mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
564 lines
23 KiB
C++
564 lines
23 KiB
C++
#include "AC_AttitudeControl_Heli.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Scheduler/AP_Scheduler.h>
|
|
|
|
// table of user settable parameters
|
|
const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
|
|
// parameters from parent vehicle
|
|
AP_NESTEDGROUPINFO(AC_AttitudeControl, 0),
|
|
|
|
// @Param: HOVR_ROL_TRM
|
|
// @DisplayName: Hover Roll Trim
|
|
// @Description: Trim the hover roll angle to counter tail rotor thrust in a hover
|
|
// @Units: cdeg
|
|
// @Increment: 10
|
|
// @Range: 0 1000
|
|
// @User: Advanced
|
|
AP_GROUPINFO("HOVR_ROL_TRM", 1, AC_AttitudeControl_Heli, _hover_roll_trim_cd, AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT),
|
|
|
|
// @Param: RAT_RLL_P
|
|
// @DisplayName: Roll axis rate controller P gain
|
|
// @Description: Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
|
|
// @Units: s/rad
|
|
// @Range: 0.0 0.35
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_I
|
|
// @DisplayName: Roll axis rate controller I gain
|
|
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
|
|
// @Units: 1/rad
|
|
// @Range: 0.0 0.6
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_IMAX
|
|
// @DisplayName: Roll axis rate controller I gain maximum
|
|
// @Description: Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_ILMI
|
|
// @DisplayName: Roll axis rate controller I-term leak minimum
|
|
// @Description: Point below which I-term will not leak down
|
|
// @Range: 0 1
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_D
|
|
// @DisplayName: Roll axis rate controller D gain
|
|
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
|
|
// @Units: s^2/rad
|
|
// @Range: 0.0 0.03
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FF
|
|
// @DisplayName: Roll axis rate controller feed forward
|
|
// @Description: Roll axis rate controller feed forward
|
|
// @Units: s/rad
|
|
// @Range: 0.05 0.5
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FLTT
|
|
// @DisplayName: Roll axis rate controller target frequency in Hz
|
|
// @Description: Roll axis rate controller target frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FLTE
|
|
// @DisplayName: Roll axis rate controller error frequency in Hz
|
|
// @Description: Roll axis rate controller error frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_FLTD
|
|
// @DisplayName: Roll axis rate controller derivative frequency in Hz
|
|
// @Description: Roll axis rate controller derivative frequency in Hz
|
|
// @Range: 0 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_RLL_SMAX
|
|
// @DisplayName: Roll slew rate limit
|
|
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
|
|
// @Range: 0 200
|
|
// @Increment: 0.5
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_D_FF
|
|
// @DisplayName: Roll Derivative FeedForward Gain
|
|
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
|
|
// @Units: s^2/rad
|
|
// @Range: 0 0.02
|
|
// @Increment: 0.0001
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_NTF
|
|
// @DisplayName: Roll Target notch filter index
|
|
// @Description: Roll Target notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_RLL_NEF
|
|
// @DisplayName: Roll Error notch filter index
|
|
// @Description: Roll Error notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
|
|
|
|
// @Param: RAT_PIT_P
|
|
// @DisplayName: Pitch axis rate controller P gain
|
|
// @Description: Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate
|
|
// @Units: s/rad
|
|
// @Range: 0.0 0.35
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_I
|
|
// @DisplayName: Pitch axis rate controller I gain
|
|
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
|
|
// @Units: 1/rad
|
|
// @Range: 0.0 0.6
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_IMAX
|
|
// @DisplayName: Pitch axis rate controller I gain maximum
|
|
// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_ILMI
|
|
// @DisplayName: Pitch axis rate controller I-term leak minimum
|
|
// @Description: Point below which I-term will not leak down
|
|
// @Range: 0 1
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_D
|
|
// @DisplayName: Pitch axis rate controller D gain
|
|
// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
|
|
// @Units: s^2/rad
|
|
// @Range: 0.0 0.03
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FF
|
|
// @DisplayName: Pitch axis rate controller feed forward
|
|
// @Description: Pitch axis rate controller feed forward
|
|
// @Units: s/rad
|
|
// @Range: 0.05 0.5
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FLTT
|
|
// @DisplayName: Pitch axis rate controller target frequency in Hz
|
|
// @Description: Pitch axis rate controller target frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FLTE
|
|
// @DisplayName: Pitch axis rate controller error frequency in Hz
|
|
// @Description: Pitch axis rate controller error frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_FLTD
|
|
// @DisplayName: Pitch axis rate controller derivative frequency in Hz
|
|
// @Description: Pitch axis rate controller derivative frequency in Hz
|
|
// @Range: 0 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_PIT_SMAX
|
|
// @DisplayName: Pitch slew rate limit
|
|
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
|
|
// @Range: 0 200
|
|
// @Increment: 0.5
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_D_FF
|
|
// @DisplayName: Pitch Derivative FeedForward Gain
|
|
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
|
|
// @Units: s^2/rad
|
|
// @Range: 0 0.02
|
|
// @Increment: 0.0001
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_NTF
|
|
// @DisplayName: Pitch Target notch filter index
|
|
// @Description: Pitch Target notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_PIT_NEF
|
|
// @DisplayName: Pitch Error notch filter index
|
|
// @Description: Pitch Error notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
|
|
|
|
// @Param: RAT_YAW_P
|
|
// @DisplayName: Yaw axis rate controller P gain
|
|
// @Description: Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
|
|
// @Units: s/rad
|
|
// @Range: 0.180 0.60
|
|
// @Increment: 0.005
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_I
|
|
// @DisplayName: Yaw axis rate controller I gain
|
|
// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
|
|
// @Units: 1/rad
|
|
// @Range: 0.01 0.2
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_IMAX
|
|
// @DisplayName: Yaw axis rate controller I gain maximum
|
|
// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output
|
|
// @Range: 0 1
|
|
// @Increment: 0.01
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_ILMI
|
|
// @DisplayName: Yaw axis rate controller I-term leak minimum
|
|
// @Description: Point below which I-term will not leak down
|
|
// @Range: 0 1
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_D
|
|
// @DisplayName: Yaw axis rate controller D gain
|
|
// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
|
|
// @Units: s^2/rad
|
|
// @Range: 0.000 0.02
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FF
|
|
// @DisplayName: Yaw axis rate controller feed forward
|
|
// @Description: Yaw axis rate controller feed forward
|
|
// @Units: s/rad
|
|
// @Range: 0 0.5
|
|
// @Increment: 0.001
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FLTT
|
|
// @DisplayName: Yaw axis rate controller target frequency in Hz
|
|
// @Description: Yaw axis rate controller target frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FLTE
|
|
// @DisplayName: Yaw axis rate controller error frequency in Hz
|
|
// @Description: Yaw axis rate controller error frequency in Hz
|
|
// @Range: 5 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_FLTD
|
|
// @DisplayName: Yaw axis rate controller derivative frequency in Hz
|
|
// @Description: Yaw axis rate controller derivative frequency in Hz
|
|
// @Range: 0 50
|
|
// @Increment: 1
|
|
// @Units: Hz
|
|
// @User: Standard
|
|
|
|
// @Param: RAT_YAW_SMAX
|
|
// @DisplayName: Yaw slew rate limit
|
|
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
|
|
// @Range: 0 200
|
|
// @Increment: 0.5
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_D_FF
|
|
// @DisplayName: Yaw Derivative FeedForward Gain
|
|
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
|
|
// @Units: s^2/rad
|
|
// @Range: 0 0.02
|
|
// @Increment: 0.0001
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_NTF
|
|
// @DisplayName: Yaw Target notch filter index
|
|
// @Description: Yaw Target notch filter index
|
|
// @Range: 1 8
|
|
// @Units: Hz
|
|
// @User: Advanced
|
|
|
|
// @Param: RAT_YAW_NEF
|
|
// @DisplayName: Yaw Error notch filter index
|
|
// @Description: Yaw Error notch filter index
|
|
// @Range: 1 8
|
|
// @User: Advanced
|
|
|
|
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
|
|
|
|
// @Param: PIRO_COMP
|
|
// @DisplayName: Piro Comp Enable
|
|
// @Description: Pirouette compensation enabled
|
|
// @Values: 0:Disabled,1:Enabled
|
|
// @User: Advanced
|
|
AP_GROUPINFO("PIRO_COMP", 5, AC_AttitudeControl_Heli, _piro_comp_enabled, 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
AC_AttitudeControl_Heli::AC_AttitudeControl_Heli(AP_AHRS_View &ahrs, AP_MotorsHeli& motors) :
|
|
AC_AttitudeControl(ahrs, motors)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
|
|
// initialise flags
|
|
_flags_heli.leaky_i = true;
|
|
#if AP_FILTER_ENABLED
|
|
set_notch_sample_rate(AP::scheduler().get_loop_rate_hz());
|
|
#endif
|
|
}
|
|
|
|
//
|
|
// rate controller (body-frame) methods
|
|
//
|
|
|
|
// rate_controller_run - run lowest level rate controller and send outputs to the motors
|
|
// should be called at 100hz or more
|
|
void AC_AttitudeControl_Heli::rate_controller_run()
|
|
{
|
|
_ang_vel_body_rads += _sysid_ang_vel_body_rads;
|
|
|
|
_rate_gyro_rads = _ahrs.get_gyro_latest();
|
|
_rate_gyro_time_us = AP_HAL::micros64();
|
|
|
|
// call rate controllers and send output to motors object
|
|
rate_bf_to_motor_roll_pitch(_rate_gyro_rads, _ang_vel_body_rads.x, _ang_vel_body_rads.y);
|
|
_motors.set_yaw(rate_target_to_motor_yaw(_rate_gyro_rads.z, _ang_vel_body_rads.z));
|
|
|
|
_pd_scale_used = _pd_scale;
|
|
_i_scale_used = _i_scale;
|
|
_angle_P_scale_used = _angle_P_scale;
|
|
}
|
|
|
|
// Update Alt_Hold angle maximum
|
|
void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
|
|
{
|
|
float althold_lean_angle_max = acosf(constrain_float(throttle_in / AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
|
|
_althold_lean_angle_max_rad = _althold_lean_angle_max_rad + (_dt_s / (_dt_s + _angle_limit_tc)) * (althold_lean_angle_max - _althold_lean_angle_max_rad);
|
|
}
|
|
|
|
//
|
|
// private methods
|
|
//
|
|
|
|
//
|
|
// body-frame rate controller
|
|
//
|
|
|
|
// rate_bf_to_motor_roll_pitch - ask the rate controller to calculate the motor outputs to achieve the target rate in radians/second
|
|
void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(const Vector3f &rate_rads, float rate_roll_target_rads, float rate_pitch_target_rads)
|
|
{
|
|
if (_flags_heli.leaky_i) {
|
|
_pid_rate_roll.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
|
|
}
|
|
float roll_pid = _pid_rate_roll.update_all(rate_roll_target_rads, rate_rads.x, _dt_s, _motors.limit.roll, _pd_scale.x, _i_scale.x) + _actuator_sysid.x;
|
|
|
|
if (_flags_heli.leaky_i) {
|
|
_pid_rate_pitch.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
|
|
}
|
|
|
|
float pitch_pid = _pid_rate_pitch.update_all(rate_pitch_target_rads, rate_rads.y, _dt_s, _motors.limit.pitch, _pd_scale.y, _i_scale.y) + _actuator_sysid.y;
|
|
|
|
// use pid library to calculate ff
|
|
float roll_ff = _pid_rate_roll.get_ff();
|
|
float pitch_ff = _pid_rate_pitch.get_ff();
|
|
|
|
// add feed forward and final output
|
|
float roll_out = roll_pid + roll_ff;
|
|
float pitch_out = pitch_pid + pitch_ff;
|
|
|
|
// constrain output
|
|
roll_out = constrain_float(roll_out, -AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
|
|
pitch_out = constrain_float(pitch_out, -AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
|
|
|
|
// output to motors
|
|
_motors.set_roll(roll_out);
|
|
_motors.set_pitch(pitch_out);
|
|
|
|
// Piro-Comp, or Pirouette Compensation is a pre-compensation calculation, which basically rotates the Roll and Pitch Rate I-terms as the
|
|
// helicopter rotates in yaw. Much of the built-up I-term is needed to tip the disk into the incoming wind. Fast yawing can create an instability
|
|
// as the built-up I-term in one axis must be reduced, while the other increases. This helps solve that by rotating the I-terms before the error occurs.
|
|
// It does assume that the rotor aerodynamics and mechanics are essentially symmetrical about the main shaft, which is a generally valid assumption.
|
|
if (_piro_comp_enabled) {
|
|
|
|
// used to hold current I-terms while doing piro comp:
|
|
const float piro_roll_i = _pid_rate_roll.get_i();
|
|
const float piro_pitch_i = _pid_rate_pitch.get_i();
|
|
|
|
Vector2f yawratevector;
|
|
yawratevector.x = cosf(-rate_rads.z * _dt_s);
|
|
yawratevector.y = sinf(-rate_rads.z * _dt_s);
|
|
yawratevector.normalize();
|
|
|
|
_pid_rate_roll.set_integrator(piro_roll_i * yawratevector.x - piro_pitch_i * yawratevector.y);
|
|
_pid_rate_pitch.set_integrator(piro_pitch_i * yawratevector.x + piro_roll_i * yawratevector.y);
|
|
}
|
|
|
|
}
|
|
|
|
// rate_bf_to_motor_yaw - ask the rate controller to calculate the motor outputs to achieve the target rate in radians/second
|
|
float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_yaw_actual_rads, float rate_target_rads)
|
|
{
|
|
if (_motors.get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
|
|
_pid_rate_yaw.update_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
|
|
}
|
|
|
|
float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _dt_s, _motors.limit.yaw, _pd_scale.z, _i_scale.z) + _actuator_sysid.z;
|
|
|
|
// use pid library to calculate ff
|
|
float vff = _pid_rate_yaw.get_ff()*_feedforward_scalar;
|
|
|
|
// add feed forward
|
|
float yaw_out = pid + vff;
|
|
|
|
// constrain output
|
|
yaw_out = constrain_float(yaw_out, -AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX, AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX);
|
|
|
|
// output to motors
|
|
return yaw_out;
|
|
}
|
|
|
|
//
|
|
// throttle functions
|
|
//
|
|
|
|
void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff)
|
|
{
|
|
_throttle_in = throttle_in;
|
|
update_althold_lean_angle_max(throttle_in);
|
|
|
|
_motors.set_throttle_filter_cutoff(filter_cutoff);
|
|
if (apply_angle_boost && !((AP_MotorsHeli&)_motors).in_autorotation()) {
|
|
// Apply angle boost
|
|
throttle_in = get_throttle_boosted(throttle_in);
|
|
} else {
|
|
// Clear angle_boost for logging purposes
|
|
_angle_boost = 0.0f;
|
|
}
|
|
_motors.set_throttle(throttle_in);
|
|
}
|
|
|
|
// returns a throttle including compensation for roll/pitch angle
|
|
// throttle value should be 0 ~ 1
|
|
float AC_AttitudeControl_Heli::get_throttle_boosted(float throttle_in)
|
|
{
|
|
if (!_angle_boost_enabled) {
|
|
_angle_boost = 0;
|
|
return throttle_in;
|
|
}
|
|
// inverted_factor is 1 for tilt angles below 60 degrees
|
|
// inverted_factor changes from 1 to -1 for tilt angles between 60 and 120 degrees
|
|
|
|
float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
|
|
float inverted_factor = constrain_float(2.0f * cos_tilt, -1.0f, 1.0f);
|
|
float cos_tilt_target = fabsf(cosf(_thrust_angle_rad));
|
|
float boost_factor = 1.0f / constrain_float(cos_tilt_target, 0.1f, 1.0f);
|
|
|
|
// angle boost and inverted factor applied about the zero thrust collective
|
|
const float coll_mid = ((AP_MotorsHeli&)_motors).get_coll_mid();
|
|
float throttle_out = ((throttle_in - coll_mid) * inverted_factor * boost_factor) + coll_mid;
|
|
_angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f);
|
|
return throttle_out;
|
|
}
|
|
|
|
// get_roll_trim - angle in centi-degrees to be added to roll angle for learn hover collective. Used by helicopter to counter tail rotor thrust in hover
|
|
float AC_AttitudeControl_Heli::get_roll_trim_cd()
|
|
{
|
|
// hover roll trim is given the opposite sign in inverted flight since the tail rotor thrust is pointed in the opposite direction.
|
|
float inverted_factor = constrain_float(2.0f * _ahrs.cos_roll(), -1.0f, 1.0f);
|
|
return constrain_float(_hover_roll_trim_scalar * _hover_roll_trim_cd * inverted_factor, -1000.0f,1000.0f);
|
|
}
|
|
|
|
// Sets desired roll and pitch angles (in radians) and yaw rate (in radians/s).
|
|
// Used when roll/pitch stabilization is needed with manual or autonomous yaw rate control.
|
|
// Applies acceleration-limited input shaping for smooth transitions and computes body-frame angular velocity targets.
|
|
void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_euler_rate_yaw_rad(float euler_roll_angle_rad, float euler_pitch_angle_rad, float euler_yaw_rate_rads)
|
|
{
|
|
if (_inverted_flight) {
|
|
euler_roll_angle_rad = wrap_PI(euler_roll_angle_rad + M_PI);
|
|
}
|
|
AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_rad(euler_roll_angle_rad, euler_pitch_angle_rad, euler_yaw_rate_rads);
|
|
}
|
|
|
|
// Sets desired roll, pitch, and yaw angles (in radians).
|
|
// Used to follow an absolute attitude setpoint. Input shaping and yaw slew limits are applied.
|
|
// Outputs are passed to the rate controller via shaped angular velocity targets.
|
|
void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_yaw_rad(float euler_roll_angle_rad, float euler_pitch_angle_rad, float euler_yaw_angle_rad, bool slew_yaw)
|
|
{
|
|
if (_inverted_flight) {
|
|
euler_roll_angle_rad = wrap_PI(euler_roll_angle_rad + M_PI);
|
|
}
|
|
AC_AttitudeControl::input_euler_angle_roll_pitch_yaw_rad(euler_roll_angle_rad, euler_pitch_angle_rad, euler_yaw_angle_rad, slew_yaw);
|
|
}
|
|
|
|
void AC_AttitudeControl_Heli::set_notch_sample_rate(float sample_rate)
|
|
{
|
|
#if AP_FILTER_ENABLED
|
|
_pid_rate_roll.set_notch_sample_rate(sample_rate);
|
|
_pid_rate_pitch.set_notch_sample_rate(sample_rate);
|
|
_pid_rate_yaw.set_notch_sample_rate(sample_rate);
|
|
#endif
|
|
}
|
|
|
|
// Sets desired thrust vector and heading rate (in radians/s).
|
|
// Used for tilt-based navigation with independent yaw control.
|
|
// The thrust vector defines the desired orientation (e.g., pointing direction for vertical thrust),
|
|
// while the heading rate adjusts yaw. The input is shaped by acceleration and slew limits.
|
|
void AC_AttitudeControl_Heli::input_thrust_vector_rate_heading_rads(const Vector3f& thrust_vector, float heading_rate_rads, bool slew_yaw)
|
|
{
|
|
|
|
if (!_inverted_flight) {
|
|
AC_AttitudeControl::input_thrust_vector_rate_heading_rads(thrust_vector, heading_rate_rads, slew_yaw);
|
|
return;
|
|
}
|
|
// convert thrust vector to a roll and pitch angles
|
|
// this negates the advantage of using thrust vector control, but works just fine
|
|
Vector3f angle_target = attitude_from_thrust_vector(thrust_vector, _ahrs.yaw).to_vector312();
|
|
|
|
angle_target.x = wrap_PI(angle_target.x + M_PI);
|
|
AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_rad(angle_target.x, angle_target.y, heading_rate_rads);
|
|
}
|
|
|
|
|
|
// Sets desired thrust vector and heading (in radians) with heading rate (in radians/s).
|
|
// Used for advanced attitude control where thrust direction is separated from yaw orientation.
|
|
// Heading slew is constrained based on configured limits.
|
|
void AC_AttitudeControl_Heli::input_thrust_vector_heading_rad(const Vector3f& thrust_vector, float heading_angle_rad, float heading_rate_rads)
|
|
{
|
|
if (!_inverted_flight) {
|
|
AC_AttitudeControl::input_thrust_vector_heading_rad(thrust_vector, heading_angle_rad, heading_rate_rads);
|
|
return;
|
|
}
|
|
// convert thrust vector to a roll and pitch angles
|
|
// this negates the advantage of using thrust vector control, but works just fine
|
|
Vector3f angle_target = attitude_from_thrust_vector(thrust_vector, _ahrs.yaw).to_vector312();
|
|
|
|
angle_target.x = wrap_PI(angle_target.x + M_PI);
|
|
AC_AttitudeControl::input_euler_angle_roll_pitch_yaw_rad(angle_target.x, angle_target.y, heading_angle_rad, true);
|
|
}
|