZE 4
|
|
#define STACK_SIZE_BYTES 1548
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
|
|
#define F_PI 3.14159265358979323846f
|
|
#define RAD2DEG (180.0f/F_PI)
|
|
#define GEE 9.81f
|
|
// Private types
|
|
|
|
// Private variables
|
|
static bool followerEnabled = false;
|
|
static xTaskHandle pathfollowerTaskHandle;
|
|
static PathDesiredData pathDesired;
|
|
static FixedWingPathFollowerSettingsData fixedwingpathfollowerSettings;
|
|
|
|
// Private functions
|
|
static void pathfollowerTask(void *parameters);
|
|
static void SettingsUpdatedCb(UAVObjEvent * ev);
|
|
static void updatePathVelocity();
|
|
static void updateEndpointVelocity();
|
|
static void updateFixedDesiredAttitude();
|
|
static void updateFixedAttitude();
|
|
static void baroAirspeedUpdatedCb(UAVObjEvent * ev);
|
|
static float bound(float val, float min, float max);
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t FixedWingPathFollowerStart()
|
|
{
|
|
if (followerEnabled) {
|
|
// Start main task
|
|
xTaskCreate(pathfollowerTask, (signed char *)"PathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
|
|
TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t FixedWingPathFollowerInitialize()
|
|
{
|
|
HwSettingsInitialize();
|
|
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
|
|
HwSettingsOptionalModulesGet(optionalModules);
|
|
if (optionalModules[HWSETTINGS_OPTIONALMODULES_FIXEDWINGPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
|
|
followerEnabled = true;
|
|
FixedWingPathFollowerSettingsInitialize();
|
|
FixedWingPathFollowerStatusInitialize();
|
|
PathDesiredInitialize();
|
|
PathStatusInitialize();
|
|
VelocityDesiredInitialize();
|
|
BaroAirspeedInitialize();
|
|
} else {
|
|
followerEnabled = false;
|
|
}
|
|
return 0;
|
|
}
|
|
MODULE_INITCALL(FixedWingPathFollowerInitialize, FixedWingPathFollowerStart)
|
|
|
|
static float northVelIntegral = 0;
|
|
static float eastVelIntegral = 0;
|
|
static float downVelIntegral = 0;
|
|
|
|
static float courseIntegral = 0;
|
|
static float speedIntegral = 0;
|
|
static float accelIntegral = 0;
|
|
static float powerIntegral = 0;
|
|
static uint8_t positionHoldLast = 0;
|
|
|
|
// correct speed by measured airspeed
|
|
static float baroAirspeedBias = 0;
|
|
|
|
/**
|
|
* Module thread, should not return.
|
|
*/
|
|
static void pathfollowerTask(void *parameters)
|
|
{
|
|
SystemSettingsData systemSettings;
|
|
FlightStatusData flightStatus;
|
|
PathStatusData pathStatus;
|
|
|
|
portTickType lastUpdateTime;
|
|
|
|
BaroAirspeedConnectCallback(baroAirspeedUpdatedCb);
|
|
FixedWingPathFollowerSettingsConnectCallback(SettingsUpdatedCb);
|
|
PathDesiredConnectCallback(SettingsUpdatedCb);
|
|
|
|
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
|
|
PathDesiredGet(&pathDesired);
|
|
|
|
// Main task loop
|
|
lastUpdateTime = xTaskGetTickCount();
|
|
while (1) {
|
|
|
|
// Conditions when this runs:
|
|
// 1. Must have FixedWing type airframe
|
|
// 2. Flight mode is PositionHold and PathDesired.Mode is Endpoint OR
|
|
// FlightMode is PathPlanner and PathDesired.Mode is Endpoint or Path
|
|
|
|
SystemSettingsGet(&systemSettings);
|
|
if ( (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING) &&
|
|
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON) &&
|
|
(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL) )
|
|
{
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING);
|
|
vTaskDelay(1000);
|
|
continue;
|
|
}
|
|
|
|
// Continue collecting data if not enough time
|
|
vTaskDelayUntil(&lastUpdateTime, fixedwingpathfollowerSettings.UpdatePeriod / portTICK_RATE_MS);
|
|
|
|
|
|
FlightStatusGet(&flightStatus);
|
|
PathStatusGet(&pathStatus);
|
|
|
|
// Check the combinations of flightmode and pathdesired mode
|
|
switch(flightStatus.FlightMode) {
|
|
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
|
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
|
|
if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
|
|
updateEndpointVelocity();
|
|
updateFixedDesiredAttitude();
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
|
|
} else {
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_ERROR);
|
|
}
|
|
break;
|
|
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
|
|
pathStatus.UID = pathDesired.UID;
|
|
pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
|
|
switch(pathDesired.Mode) {
|
|
// TODO: Make updateFixedDesiredAttitude and velocity report success and update PATHSTATUS_STATUS accordingly
|
|
case PATHDESIRED_MODE_FLYENDPOINT:
|
|
updateEndpointVelocity();
|
|
updateFixedDesiredAttitude();
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
|
|
break;
|
|
case PATHDESIRED_MODE_FLYVECTOR:
|
|
updatePathVelocity();
|
|
updateFixedDesiredAttitude();
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
|
|
break;
|
|
case PATHDESIRED_MODE_FIXEDATTITUDE:
|
|
updateFixedAttitude(pathDesired.ModeParameters);
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
|
|
break;
|
|
case PATHDESIRED_MODE_DISARMALARM:
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_CRITICAL);
|
|
break;
|
|
default:
|
|
pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_ERROR);
|
|
break;
|
|
}
|
|
break;
|
|
default:
|
|
// Be cleaner and get rid of global variables
|
|
northVelIntegral = 0;
|
|
eastVelIntegral = 0;
|
|
downVelIntegral = 0;
|
|
courseIntegral = 0;
|
|
speedIntegral = 0;
|
|
accelIntegral = 0;
|
|
powerIntegral = 0;
|
|
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Compute desired velocity from the current position and path
|
|
*
|
|
* Takes in @ref PositionActual and compares it to @ref PathDesired
|
|
* and computes @ref VelocityDesired
|
|
*/
|
|
static void updatePathVelocity()
|
|
{
|
|
//float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
|
|
float downCommand;
|
|
|
|
PositionActualData positionActual;
|
|
PositionActualGet(&positionActual);
|
|
|
|
float cur[3] = {positionActual.North, positionActual.East, positionActual.Down};
|
|
struct path_status progress;
|
|
|
|
path_progress(pathDesired.Start, pathDesired.End, cur, &progress);
|
|
|
|
float groundspeed = pathDesired.StartingVelocity +
|
|
(pathDesired.EndingVelocity - pathDesired.StartingVelocity) * progress.fractional_progress;
|
|
if(progress.fractional_progress > 1)
|
|
groundspeed = pathDesired.EndingVelocity;
|
|
|
|
VelocityDesiredData velocityDesired;
|
|
velocityDesired.North = progress.path_direction[0] * groundspeed;
|
|
velocityDesired.East = progress.path_direction[1] * groundspeed;
|
|
|
|
float error_speed = progress.error * fixedwingpathfollowerSettings.HorizontalPosP;
|
|
float correction_velocity[2] = {progress.correction_direction[0] * error_speed,
|
|
progress.correction_direction[1] * error_speed};
|
|
|
|
// prevent div by zero
|
|
if (fabsf(correction_velocity[0])+fabsf(correction_velocity[1]) <1e-6) {
|
|
correction_velocity[0]=1e-6;
|
|
}
|
|
|
|
float total_vel = sqrtf(powf(correction_velocity[0],2) + powf(correction_velocity[1],2));
|
|
float scale = 1;
|
|
if(total_vel > fixedwingpathfollowerSettings.HorizontalVelMax)
|
|
scale = fixedwingpathfollowerSettings.HorizontalVelMax / total_vel;
|
|
if (total_vel < fixedwingpathfollowerSettings.HorizontalVelMin)
|
|
scale = fixedwingpathfollowerSettings.HorizontalVelMin / total_vel;
|
|
|
|
velocityDesired.North += progress.correction_direction[0] * error_speed * scale;
|
|
velocityDesired.East += progress.correction_direction[1] * error_speed * scale;
|
|
|
|
float altitudeSetpoint = pathDesired.Start[2] + (pathDesired.End[2] - pathDesired.Start[2]) *
|
|
bound(progress.fractional_progress,0,1);
|
|
|
|
float downError = altitudeSetpoint - positionActual.Down;
|
|
downCommand = downError * fixedwingpathfollowerSettings.VerticalPosP;
|
|
velocityDesired.Down = bound(downCommand,
|
|
-fixedwingpathfollowerSettings.VerticalVelMax,
|
|
fixedwingpathfollowerSettings.VerticalVelMax);
|
|
|
|
VelocityDesiredSet(&velocityDesired);
|
|
}
|
|
|
|
/**
|
|
* Compute desired velocity from the current position
|
|
*
|
|
* Takes in @ref PositionActual and compares it to @ref PositionDesired
|
|
* and computes @ref VelocityDesired
|
|
*/
|
|
void updateEndpointVelocity()
|
|
{
|
|
//float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
|
|
|
|
PositionActualData positionActual;
|
|
VelocityDesiredData velocityDesired;
|
|
|
|
PositionActualGet(&positionActual);
|
|
VelocityDesiredGet(&velocityDesired);
|
|
|
|
float northError;
|
|
float eastError;
|
|
float downError;
|
|
float northCommand;
|
|
float eastCommand;
|
|
float downCommand;
|
|
|
|
// Compute commands
|
|
northError = pathDesired.End[PATHDESIRED_END_NORTH] - positionActual.North;
|
|
northCommand = northError * fixedwingpathfollowerSettings.HorizontalPosP;
|
|
|
|
eastError = pathDesired.End[PATHDESIRED_END_EAST] - positionActual.East;
|
|
eastCommand = eastError * fixedwingpathfollowerSettings.HorizontalPosP;
|
|
|
|
// prevent div by zero
|
|
if (fabsf(northCommand)+fabsf(eastCommand) <1e-6) {
|
|
northCommand=1e-6;
|
|
}
|
|
|
|
// Limit the maximum velocity
|
|
float total_vel = sqrtf(powf(northCommand,2) + powf(eastCommand,2));
|
|
float scale = 1;
|
|
if(total_vel > fixedwingpathfollowerSettings.HorizontalVelMax)
|
|
scale = fixedwingpathfollowerSettings.HorizontalVelMax / total_vel;
|
|
if (total_vel < fixedwingpathfollowerSettings.HorizontalVelMin)
|
|
scale = fixedwingpathfollowerSettings.HorizontalVelMin / total_vel;
|
|
|
|
velocityDesired.North = northCommand * scale;
|
|
velocityDesired.East = eastCommand * scale;
|
|
|
|
downError = pathDesired.End[PATHDESIRED_END_DOWN] - positionActual.Down;
|
|
downCommand = downError * fixedwingpathfollowerSettings.VerticalPosP;
|
|
velocityDesired.Down = bound(downCommand,
|
|
-fixedwingpathfollowerSettings.VerticalVelMax,
|
|
fixedwingpathfollowerSettings.VerticalVelMax);
|
|
|
|
VelocityDesiredSet(&velocityDesired);
|
|
}
|
|
|
|
/**
|
|
* Compute desired attitude from a fixed preset
|
|
*
|
|
*/
|
|
static void updateFixedAttitude(float* attitude)
|
|
{
|
|
StabilizationDesiredData stabDesired;
|
|
StabilizationDesiredGet(&stabDesired);
|
|
stabDesired.Roll = attitude[0];
|
|
stabDesired.Pitch = attitude[1];
|
|
stabDesired.Yaw = attitude[2];
|
|
stabDesired.Throttle = attitude[3];
|
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
|
|
StabilizationDesiredSet(&stabDesired);
|
|
}
|
|
|
|
/**
|
|
* Compute desired attitude from the desired velocity
|
|
*
|
|
* Takes in @ref NedActual which has the acceleration in the
|
|
* NED frame as the feedback term and then compares the
|
|
* @ref VelocityActual against the @ref VelocityDesired
|
|
*/
|
|
static void updateFixedDesiredAttitude()
|
|
{
|
|
float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
|
|
|
|
VelocityDesiredData velocityDesired;
|
|
VelocityActualData velocityActual;
|
|
StabilizationDesiredData stabDesired;
|
|
AttitudeActualData attitudeActual;
|
|
AccelsData accels;
|
|
FixedWingPathFollowerSettingsData fixedwingpathfollowerSettings;
|
|
StabilizationSettingsData stabSettings;
|
|
FixedWingPathFollowerStatusData fixedwingpathfollowerStatus;
|
|
|
|
float courseError;
|
|
float courseCommand;
|
|
|
|
float speedError;
|
|
float accelCommand;
|
|
|
|
float speedActual;
|
|
float speedDesired;
|
|
float accelDesired;
|
|
float accelError;
|
|
|
|
float powerError;
|
|
float powerCommand;
|
|
|
|
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
|
|
|
|
FixedWingPathFollowerStatusGet(&fixedwingpathfollowerStatus);
|
|
|
|
VelocityActualGet(&velocityActual);
|
|
VelocityDesiredGet(&velocityDesired);
|
|
StabilizationDesiredGet(&stabDesired);
|
|
VelocityDesiredGet(&velocityDesired);
|
|
AttitudeActualGet(&attitudeActual);
|
|
AccelsGet(&accels);
|
|
StabilizationSettingsGet(&stabSettings);
|
|
|
|
// current speed - lacking forward airspeed we use groundspeed :(
|
|
speedActual = sqrtf(velocityActual.East*velocityActual.East + velocityActual.North*velocityActual.North + velocityActual.Down*velocityActual.Down ) + baroAirspeedBias;
|
|
|
|
// Compute desired roll command
|
|
courseError = RAD2DEG * (atan2f(velocityDesired.East,velocityDesired.North) - atan2f(velocityActual.East,velocityActual.North));
|
|
if (courseError<-180.0f) courseError+=360.0f;
|
|
if (courseError>180.0f) courseError-=360.0f;
|
|
|
|
courseIntegral = bound(courseIntegral + courseError * dT * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KI],
|
|
-fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT],
|
|
fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT]);
|
|
courseCommand = (courseError * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KP] +
|
|
courseIntegral);
|
|
|
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_COURSE] = courseError;
|
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_COURSE] = courseIntegral;
|
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_COURSE] = courseCommand;
|
|
|
|
stabDesired.Roll = bound( fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_NEUTRAL] +
|
|
courseCommand,
|
|
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MIN],
|
|
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MAX] );
|
|
|
|
// Compute desired yaw command
|
|
// TODO implement raw control mode for yaw and base on Accels.X
|
|
stabDesired.Yaw = 0;
|
|
|
|
// Compute desired speed command TODO: find out wind vector and compensate
|
|
speedDesired = sqrtf(velocityDesired.North*velocityDesired.North + velocityDesired.East*velocityDesired.East);
|
|
speedError = speedDesired - speedActual;
|
|
|
|
accelDesired = bound( speedError * fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_KP],
|
|
-fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_MAX],
|
|
fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_MAX]);
|
|
|
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_SPEED] = speedError;
|
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_SPEED] = 0.0f;
|
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_SPEED] = accelDesired;
|
|
|
|
accelError = accelDesired - accels.x;
|
|
accelIntegral = bound(accelIntegral + accelError * dT * fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_KI],
|
|
-fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_ILIMIT],
|
|
fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_ILIMIT]);
|
|
accelCommand = (accelError * fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_KP] +
|
|
accelIntegral);
|
|
|
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_ACCEL] = accelError;
|
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_ACCEL] = accelIntegral;
|
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_ACCEL] = accelCommand;
|
|
|
|
stabDesired.Pitch = bound(fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_NEUTRAL] +
|
|
-accelCommand,
|
|
fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MIN],
|
|
fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MAX]);
|
|
|
|
// Compute desired power command
|
|
powerError = -( velocityDesired.Down - velocityActual.Down ) * fixedwingpathfollowerSettings.ClimbRateBoostFactor + speedError;
|
|
powerIntegral = bound(powerIntegral + powerError * dT * fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_KI],
|
|
-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
|
|
fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
|
|
powerCommand = (powerError * fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_KP] +
|
|
powerIntegral) + fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_NEUTRAL];
|
|
|
|
// prevent integral running out of bounds
|
|
if ( powerCommand > fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX]) {
|
|
powerIntegral = bound(
|
|
powerIntegral -
|
|
( powerCommand
|
|
- fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX]),
|
|
-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
|
|
fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
|
|
powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX];
|
|
}
|
|
if ( powerCommand < fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN]) {
|
|
powerIntegral = bound(
|
|
powerIntegral -
|
|
( powerCommand
|
|
- fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN]),
|
|
-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
|
|
fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
|
|
powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN];
|
|
}
|
|
|
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_POWER] = powerError;
|
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_POWER] = powerIntegral;
|
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_POWER] = powerCommand;
|
|
|
|
// set throttle
|
|
stabDesired.Throttle = powerCommand;
|
|
|
|
if(fixedwingpathfollowerSettings.ThrottleControl == FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
|
|
// For now override throttle with manual control. Disable at your risk, quad goes to China.
|
|
ManualControlCommandData manualControl;
|
|
ManualControlCommandGet(&manualControl);
|
|
stabDesired.Throttle = manualControl.Throttle;
|
|
}
|
|
//printf("Cycle: speed Error: %f\n powerError: %f\n accelCommand: %f\n powerCommand: %f\n\n",speedError,powerError,accelCommand,powerCommand);
|
|
|
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_NONE;
|
|
|
|
StabilizationDesiredSet(&stabDesired);
|
|
|
|
FixedWingPathFollowerStatusSet(&fixedwingpathfollowerStatus);
|
|
}
|
|
|
|
|
|
/**
|
|
* Bound input value between limits
|
|
*/
|
|
static float bound(float val, float min, float max)
|
|
{
|
|
if (val < min) {
|
|
val = min;
|
|
} else if (val > max) {
|
|
val = max;
|
|
}
|
|
return val;
|
|
}
|
|
|
|
static void SettingsUpdatedCb(UAVObjEvent * ev)
|
|
{
|
|
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
|
|
PathDesiredGet(&pathDesired);
|
|
}
|
|
|
|
static void baroAirspeedUpdatedCb(UAVObjEvent * ev)
|
|
{
|
|
|
|
BaroAirspeedData baroAirspeed;
|
|
VelocityActualData velocityActual;
|
|
|
|
BaroAirspeedGet(&baroAirspeed);
|
|
if (baroAirspeed.Connected != BAROAIRSPEED_CONNECTED_TRUE) {
|
|
baroAirspeedBias = 0;
|
|
} else {
|
|
VelocityActualGet(&velocityActual);
|
|
float speed = sqrtf(velocityActual.East*velocityActual.East + velocityActual.North*velocityActual.North + velocityActual.Down*velocityActual.Down );
|
|
|
|
baroAirspeedBias = baroAirspeed.Airspeed - speed;
|
|
}
|
|
|
|
}
|