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293 lines
11 KiB
C++
293 lines
11 KiB
C++
/*
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******************************************************************************
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*
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* @file vtollandcontroller.cpp
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Vtol landing controller loop
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* @see The GNU Public License (GPL) Version 3
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* @addtogroup LibrePilot LibrePilotModules Modules PathFollower Navigation
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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 <math.h>
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#include <pid.h>
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#include <alarms.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 "vtollandcontroller.h"
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#include "pathfollowerfsm.h"
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#include "vtollandfsm.h"
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#include "pidcontroldown.h"
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// Private constants
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// pointer to a singleton instance
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VtolLandController *VtolLandController::p_inst = 0;
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VtolLandController::VtolLandController()
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: fsm(NULL), vtolPathFollowerSettings(NULL), mActive(false)
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{}
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// Called when mode first engaged
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void VtolLandController::Activate(void)
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{
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if (!mActive) {
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mActive = true;
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mOverride = true;
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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 VtolLandController::IsActive(void)
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{
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return mActive;
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}
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uint8_t VtolLandController::Mode(void)
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{
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return PATHDESIRED_MODE_LAND;
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}
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// Objective updated in pathdesired, e.g. same flight mode but new target velocity
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void VtolLandController::ObjectiveUpdated(void)
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{
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if (mOverride) {
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// override pathDesired from PathPLanner with current position,
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// as we deliberately don' not care about the location of the waypoints on the map
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float velocity_down;
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PositionStateData positionState;
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PositionStateGet(&positionState);
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FlightModeSettingsLandingVelocityGet(&velocity_down);
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controlDown.UpdateVelocitySetpoint(velocity_down);
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controlNE.UpdateVelocitySetpoint(0.0f, 0.0f);
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controlNE.UpdatePositionSetpoint(positionState.North, positionState.East);
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mOverride = false; // further updates always come from ManualControl and will control horizontal position
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} else {
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// Set the objective's target velocity
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controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN]);
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controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH],
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pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST]);
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controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
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}
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}
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void VtolLandController::Deactivate(void)
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{
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if (mActive) {
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mActive = 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 VtolLandController::SettingsUpdated(void)
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{
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const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
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controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
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vtolPathFollowerSettings->HorizontalVelPID.Ki,
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vtolPathFollowerSettings->HorizontalVelPID.Kd,
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vtolPathFollowerSettings->HorizontalVelPID.Beta,
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dT,
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vtolPathFollowerSettings->HorizontalVelMax);
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controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
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controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
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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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vtolPathFollowerSettings->VerticalVelMax);
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// The following is not currently used in the landing control.
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controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
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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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// initialise limits on thrust but note the FSM can override.
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controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
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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 VtolLandController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
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{
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PIOS_Assert(ptr_vtolPathFollowerSettings);
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if (fsm == 0) {
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fsm = (PathFollowerFSM *)VtolLandFSM::instance();
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VtolLandFSM::instance()->Initialize(ptr_vtolPathFollowerSettings, pathDesired, flightStatus);
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vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
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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 VtolLandController::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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controlDown.UpdateVelocityState(velocityState.Down);
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controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
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// Implement optional horizontal position hold.
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if ((((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) ||
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(flightStatus->ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE)) {
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// landing flight mode has stored original horizontal position in pathdesired
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PositionStateData positionState;
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PositionStateGet(&positionState);
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controlNE.UpdatePositionState(positionState.North, positionState.East);
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controlNE.ControlPosition();
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}
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velocityDesired.Down = controlDown.GetVelocityDesired();
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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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// update pathstatus
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pathStatus->error = 0.0f;
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pathStatus->fractional_progress = 0.0f;
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if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
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pathStatus->fractional_progress = 1.0f;
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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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pathStatus->correction_direction_down = velocityDesired.Down - velocityState.Down;
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VelocityDesiredSet(&velocityDesired);
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}
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int8_t VtolLandController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
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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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stabDesired.Thrust = controlDown.GetDownCommand();
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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->MaxRollPitch;
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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);
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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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if (yaw_attitude) {
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.Yaw = yaw_direction;
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} else {
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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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}
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// default thrust mode to cruise control
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stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
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fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
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StabilizationDesiredSet(&stabDesired);
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return result;
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}
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void VtolLandController::UpdateAutoPilot()
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{
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fsm->Update();
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UpdateVelocityDesired();
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// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
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bool yaw_attitude = false;
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float yaw = 0.0f;
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fsm->GetYaw(yaw_attitude, yaw);
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int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
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if (result) {
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
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} else {
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pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
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}
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PathStatusSet(pathStatus);
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}
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