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Code Issues Wiki Activity

Added baseThrottleCorrection calculated from moving average pitch

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This commit is contained in:
Airwide 2020-09-27 23:20:42 +02:00
parent 517fcd0bf6
commit d6d6127310
1 changed files with 19 additions and 16 deletions
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35
src/main/navigation/navigation_fixedwing.c
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@ -51,8 +51,8 @@
#include "rx/rx.h"
// Base frequencies for smoothing pitch and roll
#define NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ 2.0f
// Base frequencies for smoothing pitch and roll
#define NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ 2.0f
#define NAV_FW_BASE_ROLL_CUTOFF_FREQUENCY_HZ 10.0f
// If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
@ -70,9 +70,9 @@ static bool isAutoThrottleManuallyIncreased = false;
static int32_t navHeadingError;
static int8_t loiterDirYaw = 1;
// Calculates the cutoff frequency for smoothing out roll/pitch commands
// Calculates the cutoff frequency for smoothing out roll/pitch commands
// control_smoothness valid range from 0 to 9
// resulting cutoff_freq ranging from baseFreq downwards to ~0.11Hz
// resulting cutoff_freq ranging from baseFreq downwards to ~0.11Hz
static float getSmoothnessCutoffFreq(float baseFreq)
{
uint16_t smoothness = 10 - navConfig()->fw.control_smoothness;
@ -205,7 +205,7 @@ static fpVector3_t virtualDesiredPosition;
static pt1Filter_t fwPosControllerCorrectionFilterState;
/*
* TODO Currently this function resets both FixedWing and Rover & Boat position controller
* TODO Currently this function resets both FixedWing and Rover & Boat position controller
*/
void resetFixedWingPositionController(void)
{
@ -300,9 +300,9 @@ float processHeadingYawController(timeDelta_t deltaMicros, int32_t navHeadingErr
const pidControllerFlags_e yawPidFlags = errorIsDecreasing ? PID_SHRINK_INTEGRATOR : 0;
const float yawAdjustment = navPidApply2(
&posControl.pids.fw_heading,
0,
applyDeadband(navHeadingError, navConfig()->fw.yawControlDeadband * 100),
&posControl.pids.fw_heading,
0,
applyDeadband(navHeadingError, navConfig()->fw.yawControlDeadband * 100),
US2S(deltaMicros),
-limit,
limit,
@ -463,17 +463,20 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
int16_t fixedWingPitchToThrottleCorrection(int16_t pitch)
{
if (pitch > navConfig()->fw.pitch_to_throttle_thresh) {
// Positive pitch above threshold
return DECIDEGREES_TO_DEGREES(pitch - navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
// Calculate base throttle correction from pitch moving average
const int16_t movingAverageCycles = 128; //Number of main loop cycles for average calculation
static int16_t averagePitch = (averagePitch * movingAverageCycles + pitch - averagePitch) / movingAverageCycles;
const int16_t baseThrottleCorrection = DECIDEGREES_TO_DEGREES(averagePitch) * navConfig()->fw.pitch_to_throttle;
// Calculate final throttle correction
if (pitch > (averagePitch + navConfig()->fw.pitch_to_throttle_thresh)) {
return baseThrottleCorrection + DECIDEGREES_TO_DEGREES(pitch - averagePitch - navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
}
else if (pitch < -navConfig()->fw.pitch_to_throttle_thresh) {
// Negative pitch below threshold
return DECIDEGREES_TO_DEGREES(pitch + navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
else if (pitch < (averagePitch - navConfig()->fw.pitch_to_throttle_thresh)) {
return baseThrottleCorrection + DECIDEGREES_TO_DEGREES(pitch - averagePitch + navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
}
else {
// Inside pitch_to_throttle_thresh deadband. Make no throttle correction.
return 0;
return baseThrottleCorrection;
}
}