watchrobot/ArduSub/control_sport.cpp

#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()
{
    if(!control_check_barometer()) {
        return false;
    }

    // initialize vertical speeds and leash lengths
    // sets the maximum speed up and down returned by position controller
    pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
    pos_control.set_max_accel_z(g.pilot_accel_z);
    pos_control.relax_alt_hold_controllers();
	//pos_control.set_alt_target(-20);//cm
    pos_control.set_target_to_stopping_point_z();
    holding_depth = true;
	ahrs.get_quat_body_to_ned(attitude_desired_quat_);

    
    last_roll = 0;
    last_pitch = 0;
    

    last_yaw = ahrs.yaw_sensor;
    last_input_ms = AP_HAL::millis();
	last_input_ms_stable = AP_HAL::millis();
	
	gcs().send_text(MAV_SEVERITY_INFO, " last_attitudeinit %d %d,%d ",(int)last_roll_s,(int)pitch_input_inc,(int)last_yaw_s);
	gcs().send_text(MAV_SEVERITY_INFO, " init Z target %f %f",(float)pos_control.get_pos_target().z,barometer.get_altitude());

    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());

		target_yaw = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
        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_);
        }
		static int f = 0;
		f++;
		if(f>800)
		{
		
		   gcs().send_text(MAV_SEVERITY_INFO, " sportrpy %f %f,%f ",(float)target_roll,(float)target_pitch,(float)target_yaw);

			gcs().send_text(MAV_SEVERITY_INFO, " sportatd %f %f,%f ",(float)last_roll,(float)last_pitch,(float)last_yaw);
			f=0;
		}
    }


}


// 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(-20);//cm
        last_roll = 0;
        last_pitch = 0;
        last_yaw = ahrs.yaw_sensor;
        holding_depth = false;
		ahrs.get_quat_body_to_ned(attitude_desired_quat_);
		
		static int f = 0;
		f++;
		if(f>800)
		{
		
		   gcs().send_text(MAV_SEVERITY_INFO, " disarm Z target %f %f %f",(float)pos_control.get_pos_target().z,pos_control.get_alt(),barometer.get_altitude());
			f=0;
		}
        return;
    }

    // Vehicle is armed, motors are free to run
    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
	
	handle_attitude_sport();

    //handle_attitude();


    pos_control.update_z_controller();
	
    // Read the output of the z controller and rotate it so it always points up
    Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, motors.get_throttle_in_bidirectional());
    // Output the Z controller + pilot input to all motors.

    //TODO: scale throttle with the ammount of thrusters in the given direction
   // motors.set_throttle(0.5+throttle_vehicle_frame.z + channel_throttle->norm_input()-0.5);
    motors.set_throttle(throttle_vehicle_frame.z + 1.0-(float)PressLevel_f*0.1);
	rov_message.pressure_level = int(PressLevel);
    motors.set_forward(-throttle_vehicle_frame.x + channel_forward->norm_input());
    motors.set_lateral(-throttle_vehicle_frame.y + channel_lateral->norm_input());

    // 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)));

    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();
		//pos_control.set_alt_target(barometer.get_altitude()*100);//cm
    } 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();
            holding_depth = true;
        }
    }
			static int f = 0;
		f++;
		if(f>800)
		{
		
		   gcs().send_text(MAV_SEVERITY_INFO, " Z target %f %f %f",(float)pos_control.get_pos_target().z,pos_control.get_alt(),barometer.get_altitude());

			gcs().send_text(MAV_SEVERITY_INFO, " surface %d at_bottom %d ",ap.at_surface,ap.at_bottom);
			f=0;
		}
	
}