#include "Sub.h" //#include "/AP_Math/AP_Math.h" extern mavlink_rov_state_monitoring_t rov_message; Quaternion attitude_desired_quat_; /* * control_althold.pde - init and run calls for althold, flight mode */ // althold_init - initialise althold controller bool Sub::sport_init() { attitude_control.set_throttle_out(0.5 ,true, g.throttle_filt); //holding_depth = false; //检查是否有深度计存在 if(!control_check_barometer()) { return false; } // initialize vertical speeds and leash lengths // sets the maximum speed up and down returned by position controller //get_pilot_speed_dn QGC PILOT 设置的值 pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);//(-500,500)设置最大最小速度 和刹车长度 pos_control.set_max_accel_z(g.pilot_accel_z);//设置最大加速度值 和刹车长度 pos_control.relax_alt_hold_controllers();//目标高度为当前高度，目标速度和上次速度 当前速度 // //pos_control.set_target_to_stopping_point_z();//刹车长度 根据当前速度估计目标深度 pos_control.calc_leash_length_z();//刹车长度 12.19 pos_control.set_alt_target(barometer.get_altitude()*100);//当前深度12.19 holding_depth = true; ahrs.get_quat_body_to_ned(attitude_desired_quat_);//12.19 last_roll = 0; last_pitch = 0; updowmgain =0.5; last_yaw = ahrs.yaw_sensor; last_input_ms = AP_HAL::millis(); last_input_ms_stable = AP_HAL::millis(); return true; } void Sub::handle_attitude_sport(){ uint32_t tnow = AP_HAL::millis(); // get pilot desired lean angles float target_roll, target_pitch, target_yaw; // Check if set_attitude_target_no_gps is valid if (tnow - sub.set_attitude_target_no_gps.last_message_ms < 5000) { Quaternion( set_attitude_target_no_gps.packet.q ).to_euler( target_roll, target_pitch, target_yaw ); target_roll = 100 * degrees(target_roll); target_pitch = 100 * degrees(target_pitch); target_yaw = 100 * degrees(target_yaw); last_roll = target_roll; last_pitch = target_pitch; last_yaw = target_yaw; attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, target_yaw, true); } else { // If we don't have a mavlink attitude target, we use the pilot's input instead //get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max()); //get_pilot_desired_lean_angles((int16_t)(channel_lateral->norm_input()*5700), (int16_t)((0.5-channel_throttle->norm_input())*5700*2), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max()); //get_pilot_desired_lean_angles(0, (int16_t)((0.5-channel_throttle->norm_input())*5700*2), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max()); float throttle = 2*(0.5-channel_throttle->norm_input()); float yaw = channel_yaw->norm_input(); if (fabsf(throttle)>=fabsf(yaw)) { yaw = 0.0; }else{ throttle = 0.0; yaw = channel_yaw->get_control_in()*0.3; } get_pilot_desired_lean_angles(0, (int16_t)(throttle/2.0*5700), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max()); target_yaw = get_pilot_desired_yaw_rate(yaw);//*0.6 变慢 if (abs(target_roll) > 300 || abs(target_pitch) > 300) { //last_roll = ahrs.roll_sensor; //last_pitch = ahrs.pitch_sensor; //last_yaw = ahrs.yaw_sensor; ahrs.get_quat_body_to_ned(attitude_desired_quat_); last_input_ms = tnow; attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw); } else if (abs(target_yaw) > 300) { // if only yaw is being controlled, don't update pitch and roll attitude_control.input_rate_bf_roll_pitch_yaw(0, 0, target_yaw); //last_yaw = ahrs.yaw_sensor; ahrs.get_quat_body_to_ned(attitude_desired_quat_); last_input_ms = tnow; } else if (tnow < last_input_ms + 250) { // just brake for a few mooments so we don't bounce last_yaw = ahrs.yaw_sensor; attitude_control.input_rate_bf_roll_pitch_yaw(0, 0, 0); } else { // Lock attitude //attitude_control.input_euler_angle_roll_pitch_yaw(last_roll, last_pitch, last_yaw, true); attitude_control.input_quaternion(attitude_desired_quat_); } } } void Sub::sport_run_alt(void){ // When unarmed, disable motors and stabilization if (!motors.armed()) { motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); // Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle) attitude_control.set_throttle_out(0.5 ,true, g.throttle_filt); attitude_control.relax_attitude_controllers(); pos_control.relax_alt_hold_controllers(); pos_control.set_alt_target(barometer.get_altitude()*100);//当前深度 updowmgain =0.5; last_roll = 0; last_pitch = 0; last_yaw = ahrs.yaw_sensor; holding_depth = false; ahrs.get_quat_body_to_ned(attitude_desired_quat_);//12.19 return; } motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); handle_attitude_sport(); //pos_control.update_z_controller();//输出了set_throttle_out Matrix3f mat_body = ahrs.get_rotation_body_to_ned(); Vector3f Zb = mat_body*Vector3f(0,0,1); Vector3f Ze = Vector3f(0,0,1); float thetaz = Zb*Ze;//计算有没有翻过来 Matrix3f mat_half; if(mat_body.c.x<0.98 && mat_body.c.x>-0.98){//大约78.5度认为Z轴指向方向，小于78.5进入X轴指向方向 float beta = 0.0; beta = safe_sqrt(1.0-mat_body.c.x*mat_body.c.x); if (thetaz<0)//翻过来 { beta =-beta; } mat_half.a.x= mat_body.a.x/beta; mat_half.a.y=-mat_body.b.x/beta; mat_half.a.z=0.0; mat_half.b.x= mat_body.b.x/beta; mat_half.b.y= mat_body.a.x/beta; mat_half.b.z=0.0; mat_half.c.x= 0.0; mat_half.c.y= 0.0; mat_half.c.z=1.0; } else{ Vector3f Xb = mat_body*Vector3f(0,0,1); Xb.z = 0.0; Vector3f Xe = Vector3f(1,0,0); float alphacos = Xb * Xe/Xb.length(); float beta = safe_sqrt(1.0-alphacos*alphacos); if (Xb.y<0) { beta =-beta; } mat_half.a.x= alphacos; mat_half.a.y=-beta; mat_half.a.z=0.0; mat_half.b.x= beta; mat_half.b.y=alphacos; mat_half.b.z=0.0; mat_half.c.x= 0.0; mat_half.c.y= 0.0; mat_half.c.z=1.0; } // mat 地到half状态 Matrix3f rc_vehicle_frame = mat_half*ahrs.get_rotation_body_to_ned().transposed();//rc_vehicle_frame（half）到body float forward = channel_forward->norm_input(); float lateral =channel_lateral->norm_input(); if (fabsf(forward)>=fabsf(lateral)) { lateral = 0.0; }else{ forward = 0.0; } Vector3f rc_throttle = Vector3f(getgainf(forward), getgainf(lateral), 2*(gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5));//手柄的值 Vector3f rc_throttle_vehicle_frame = rc_vehicle_frame*rc_throttle;//手柄从half系到body系 static uint16_t count2 = 0; count2++; if (count2>200) { count2 = 0; gcs().send_text(MAV_SEVERITY_INFO, " rc_throttle %f %f %f\n",rc_throttle.x,rc_throttle.y,rc_throttle.z); // gcs().send_text(MAV_SEVERITY_INFO, " mata %f %f %f\n",mat_half.a.x,mat_half.a.y,mat_half.a.z); // gcs().send_text(MAV_SEVERITY_INFO, " matb %f %f %f\n",mat_half.b.x,mat_half.b.y,mat_half.b.z); // gcs().send_text(MAV_SEVERITY_INFO, " matc %f %f %f\n",mat_half.c.x,mat_half.c.y,mat_half.c.z); // Matrix3f matx = ahrs.get_rotation_body_to_ned(); // gcs().send_text(MAV_SEVERITY_INFO, " ahrsa %f %f %f\n",matx.a.x,matx.a.y,matx.a.z); // gcs().send_text(MAV_SEVERITY_INFO, " ahrsb %f %f %f\n",matx.b.x,matx.b.y,matx.b.z); // gcs().send_text(MAV_SEVERITY_INFO, " ahrsc %f %f %f\n",matx.c.x,matx.c.y,matx.c.z); } // Read the output of the z controller and rotate it so it always points up //将Z轴输出变到机体坐标系 //Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, motors.get_throttle_in_bidirectional()); float z_throttle = pos_control.update_z_controller_f();//输出了set_throttle_out Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, z_throttle); //手柄控制和Z轴输出的叠加 motors.set_forward(-throttle_vehicle_frame.x +rc_throttle_vehicle_frame.x); motors.set_lateral(-throttle_vehicle_frame.y +rc_throttle_vehicle_frame.y);//*0.6 变慢 motors.set_throttle(throttle_vehicle_frame.z +rc_throttle_vehicle_frame.z/2+0.5); rov_message.pressure_level = int(PressLevel); static uint16_t count3 = 0; count3++; if (count3>200) { count3 = 0; gcs().send_text(MAV_SEVERITY_INFO, " rc_frame %f %f %f\n",z_throttle,throttle_vehicle_frame.z); // gcs().send_text(MAV_SEVERITY_INFO, " rc_frame %f %f %f\n",rc_vehicle_frame.a.x,rc_vehicle_frame.a.y,rc_vehicle_frame.a.z); // gcs().send_text(MAV_SEVERITY_INFO, " rc_frame %f %f %f\n",rc_vehicle_frame.b.x,rc_vehicle_frame.b.y,rc_vehicle_frame.b.z); // gcs().send_text(MAV_SEVERITY_INFO, " rc_frame %f %f %f\n",rc_vehicle_frame.c.x,rc_vehicle_frame.c.y,rc_vehicle_frame.c.z); //gcs().send_text(MAV_SEVERITY_INFO, " rc_throttle %f %f %f\n",rc_throttle.x,rc_throttle.y,rc_throttle.z); // gcs().send_text(MAV_SEVERITY_INFO, " rc %f %f %f\n",rc_throttle_vehicle_frame.x,rc_throttle_vehicle_frame.y,rc_throttle_vehicle_frame.z); } Vector3f earth_frame_rc_inputs = Vector3f(0.0, 0.0, 2*(gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5));//去掉侧移影响 if (fabsf(earth_frame_rc_inputs.z) > 0.05f) { // Throttle input above 5% // reset z targets to current values holding_depth = false; pos_control.relax_alt_hold_controllers(); } else { // hold z if (ap.at_surface) { //最大油门不能向上动 pos_control.set_alt_target(g.surface_depth - 10.0f); // set target to 5cm below surface level holding_depth = true; } else if (ap.at_bottom) {//最大油门不能向下动 //pos_control.set_alt_target(inertial_nav.get_altitude() + 20.0f); // set target to 10 cm above bottom pos_control.set_alt_target(barometer.get_altitude()*100 +20);//cm holding_depth = true; } else if (!holding_depth) { //pos_control.set_target_to_stopping_point_z();//有对位置的付值 pos_control.calc_leash_length_z();//刹车长度 12.19 pos_control.set_alt_target(barometer.get_altitude()*100);//cm 当前深度 holding_depth = true; } } static bool lastdepth = holding_depth; if(lastdepth !=holding_depth){ lastdepth = holding_depth; gcs().send_text(MAV_SEVERITY_INFO, " get_alt_target %d %f \n",(int)holding_depth,motors.get_throttle()); } static uint16_t count = 0; count++; if (count>200) { count = 0; gcs().send_text(MAV_SEVERITY_INFO, " altitude %f %f %f \n",pos_control.get_alt_target(),barometer.get_altitude()*100,motors.get_throttle()); gcs().send_text(MAV_SEVERITY_INFO, " surface %d %d\n",(int)ap.at_surface,(int)ap.at_bottom); } } void Sub::altcontrol_ff(){ float speedclimb =SRV_Channels::srv_channel(15)->get_output_min()/10;//test float target_climb_rate = ((altdelay(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5)*speedclimb); target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up); Vector3f earth_frame_rc_inputs1 = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), 0.0, 2*(gaindelay2(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5));//去掉侧移影响 rov_message.pressure_level = int(PressLevel); if (fabsf(earth_frame_rc_inputs1.z) > 0.05f) { // Throttle input above 5% // reset z targets to current values pos_control.relax_alt_hold_controllers(); } else { if(ap.at_surface && target_climb_rate>0.0){ pos_control.relax_part_hold_controllers(); pos_control.set_alt_target(g.surface_depth - 10.0f); // set target to 10cm below surface level } else if (ap.at_bottom && target_climb_rate<0.0) { pos_control.relax_part_hold_controllers(); // clear ff control pos_control.set_alt_target(barometer.get_altitude()*100); // set target to current } else { pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);//前馈控制 生成目标深度 } } float z_throttle = pos_control.update_z_controller_f();//输出了set_throttle_out Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, z_throttle);//转到机体系 motors.set_throttle(throttle_vehicle_frame.z+gaindelay2(1.0-(float)PressLevel_f*0.1,updowmgain));//z轴付值 static uint16_t count = 0; count++; if (count>300) { count = 0; gcs().send_text(MAV_SEVERITY_INFO, "climb_rate %f %f %f %f\n",target_climb_rate,throttle_vehicle_frame.z,updowmgain,speedclimb); gcs().send_text(MAV_SEVERITY_INFO, " altitude %f %f \n",pos_control.get_alt_target(),barometer.get_altitude()*100); } // 前进侧移付值 float forward = channel_forward->norm_input(); float lateral =channel_lateral->norm_input(); if (fabsf(forward)>=fabsf(lateral)) { lateral = 0.0; }else{ forward = 0.0; } motors.set_forward(constrain_float(-throttle_vehicle_frame.x + getgainf(forward),-0.8,0.8));// *0.6 变慢 motors.set_lateral(constrain_float(-throttle_vehicle_frame.y + getgainf(lateral),-0.8,0.8));// *0.6 变慢 } void Sub::altcontrol(){ float z_throttle = pos_control.update_z_controller_f();//输出了set_throttle_out // Read the output of the z controller and rotate it so it always points up //变到机体坐标系 Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, z_throttle); // Output the Z controller + pilot input to all motors. motors.set_throttle(throttle_vehicle_frame.z + gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain)); static uint16_t j=0; j++; if(j>300) { gcs().send_text(MAV_SEVERITY_INFO, " sportthrottle %f %f \n",z_throttle,throttle_vehicle_frame.z); gcs().send_text(MAV_SEVERITY_INFO, " throttle %f %f\n",gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain),motors.get_throttle()); j=0; } rov_message.pressure_level = int(PressLevel); float forward = channel_forward->norm_input(); float lateral =channel_lateral->norm_input(); if (fabsf(forward)>=fabsf(lateral)) { lateral = 0.0; }else{ forward = 0.0; } motors.set_forward(constrain_float(-throttle_vehicle_frame.x + getgainf(forward),-0.8,0.8));//*0.6 变慢 motors.set_lateral(constrain_float(-throttle_vehicle_frame.y + getgainf(lateral),-0.8,0.8));//*0.6 变慢 // We rotate the RC inputs to the earth frame to check if the user is giving an input that would change the depth. //Vector3f earth_frame_rc_inputs = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), channel_lateral->norm_input(), (2.0f*(-0.5f+channel_throttle->norm_input()))); //Vector3f earth_frame_rc_inputs = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), channel_lateral->norm_input(), (2.0*(0.5-PressLevel_f*0.1))); Vector3f earth_frame_rc_inputs1 = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), 0.0, 2*(gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5));//去掉侧移影响 //Vector3f earth_frame_rc_inputs2 = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), 0.0, motors.get_throttle_bidirectional());//去掉侧移影响 if (fabsf(earth_frame_rc_inputs1.z) > 0.05f) { // Throttle input above 5% // reset z targets to current values holding_depth = false; pos_control.relax_alt_hold_controllers(); //pos_control.set_alt_target(barometer.get_altitude()*100);//当前深度 } else { // hold z if (ap.at_surface) { //最大油门不能向上动 pos_control.set_alt_target(g.surface_depth - 10.0f); // set target to 5cm below surface level holding_depth = true; } else if (ap.at_bottom) {//最大油门不能向下动 //pos_control.set_alt_target(inertial_nav.get_altitude() + 20.0f); // set target to 10 cm above bottom pos_control.set_alt_target(barometer.get_altitude()*100);//cm holding_depth = true; } else if (!holding_depth) { pos_control.calc_leash_length_z();//刹车长度 12.19 pos_control.set_alt_target(barometer.get_altitude()*100);//cm 当前深度 holding_depth = true; } } static bool lastdepth = holding_depth; if(lastdepth !=holding_depth){ lastdepth = holding_depth; gcs().send_text(MAV_SEVERITY_INFO, " surface %d %d\n",(int)ap.at_surface,(int)ap.at_bottom); gcs().send_text(MAV_SEVERITY_INFO, " get_alt_target %d %f %f \n",(int)holding_depth,gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain),motors.get_throttle()); } static uint16_t count = 0; count++; if (count>300) { count = 0; gcs().send_text(MAV_SEVERITY_INFO, " altitude %f %f \n",pos_control.get_alt_target(),barometer.get_altitude()*100); } } void Sub::ratecontrol(){ float speedclimb =SRV_Channels::srv_channel(15)->get_output_min()/10;//test float target_climb_rate = ((altdelay(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5)*speedclimb); target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up); uint32_t tnow = AP_HAL::millis(); float alt = 0.0; static uint32_t lasttime = tnow; static uint8_t alt_flag = 0; bool alt_flag2 = false; Vector3f earth_frame_rc_inputs1 = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), 0.0, 2*(gaindelay2(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5));//压力分级 rov_message.pressure_level = int(PressLevel); if (fabsf(earth_frame_rc_inputs1.z) > 0.05f) { // Throttle input above 5% // reset z targets to current values pos_control.relax_alt_hold_controllers(); holding_depth = false; alt_flag = 0; } else { //没有压力分级的时候 if(ap.at_surface ){ pos_control.set_alt_target(g.surface_depth - 10.0f); // set target to 10cm below surface level holding_depth = true; } else if (ap.at_bottom ) { pos_control.set_alt_target(barometer.get_altitude()*100+10); // set target to current holding_depth = true; } else { if (!holding_depth) { holding_depth = true; pos_control.set_alt_target(barometer.get_altitude()*100); // set target to current } } if (fabsf(target_climb_rate)>0.0 ) { alt_flag = 1; alt =pos_control.run_z_controller_wangdan(target_climb_rate); lasttime = tnow; alt_flag2 =true; }else if(tnow-lasttime<300){ alt_flag2 =true; alt =pos_control.run_z_controller_wangdan(0.0); }else{ if (alt_flag ==1) { alt_flag = 0; pos_control.set_alt_target(barometer.get_altitude()*100); // set target to current } } } if (!alt_flag2) { alt=pos_control.update_z_controller_f(); } Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, alt); motors.set_throttle(throttle_vehicle_frame.z + gaindelay2(1.0-(float)PressLevel_f*0.1,updowmgain)); // 前进侧移付值 float forward = channel_forward->norm_input(); float lateral =channel_lateral->norm_input(); if (fabsf(forward)>=fabsf(lateral)) { lateral = 0.0; }else{ forward = 0.0; } motors.set_forward(constrain_float(-throttle_vehicle_frame.x + getgainf(forward),-0.8,0.8));// *0.6 变慢 motors.set_lateral(constrain_float(-throttle_vehicle_frame.y + getgainf(lateral),-0.8,0.8));// *0.6 变慢 static uint16_t count = 0; count++; if (count>300) { count = 0; gcs().send_text(MAV_SEVERITY_INFO, " altitude %f %f %f \n",pos_control.get_alt_target(),barometer.get_altitude()*100,throttle_vehicle_frame.z ); gcs().send_text(MAV_SEVERITY_INFO, " throttle_lower %d %f %f\n",(int)motors.limit.throttle_lower,motors.get_throttle_filter().get_cutoff_freq(),pos_control.alt_rate.get()); } } // althold_run - runs the althold controller // should be called at 100hz or more void Sub::sport_run() { // When unarmed, disable motors and stabilization if (!motors.armed()) { motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); // Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle) attitude_control.set_throttle_out(0.5 ,true, g.throttle_filt); attitude_control.relax_attitude_controllers(); pos_control.relax_alt_hold_controllers(); //pos_control.set_alt_target(barometer.get_altitude()*100);//当前深度 updowmgain =0.5; last_roll = 0; last_pitch = 0; last_yaw = ahrs.yaw_sensor; holding_depth = false; ahrs.get_quat_body_to_ned(attitude_desired_quat_);//12.19 return; } // Vehicle is armed, motors are free to run motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); handle_attitude_sport(); //----------------------------------------速度前馈-------------------------- //altcontrol_ff(); //-----------------------------------------位置控制---------------------------------------- /* altcontrol(); */ //-----------------------速度给定位置保持 ratecontrol(); }