mirror of
https://github.com/iNavFlight/inav.git
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596 lines
26 KiB
C
Executable file
596 lines
26 KiB
C
Executable file
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include "build_config.h"
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#include "platform.h"
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#include "debug.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/filter.h"
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#include "drivers/system.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/boardalignment.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "io/rc_curves.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/navigation_rewrite.h"
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#include "flight/navigation_rewrite_private.h"
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#include "flight/failsafe.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#if defined(NAV)
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/*-----------------------------------------------------------
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* Backdoor to MW heading controller
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*-----------------------------------------------------------*/
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extern int16_t magHold;
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/*-----------------------------------------------------------
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* Altitude controller for multicopter aircraft
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*-----------------------------------------------------------*/
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static int16_t rcCommandAdjustedThrottle;
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static int16_t altHoldThrottleRCZero = 1500;
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static filterStatePt1_t altholdThrottleFilterState;
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/* Calculate global altitude setpoint based on surface setpoint */
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static void updateSurfaceTrackingAltitudeSetpoint(uint32_t deltaMicros)
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{
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/* If we have a surface offset target and a valid surface offset reading - recalculate altitude target */
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if (posControl.flags.isTerrainFollowEnabled && posControl.desiredState.surface >= 0) {
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if (posControl.actualState.surface >= 0 && posControl.flags.hasValidSurfaceSensor) {
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float targetAltitudeError = navPidApply2(posControl.desiredState.surface, posControl.actualState.surface, US2S(deltaMicros), &posControl.pids.surface, -25.0f, +25.0f, false);
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posControl.desiredState.pos.V.Z = posControl.actualState.pos.V.Z + targetAltitudeError;
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}
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else {
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// TODO: We are possible above valid range, we now descend down to attempt to get back within range
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//updateAltitudeTargetFromClimbRate(-0.10f * posControl.navConfig->emerg_descent_rate, CLIMB_RATE_KEEP_SURFACE_TARGET);
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updateAltitudeTargetFromClimbRate(-20.0f, CLIMB_RATE_KEEP_SURFACE_TARGET);
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}
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}
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#if defined(NAV_BLACKBOX)
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navTargetPosition[Z] = constrain(lrintf(posControl.desiredState.pos.V.Z), -32678, 32767);
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#endif
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}
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// Position to velocity controller for Z axis
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static void updateAltitudeVelocityController_MC(uint32_t deltaMicros)
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{
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float altitudeError = posControl.desiredState.pos.V.Z - posControl.actualState.pos.V.Z;
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float targetVel = altitudeError * posControl.pids.pos[Z].param.kP;
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// hard limit desired target velocity to +/- 20 m/s
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targetVel = constrainf(targetVel, -2000.0f, 2000.0f);
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// limit max vertical acceleration 250 cm/s/s - reach the max 20 m/s target in 80 seconds
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float maxVelDifference = US2S(deltaMicros) * 250.0f;
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posControl.desiredState.vel.V.Z = constrainf(targetVel, posControl.desiredState.vel.V.Z - maxVelDifference, posControl.desiredState.vel.V.Z + maxVelDifference);
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#if defined(NAV_BLACKBOX)
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navDesiredVelocity[Z] = constrain(lrintf(posControl.desiredState.vel.V.Z), -32678, 32767);
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#endif
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}
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static void updateAltitudeThrottleController_MC(uint32_t deltaMicros)
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{
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// Calculate min and max throttle boundaries (to compensate for integral windup)
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int16_t thrAdjustmentMin = (int16_t)posControl.escAndServoConfig->minthrottle - (int16_t)posControl.navConfig->mc_hover_throttle;
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int16_t thrAdjustmentMax = (int16_t)posControl.escAndServoConfig->maxthrottle - (int16_t)posControl.navConfig->mc_hover_throttle;
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posControl.rcAdjustment[THROTTLE] = navPidApply2(posControl.desiredState.vel.V.Z, posControl.actualState.vel.V.Z, US2S(deltaMicros), &posControl.pids.vel[Z], thrAdjustmentMin, thrAdjustmentMax, false);
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posControl.rcAdjustment[THROTTLE] = filterApplyPt1(posControl.rcAdjustment[THROTTLE], &altholdThrottleFilterState, NAV_THROTTLE_CUTOFF_FREQENCY_HZ, US2S(deltaMicros));
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posControl.rcAdjustment[THROTTLE] = constrain(posControl.rcAdjustment[THROTTLE], thrAdjustmentMin, thrAdjustmentMax);
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}
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bool adjustMulticopterAltitudeFromRCInput(void)
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{
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int16_t rcThrottleAdjustment = rcCommand[THROTTLE] - altHoldThrottleRCZero;
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if (ABS(rcThrottleAdjustment) > posControl.rcControlsConfig->alt_hold_deadband) {
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// set velocity proportional to stick movement
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float rcClimbRate;
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// Make sure we can satisfy max_manual_climb_rate in both up and down directions
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if (rcThrottleAdjustment > 0) {
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// Scaling from altHoldThrottleRCZero to maxthrottle
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rcClimbRate = rcThrottleAdjustment * posControl.navConfig->max_manual_climb_rate / (posControl.escAndServoConfig->maxthrottle - altHoldThrottleRCZero);
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}
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else {
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// Scaling from minthrottle to altHoldThrottleRCZero
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rcClimbRate = rcThrottleAdjustment * posControl.navConfig->max_manual_climb_rate / (altHoldThrottleRCZero - posControl.escAndServoConfig->minthrottle);
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}
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updateAltitudeTargetFromClimbRate(rcClimbRate, CLIMB_RATE_UPDATE_SURFACE_TARGET);
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return true;
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}
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else {
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// Adjusting finished - reset desired position to stay exactly where pilot released the stick
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if (posControl.flags.isAdjustingAltitude) {
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updateAltitudeTargetFromClimbRate(0, CLIMB_RATE_UPDATE_SURFACE_TARGET);
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}
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return false;
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}
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}
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void setupMulticopterAltitudeController(void)
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{
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// Nothing here
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if (posControl.navConfig->flags.use_thr_mid_for_althold) {
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altHoldThrottleRCZero = lookupThrottleRCMid;
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}
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else {
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// If throttle status is THROTTLE_LOW - use Thr Mid anyway
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throttleStatus_e throttleStatus = calculateThrottleStatus(posControl.rxConfig, posControl.flight3DConfig->deadband3d_throttle);
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if (throttleStatus == THROTTLE_LOW) {
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altHoldThrottleRCZero = lookupThrottleRCMid;
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}
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else {
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altHoldThrottleRCZero = rcCommand[THROTTLE];
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}
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}
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// Make sure we are able to satisfy the deadband
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altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
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posControl.escAndServoConfig->minthrottle + posControl.rcControlsConfig->alt_hold_deadband + 10,
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posControl.escAndServoConfig->maxthrottle - posControl.rcControlsConfig->alt_hold_deadband - 10);
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}
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void resetMulticopterAltitudeController()
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{
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navPidReset(&posControl.pids.vel[Z]);
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navPidReset(&posControl.pids.surface);
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filterResetPt1(&altholdThrottleFilterState, 0.0f);
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posControl.desiredState.vel.V.Z = posControl.actualState.vel.V.Z; // Gradually transition from current climb
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posControl.rcAdjustment[THROTTLE] = 0;
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}
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static void applyMulticopterAltitudeController(uint32_t currentTime)
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{
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static uint32_t previousTimePositionUpdate; // Occurs @ altitude sensor update rate (max MAX_ALTITUDE_UPDATE_RATE_HZ)
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static uint32_t previousTimeUpdate; // Occurs @ looptime rate
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uint32_t deltaMicros = currentTime - previousTimeUpdate;
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previousTimeUpdate = currentTime;
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// If last position update was too long in the past - ignore it (likely restarting altitude controller)
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if (deltaMicros > HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
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previousTimeUpdate = currentTime;
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previousTimePositionUpdate = currentTime;
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resetMulticopterAltitudeController();
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return;
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}
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// If we have an update on vertical position data - update velocity and accel targets
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if (posControl.flags.verticalPositionNewData) {
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uint32_t deltaMicrosPositionUpdate = currentTime - previousTimePositionUpdate;
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previousTimePositionUpdate = currentTime;
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// Check if last correction was too log ago - ignore this update
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if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
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updateSurfaceTrackingAltitudeSetpoint(deltaMicrosPositionUpdate);
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updateAltitudeVelocityController_MC(deltaMicrosPositionUpdate);
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updateAltitudeThrottleController_MC(deltaMicrosPositionUpdate);
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}
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else {
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// due to some glitch position update has not occurred in time, reset altitude controller
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resetMulticopterAltitudeController();
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}
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// Indicate that information is no longer usable
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posControl.flags.verticalPositionNewData = 0;
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}
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// Update throttle controller
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rcCommand[THROTTLE] = constrain((int16_t)posControl.navConfig->mc_hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.escAndServoConfig->minthrottle, posControl.escAndServoConfig->maxthrottle);
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// Save processed throttle for future use
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rcCommandAdjustedThrottle = rcCommand[THROTTLE];
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}
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/*-----------------------------------------------------------
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* Adjusts desired heading from pilot's input
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*-----------------------------------------------------------*/
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bool adjustMulticopterHeadingFromRCInput(void)
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{
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if (ABS(rcCommand[YAW]) > posControl.rcControlsConfig->pos_hold_deadband) {
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// Can only allow pilot to set the new heading if doing PH, during RTH copter will target itself to home
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posControl.desiredState.yaw = posControl.actualState.yaw;
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return true;
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}
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else {
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return false;
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}
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}
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/*-----------------------------------------------------------
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* XY-position controller for multicopter aircraft
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*-----------------------------------------------------------*/
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static filterStatePt1_t mcPosControllerAccFilterStateX, mcPosControllerAccFilterStateY;
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static float lastAccelTargetX = 0.0f, lastAccelTargetY = 0.0f;
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void resetMulticopterPositionController(void)
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{
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int axis;
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for (axis = 0; axis < 2; axis++) {
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navPidReset(&posControl.pids.vel[axis]);
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posControl.rcAdjustment[axis] = 0;
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filterResetPt1(&mcPosControllerAccFilterStateX, 0.0f);
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filterResetPt1(&mcPosControllerAccFilterStateY, 0.0f);
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lastAccelTargetX = 0.0f;
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lastAccelTargetY = 0.0f;
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}
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}
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bool adjustMulticopterPositionFromRCInput(void)
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{
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int16_t rcPitchAdjustment = applyDeadband(rcCommand[PITCH], posControl.rcControlsConfig->pos_hold_deadband);
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int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], posControl.rcControlsConfig->pos_hold_deadband);
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if (rcPitchAdjustment || rcRollAdjustment) {
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// If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID
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if (posControl.navConfig->flags.user_control_mode == NAV_GPS_CRUISE) {
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float rcVelX = rcPitchAdjustment * posControl.navConfig->max_manual_speed / 500;
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float rcVelY = rcRollAdjustment * posControl.navConfig->max_manual_speed / 500;
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// Rotate these velocities from body frame to to earth frame
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float neuVelX = rcVelX * posControl.actualState.cosYaw - rcVelY * posControl.actualState.sinYaw;
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float neuVelY = rcVelX * posControl.actualState.sinYaw + rcVelY * posControl.actualState.cosYaw;
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// Calculate new position target, so Pos-to-Vel P-controller would yield desired velocity
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posControl.desiredState.pos.V.X = posControl.actualState.pos.V.X + (neuVelX / posControl.pids.pos[X].param.kP);
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posControl.desiredState.pos.V.Y = posControl.actualState.pos.V.Y + (neuVelY / posControl.pids.pos[Y].param.kP);
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}
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return true;
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}
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else {
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// Adjusting finished - reset desired position to stay exactly where pilot released the stick
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if (posControl.flags.isAdjustingPosition) {
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t_fp_vector stopPosition;
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calculateMulticopterInitialHoldPosition(&stopPosition);
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setDesiredPosition(&stopPosition, 0, NAV_POS_UPDATE_XY);
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}
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return false;
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}
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}
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static float getVelocityHeadingAttenuationFactor(void)
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{
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// In WP mode scale velocity if heading is different from bearing
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if (navGetCurrentStateFlags() & NAV_AUTO_WP) {
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int32_t headingError = constrain(wrap_18000(posControl.desiredState.yaw - posControl.actualState.yaw), -9000, 9000);
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float velScaling = cos_approx(CENTIDEGREES_TO_RADIANS(headingError));
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return constrainf(velScaling * velScaling, 0.05f, 1.0f);
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} else {
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return 1.0f;
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}
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}
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static float getVelocityExpoAttenuationFactor(float velTotal, float velMax)
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{
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// Calculate factor of how velocity with applied expo is different from unchanged velocity
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float velScale = constrainf(velTotal / velMax, 0.01f, 1.0f);
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// posControl.navConfig->max_speed * ((velScale * velScale * velScale) * posControl.posResponseExpo + velScale * (1 - posControl.posResponseExpo)) / velTotal;
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// ((velScale * velScale * velScale) * posControl.posResponseExpo + velScale * (1 - posControl.posResponseExpo)) / velScale
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// ((velScale * velScale) * posControl.posResponseExpo + (1 - posControl.posResponseExpo));
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return 1.0f - posControl.posResponseExpo * (1.0f - (velScale * velScale)); // x^3 expo factor
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}
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static void updatePositionVelocityController_MC(void)
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{
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float posErrorX = posControl.desiredState.pos.V.X - posControl.actualState.pos.V.X;
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float posErrorY = posControl.desiredState.pos.V.Y - posControl.actualState.pos.V.Y;
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// Calculate target velocity
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float newVelX = posErrorX * posControl.pids.pos[X].param.kP;
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float newVelY = posErrorY * posControl.pids.pos[Y].param.kP;
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// Get max speed from generic NAV (waypoint specific), don't allow to move slower than 0.5 m/s
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float maxSpeed = getActiveWaypointSpeed();
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// Scale velocity to respect max_speed
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float newVelTotal = sqrtf(sq(newVelX) + sq(newVelY));
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if (newVelTotal > maxSpeed) {
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newVelX = maxSpeed * (newVelX / newVelTotal);
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newVelY = maxSpeed * (newVelY / newVelTotal);
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newVelTotal = maxSpeed;
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}
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// Apply expo & attenuation if heading in wrong direction - turn first, accelerate later (effective only in WP mode)
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float velHeadFactor = getVelocityHeadingAttenuationFactor();
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float velExpoFactor = getVelocityExpoAttenuationFactor(newVelTotal, maxSpeed);
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posControl.desiredState.vel.V.X = newVelX * velHeadFactor * velExpoFactor;
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posControl.desiredState.vel.V.Y = newVelY * velHeadFactor * velExpoFactor;
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#if defined(NAV_BLACKBOX)
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navDesiredVelocity[X] = constrain(lrintf(posControl.desiredState.vel.V.X), -32678, 32767);
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navDesiredVelocity[Y] = constrain(lrintf(posControl.desiredState.vel.V.Y), -32678, 32767);
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#endif
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}
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static void updatePositionAccelController_MC(uint32_t deltaMicros, float maxAccelLimit)
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{
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float velErrorX, velErrorY, newAccelX, newAccelY;
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// Calculate velocity error
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velErrorX = posControl.desiredState.vel.V.X - posControl.actualState.vel.V.X;
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velErrorY = posControl.desiredState.vel.V.Y - posControl.actualState.vel.V.Y;
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// Calculate XY-acceleration limit according to velocity error limit
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float accelLimitX, accelLimitY;
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float velErrorMagnitude = sqrtf(sq(velErrorX) + sq(velErrorY));
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if (velErrorMagnitude > 0.1f) {
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accelLimitX = maxAccelLimit / velErrorMagnitude * fabsf(velErrorX);
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accelLimitY = maxAccelLimit / velErrorMagnitude * fabsf(velErrorY);
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}
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else {
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accelLimitX = maxAccelLimit / 1.414213f;
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accelLimitY = accelLimitX;
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}
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// Apply additional jerk limiting of 1700 cm/s^3 (~100 deg/s), almost any copter should be able to achieve this rate
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// This will assure that we wont't saturate out LEVEL and RATE PID controller
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float maxAccelChange = US2S(deltaMicros) * 1700.0f;
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float accelLimitXMin = constrainf(lastAccelTargetX - maxAccelChange, -accelLimitX, +accelLimitX);
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float accelLimitXMax = constrainf(lastAccelTargetX + maxAccelChange, -accelLimitX, +accelLimitX);
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float accelLimitYMin = constrainf(lastAccelTargetY - maxAccelChange, -accelLimitY, +accelLimitY);
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float accelLimitYMax = constrainf(lastAccelTargetY + maxAccelChange, -accelLimitY, +accelLimitY);
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// TODO: Verify if we need jerk limiting after all
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// Apply PID with output limiting and I-term anti-windup
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// Pre-calculated accelLimit and the logic of navPidApply2 function guarantee that our newAccel won't exceed maxAccelLimit
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// Thus we don't need to do anything else with calculated acceleration
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newAccelX = navPidApply2(posControl.desiredState.vel.V.X, posControl.actualState.vel.V.X, US2S(deltaMicros), &posControl.pids.vel[X], accelLimitXMin, accelLimitXMax, false);
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newAccelY = navPidApply2(posControl.desiredState.vel.V.Y, posControl.actualState.vel.V.Y, US2S(deltaMicros), &posControl.pids.vel[Y], accelLimitYMin, accelLimitYMax, false);
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// Save last acceleration target
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lastAccelTargetX = newAccelX;
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lastAccelTargetY = newAccelY;
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// Apply LPF to jerk limited acceleration target
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float accelN = filterApplyPt1(newAccelX, &mcPosControllerAccFilterStateX, NAV_ACCEL_CUTOFF_FREQUENCY_HZ, US2S(deltaMicros));
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float accelE = filterApplyPt1(newAccelY, &mcPosControllerAccFilterStateY, NAV_ACCEL_CUTOFF_FREQUENCY_HZ, US2S(deltaMicros));
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// Rotate acceleration target into forward-right frame (aircraft)
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float accelForward = accelN * posControl.actualState.cosYaw + accelE * posControl.actualState.sinYaw;
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float accelRight = -accelN * posControl.actualState.sinYaw + accelE * posControl.actualState.cosYaw;
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// Calculate banking angles
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float desiredPitch = atan2_approx(accelForward, GRAVITY_CMSS);
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float desiredRoll = atan2_approx(accelRight * cos_approx(desiredPitch), GRAVITY_CMSS);
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int16_t maxBankAngle = DEGREES_TO_DECIDEGREES(posControl.navConfig->mc_max_bank_angle);
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posControl.rcAdjustment[ROLL] = constrain(RADIANS_TO_DECIDEGREES(desiredRoll), -maxBankAngle, maxBankAngle);
|
|
posControl.rcAdjustment[PITCH] = constrain(RADIANS_TO_DECIDEGREES(desiredPitch), -maxBankAngle, maxBankAngle);
|
|
}
|
|
|
|
static void applyMulticopterPositionController(uint32_t currentTime)
|
|
{
|
|
static uint32_t previousTimePositionUpdate; // Occurs @ GPS update rate
|
|
static uint32_t previousTimeUpdate; // Occurs @ looptime rate
|
|
|
|
uint32_t deltaMicros = currentTime - previousTimeUpdate;
|
|
previousTimeUpdate = currentTime;
|
|
bool bypassPositionController;
|
|
|
|
// We should passthrough rcCommand is adjusting position in GPS_ATTI mode
|
|
bypassPositionController = (posControl.navConfig->flags.user_control_mode == NAV_GPS_ATTI) && posControl.flags.isAdjustingPosition;
|
|
|
|
// If last call to controller was too long in the past - ignore it (likely restarting position controller)
|
|
if (deltaMicros > HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
|
|
previousTimeUpdate = currentTime;
|
|
previousTimePositionUpdate = currentTime;
|
|
resetMulticopterPositionController();
|
|
return;
|
|
}
|
|
|
|
// Apply controller only if position source is valid. In absence of valid pos sensor (GPS loss), we'd stick in forced ANGLE mode
|
|
// and pilots input would be passed thru to PID controller
|
|
if (posControl.flags.hasValidPositionSensor) {
|
|
// If we have new position - update velocity and acceleration controllers
|
|
if (posControl.flags.horizontalPositionNewData) {
|
|
uint32_t deltaMicrosPositionUpdate = currentTime - previousTimePositionUpdate;
|
|
previousTimePositionUpdate = currentTime;
|
|
|
|
if (!bypassPositionController) {
|
|
// Update position controller
|
|
if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
|
|
updatePositionVelocityController_MC();
|
|
updatePositionAccelController_MC(deltaMicrosPositionUpdate, NAV_ACCELERATION_XY_MAX);
|
|
}
|
|
else {
|
|
resetMulticopterPositionController();
|
|
}
|
|
}
|
|
|
|
// Indicate that information is no longer usable
|
|
posControl.flags.horizontalPositionNewData = 0;
|
|
}
|
|
}
|
|
else {
|
|
/* No position data, disable automatic adjustment, rcCommand passthrough */
|
|
posControl.rcAdjustment[PITCH] = 0;
|
|
posControl.rcAdjustment[ROLL] = 0;
|
|
bypassPositionController = true;
|
|
}
|
|
|
|
if (!bypassPositionController) {
|
|
rcCommand[PITCH] = leanAngleToRcCommand(posControl.rcAdjustment[PITCH]);
|
|
rcCommand[ROLL] = leanAngleToRcCommand(posControl.rcAdjustment[ROLL]);
|
|
}
|
|
}
|
|
|
|
/*-----------------------------------------------------------
|
|
* Multicopter land detector
|
|
*-----------------------------------------------------------*/
|
|
bool isMulticopterLandingDetected(uint32_t * landingTimer)
|
|
{
|
|
uint32_t currentTime = micros();
|
|
|
|
// Average climb rate should be low enough
|
|
bool verticalMovement = fabsf(posControl.actualState.vel.V.Z) > 25.0f;
|
|
|
|
// check if we are moving horizontally
|
|
bool horizontalMovement = sqrtf(sq(posControl.actualState.vel.V.X) + sq(posControl.actualState.vel.V.Y)) > 100.0f;
|
|
|
|
// Throttle should be low enough
|
|
// We use rcCommandAdjustedThrottle to keep track of NAV corrected throttle (isLandingDetected is executed
|
|
// from processRx() and rcCommand at that moment holds rc input, not adjusted values from NAV core)
|
|
bool minimalThrust = rcCommandAdjustedThrottle < posControl.navConfig->mc_min_fly_throttle;
|
|
|
|
bool possibleLandingDetected = false;
|
|
|
|
if (posControl.flags.hasValidSurfaceSensor) {
|
|
/* surfaceMin is our ground reference. If we are less than 5cm above the ground - we are likely landed */
|
|
possibleLandingDetected = (posControl.actualState.surface <= (posControl.actualState.surfaceMin + 5.0f));
|
|
}
|
|
else {
|
|
possibleLandingDetected = (minimalThrust && !verticalMovement && !horizontalMovement);
|
|
}
|
|
|
|
if (!possibleLandingDetected) {
|
|
*landingTimer = currentTime;
|
|
return false;
|
|
}
|
|
else {
|
|
return ((currentTime - *landingTimer) > (LAND_DETECTOR_TRIGGER_TIME_MS * 1000)) ? true : false;
|
|
}
|
|
}
|
|
|
|
/*-----------------------------------------------------------
|
|
* Multicopter emergency landing
|
|
*-----------------------------------------------------------*/
|
|
static void applyMulticopterEmergencyLandingController(uint32_t currentTime)
|
|
{
|
|
static uint32_t previousTimeUpdate;
|
|
static uint32_t previousTimePositionUpdate;
|
|
uint32_t deltaMicros = currentTime - previousTimeUpdate;
|
|
previousTimeUpdate = currentTime;
|
|
|
|
/* Attempt to stabilise */
|
|
rcCommand[ROLL] = 0;
|
|
rcCommand[PITCH] = 0;
|
|
rcCommand[YAW] = 0;
|
|
|
|
if (posControl.flags.hasValidAltitudeSensor) {
|
|
/* We have an altitude reference, apply AH-based landing controller */
|
|
|
|
// If last position update was too long in the past - ignore it (likely restarting altitude controller)
|
|
if (deltaMicros > HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
|
|
previousTimeUpdate = currentTime;
|
|
previousTimePositionUpdate = currentTime;
|
|
resetMulticopterAltitudeController();
|
|
return;
|
|
}
|
|
|
|
if (posControl.flags.verticalPositionNewData) {
|
|
uint32_t deltaMicrosPositionUpdate = currentTime - previousTimePositionUpdate;
|
|
previousTimePositionUpdate = currentTime;
|
|
|
|
// Check if last correction was too log ago - ignore this update
|
|
if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
|
|
updateAltitudeTargetFromClimbRate(-1.0f * posControl.navConfig->emerg_descent_rate, CLIMB_RATE_RESET_SURFACE_TARGET);
|
|
updateAltitudeVelocityController_MC(deltaMicrosPositionUpdate);
|
|
updateAltitudeThrottleController_MC(deltaMicrosPositionUpdate);
|
|
}
|
|
else {
|
|
// due to some glitch position update has not occurred in time, reset altitude controller
|
|
resetMulticopterAltitudeController();
|
|
}
|
|
|
|
// Indicate that information is no longer usable
|
|
posControl.flags.verticalPositionNewData = 0;
|
|
}
|
|
|
|
// Update throttle controller
|
|
rcCommand[THROTTLE] = constrain((int16_t)posControl.navConfig->mc_hover_throttle + posControl.rcAdjustment[THROTTLE], posControl.escAndServoConfig->minthrottle, posControl.escAndServoConfig->maxthrottle);
|
|
}
|
|
else {
|
|
/* Sensors has gone haywire, attempt to land regardless */
|
|
failsafeConfig_t * failsafeConfig = getActiveFailsafeConfig();
|
|
|
|
if (failsafeConfig) {
|
|
rcCommand[THROTTLE] = failsafeConfig->failsafe_throttle;
|
|
}
|
|
else {
|
|
rcCommand[THROTTLE] = posControl.escAndServoConfig->minthrottle;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*-----------------------------------------------------------
|
|
* Calculate loiter target based on current position and velocity
|
|
*-----------------------------------------------------------*/
|
|
void calculateMulticopterInitialHoldPosition(t_fp_vector * pos)
|
|
{
|
|
float stoppingDistanceX = posControl.actualState.vel.V.X * posControl.posDecelerationTime;
|
|
float stoppingDistanceY = posControl.actualState.vel.V.Y * posControl.posDecelerationTime;
|
|
|
|
pos->V.X = posControl.actualState.pos.V.X + stoppingDistanceX;
|
|
pos->V.Y = posControl.actualState.pos.V.Y + stoppingDistanceY;
|
|
}
|
|
|
|
void resetMulticopterHeadingController(void)
|
|
{
|
|
magHold = CENTIDEGREES_TO_DEGREES(posControl.actualState.yaw);
|
|
}
|
|
|
|
static void applyMulticopterHeadingController(void)
|
|
{
|
|
magHold = CENTIDEGREES_TO_DEGREES(posControl.desiredState.yaw);
|
|
}
|
|
|
|
void applyMulticopterNavigationController(navigationFSMStateFlags_t navStateFlags, uint32_t currentTime)
|
|
{
|
|
if (navStateFlags & NAV_CTL_EMERG) {
|
|
applyMulticopterEmergencyLandingController(currentTime);
|
|
}
|
|
else {
|
|
if (navStateFlags & NAV_CTL_ALT)
|
|
applyMulticopterAltitudeController(currentTime);
|
|
|
|
if (navStateFlags & NAV_CTL_POS)
|
|
applyMulticopterPositionController(currentTime);
|
|
|
|
if (navStateFlags & NAV_CTL_YAW)
|
|
applyMulticopterHeadingController();
|
|
}
|
|
}
|
|
#endif // NAV
|