#pragma once #include #include #include #include // attitude control default definition #define AR_ATTCONTROL_STEER_ANG_P 2.50f #define AR_ATTCONTROL_STEER_RATE_FF 0.20f #define AR_ATTCONTROL_STEER_RATE_P 0.20f #define AR_ATTCONTROL_STEER_RATE_I 0.20f #define AR_ATTCONTROL_STEER_RATE_IMAX 1.00f #define AR_ATTCONTROL_STEER_RATE_D 0.00f #define AR_ATTCONTROL_STEER_RATE_FILT 10.00f #define AR_ATTCONTROL_STEER_RATE_MAX 360.0f #define AR_ATTCONTROL_STEER_ACCEL_MAX 180.0f #define AR_ATTCONTROL_THR_SPEED_P 0.20f #define AR_ATTCONTROL_THR_SPEED_I 0.20f #define AR_ATTCONTROL_THR_SPEED_IMAX 1.00f #define AR_ATTCONTROL_THR_SPEED_D 0.00f #define AR_ATTCONTROL_THR_SPEED_FILT 10.00f #define AR_ATTCONTROL_PITCH_THR_P 1.80f #define AR_ATTCONTROL_PITCH_THR_I 1.50f #define AR_ATTCONTROL_PITCH_THR_D 0.03f #define AR_ATTCONTROL_PITCH_THR_IMAX 1.0f #define AR_ATTCONTROL_PITCH_THR_FILT 10.0f #define AR_ATTCONTROL_BAL_SPEED_FF 1.0f #define AR_ATTCONTROL_DT 0.02f #define AR_ATTCONTROL_TIMEOUT_MS 200 #define AR_ATTCONTROL_HEEL_SAIL_P 1.0f #define AR_ATTCONTROL_HEEL_SAIL_I 0.1f #define AR_ATTCONTROL_HEEL_SAIL_D 0.0f #define AR_ATTCONTROL_HEEL_SAIL_IMAX 1.0f #define AR_ATTCONTROL_HEEL_SAIL_FILT 10.0f #define AR_ATTCONTROL_DT 0.02f // throttle/speed control maximum acceleration/deceleration (in m/s) (_ACCEL_MAX parameter default) #define AR_ATTCONTROL_THR_ACCEL_MAX 2.00f // minimum speed in m/s #define AR_ATTCONTROL_STEER_SPEED_MIN 1.0f // speed (in m/s) at or below which vehicle is considered stopped (_STOP_SPEED parameter default) #define AR_ATTCONTROL_STOP_SPEED_DEFAULT 0.1f class AR_AttitudeControl { public: // constructor AR_AttitudeControl(AP_AHRS &ahrs); // // steering controller // // return a steering servo output given a desired lateral acceleration rate in m/s/s. // positive lateral acceleration is to the right. dt should normally be the main loop rate. // return value is normally in range -1.0 to +1.0 but can be higher or lower float get_steering_out_lat_accel(float desired_accel, bool motor_limit_left, bool motor_limit_right, float dt); // return a steering servo output given a heading in radians // set rate_max_rads to a non-zero number to apply a limit on the desired turn rate // return value is normally in range -1.0 to +1.0 but can be higher or lower float get_steering_out_heading(float heading_rad, float rate_max_rads, bool motor_limit_left, bool motor_limit_right, float dt); // return a desired turn-rate given a desired heading in radians // normally the results are later passed into get_steering_out_rate float get_turn_rate_from_heading(float heading_rad, float rate_max_rads) const; // return a steering servo output given a desired yaw rate in radians/sec. // positive yaw is to the right // return value is normally in range -1.0 to +1.0 but can be higher or lower float get_steering_out_rate(float desired_rate, bool motor_limit_left, bool motor_limit_right, float dt); // get latest desired turn rate in rad/sec recorded during calls to get_steering_out_rate. For reporting purposes only float get_desired_turn_rate() const; // get latest desired lateral acceleration in m/s/s recorded during calls to get_steering_out_lat_accel. For reporting purposes only float get_desired_lat_accel() const; // get actual lateral acceleration in m/s/s. returns true on success. For reporting purposes only bool get_lat_accel(float &lat_accel) const; // calculate the turn rate in rad/sec given a lateral acceleration (in m/s/s) and speed (in m/s) float get_turn_rate_from_lat_accel(float lat_accel, float speed) const; // // throttle / speed controller // // set limits used by throttle controller // forward/back acceleration max in m/s/s // forward/back deceleartion max in m/s/s void set_throttle_limits(float throttle_accel_max, float throttle_decel_max); // return a throttle output from -1 to +1 given a desired speed in m/s (use negative speeds to travel backwards) // desired_speed argument should already have been passed through get_desired_speed_accel_limited function // motor_limit should be true if motors have hit their upper or lower limits // cruise speed should be in m/s, cruise throttle should be a number from -1 to +1 float get_throttle_out_speed(float desired_speed, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, float dt); // return a throttle output from -1 to +1 to perform a controlled stop. stopped is set to true once stop has been completed float get_throttle_out_stop(bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, float dt, bool &stopped); // balancebot pitch to throttle controller // returns a throttle output from -100 to +100 given a desired pitch angle and vehicle's current speed (from wheel encoders) // desired_pitch is in radians, veh_speed_pct is supplied as a percentage (-100 to +100) of vehicle's top speed float get_throttle_out_from_pitch(float desired_pitch, float veh_speed_pct, bool motor_limit_low, bool motor_limit_high, float dt); // get latest desired pitch in radians for reporting purposes float get_desired_pitch() const; // Sailboat heel(roll) angle contorller, release sail to keep at maximum heel angle float get_sail_out_from_heel(float desired_heel, float dt); // low level control accessors for reporting and logging AC_P& get_steering_angle_p() { return _steer_angle_p; } AC_PID& get_steering_rate_pid() { return _steer_rate_pid; } AC_PID& get_throttle_speed_pid() { return _throttle_speed_pid; } AC_PID& get_pitch_to_throttle_pid() { return _pitch_to_throttle_pid; } AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; } // get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success bool get_forward_speed(float &speed) const; // get throttle/speed controller maximum acceleration (also used for deceleration) float get_accel_max() const { return MAX(_throttle_accel_max, 0.0f); } // get throttle/speed controller maximum deceleration float get_decel_max() const; // check if speed controller active bool speed_control_active() const; // get latest desired speed recorded during call to get_throttle_out_speed. For reporting purposes only float get_desired_speed() const; // get acceleration limited desired speed float get_desired_speed_accel_limited(float desired_speed, float dt) const; // get minimum stopping distance (in meters) given a speed (in m/s) float get_stopping_distance(float speed) const; // relax I terms of throttle and steering controllers void relax_I(); // parameter var table static const struct AP_Param::GroupInfo var_info[]; private: // external references const AP_AHRS &_ahrs; // parameters AC_P _steer_angle_p; // steering angle controller AC_PID _steer_rate_pid; // steering rate controller AC_PID _throttle_speed_pid; // throttle speed controller AC_PID _pitch_to_throttle_pid;// balancebot pitch controller AP_Float _pitch_to_throttle_speed_ff; // balancebot feed forward from speed AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits AP_Float _throttle_decel_max; // speed/throttle control deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle. AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value AP_Float _steer_accel_max; // steering angle acceleration max in deg/s/s AP_Float _steer_rate_max; // steering rate control maximum rate in deg/s // steering control uint32_t _steer_lat_accel_last_ms; // system time of last call to lateral acceleration controller (i.e. get_steering_out_lat_accel) uint32_t _steer_turn_last_ms; // system time of last call to steering rate controller float _desired_lat_accel; // desired lateral acceleration (in m/s/s) from latest call to get_steering_out_lat_accel (for reporting purposes) float _desired_turn_rate; // desired turn rate (in radians/sec) either from external caller or from lateral acceleration controller // throttle control uint32_t _speed_last_ms; // system time of last call to get_throttle_out_speed float _desired_speed; // last recorded desired speed uint32_t _stop_last_ms; // system time the vehicle was at a complete stop bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup) bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup) // balancebot pitch control uint32_t _balance_last_ms = 0; // Sailboat heel control AC_PID _sailboat_heel_pid; // Sailboat heel angle pid controller uint32_t _heel_controller_last_ms = 0; };