watchrobot/ArduSub/control_sport .cpp

#include "Sub.h"
//#include "/AP_Math/AP_Math.h"
#define PI	3.141592653589793238462643383279502884

extern mavlink_rov_state_monitoring_t rov_message;
Quaternion attitude_desired_quat_;
//Matrix3f last_desired;


/*
 * 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.reset_I();
    //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 使用roll pitch =0的姿态

    
	attitude_desired_quat_.from_euler(0.0, 0.0,ahrs.yaw);//初始化
	rotpitch.identity();
	 attitude_desired_quat_.rotation_matrix(rotyaw);
	
    last_roll = 0;
    last_pitch = 0;
    
	updowmgain =0.5;
	delaygain = 401;
	
	continuous_count=0;
	continuous_countdec=0;
	last_continuous = 0;



    last_yaw = ahrs.yaw_sensor;
    last_input_ms = AP_HAL::millis();
	last_input_ms_stable = AP_HAL::millis();
	//updown_gain = 0.0;
	
	
    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 {
        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()*0.35;
		}
		get_pilot_desired_lean_angles(0, (int16_t)(throttle/1.5*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_pitch) > 300) {
         
            last_input_ms = tnow;
            attitude_control.input_rate_bf_roll_pitch_yaw(0, target_pitch, 0);
			
			//ahrs.get_quat_body_to_ned(attitude_desired_quat_);
			
		
			Matrix3f mat_body = ahrs.get_rotation_body_to_ned();//03.17 
			float pitch_ang = get_pitch_to_ned(mat_body);
			
			rotpitch.from_euler(0,pitch_ang,0);//pitch 旋转矩阵
			

			
        } 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);
			
			Matrix3f mat_body = ahrs.get_rotation_body_to_ned();//03.17
			get_heading_to_ned(rotyaw,mat_body);//yaw旋转矩阵
			
			
			
			//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
            Matrix3f mat_body = ahrs.get_rotation_body_to_ned();//03.17
			get_heading_to_ned(rotyaw,mat_body);//yaw旋转矩阵
			
            attitude_control.input_rate_bf_roll_pitch_yaw(0, 0, 0);
        } else {
            // Lock attitude
			
			float depth = barometer.get_altitude()*100; // cm
			if(fabsf(depth)<50){//水面附近
				float maxsinpitch = constrain_float(fabsf(depth)/50.0,0.0,1.0);//40深度传感器到体长+10 余量 可以允许的最大pitch角的绝对值
				float nowsinpitch = rotpitch.a.z;//当前的pitch角
				Matrix3f rotpitch_limit;
				if (fabsf(nowsinpitch)>maxsinpitch)//说明比允许的大 姿态应该是恢复水平一些
				{
					float pitch_ang = get_pitch_to_ned(rotpitch);//目前的pith
					if (fabsf(pitch_ang)<PI/2)
					{
						pitch_ang = asinf(maxsinpitch);
					}else{
						pitch_ang = (PI- asinf(maxsinpitch))*sign_in(pitch_ang);
					}
					rotpitch_limit .from_euler(0,pitch_ang,0);//pitch 旋转矩阵
				}else{//保持原来的姿态
					rotpitch_limit = rotpitch;//pitch 旋转矩阵
				}


				attitude_desired_quat_.from_rotation_matrix(rotyaw*rotpitch_limit);
				static uint16_t count = 0;
				 count++;
				 if (count>400)
				{
					 count = 0;
					// gcs().send_text(MAV_SEVERITY_INFO, "ahr %f %f %f \n",nowsinpitch,maxsinpitch,get_pitch_to_ned(rotpitch_limit));
				 }
			}else{
				attitude_desired_quat_.from_rotation_matrix(rotyaw*rotpitch);
			}
			attitude_control.input_quaternion(attitude_desired_quat_);

			//attitude_desired_quat_.from_rotation_matrix(rotyaw*rotpitch);
			//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.reset_I();
		 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;
		 
		 rotpitch.identity();
		attitude_desired_quat_.from_euler(0.0, 0.0,ahrs.yaw);//初始化
		attitude_desired_quat_.rotation_matrix(rotyaw);

		delaygain = 401;
	
		continuous_count=0;
		continuous_countdec=0;
		last_continuous = 0;
	
		 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();
	 Matrix3f mat_half;
	 get_heading_to_ned(mat_half,mat_body);//得到half状态
	// mat 地到half状态
	 Matrix3f rc_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed()*mat_half;//rc_vehicle_frame（half）到body
	 //防止手柄交叉
	   float forward = channel_forward->norm_input();
	   float lateral =channel_lateral->norm_input();
	   if (fabsf(forward)>=fabsf(lateral))
		 {
		   lateral = 0.0;
		  }else{
			forward = 0.0;
		  }
		  //手柄转到机体系------------------------
	 float joystick_z = 2*(gaindelay(1.0-(float)PressLevel_f*0.1)-0.5);//-1~1
	
	  Vector3f rc_throttle_forward = Vector3f(getgainf(forward),0, 0);//手柄的值
	  Vector3f rc_throttle_lateral = Vector3f(0, getgainf(lateral), 0);//手柄的值
	  Vector3f rc_throttle = Vector3f(0, 0, joystick_z);//手柄的值
	  

	  
	   Vector3f rc_throttle_vehicle_frame1 = rc_vehicle_frame*rc_throttle_forward;//手柄从half系到body系
	   Vector3f rc_throttle_vehicle_frame2 = rc_vehicle_frame*rc_throttle_lateral;//手柄从half系到body系
	   Vector3f rc_throttle_vehicle_frame3 = rc_vehicle_frame*rc_throttle;//手柄从half系到body系
	  
	   Vector3f rc_throttle_vehicle_frame;
	   rc_throttle_vehicle_frame.x = rc_throttle_vehicle_frame1.x + rc_throttle_vehicle_frame2.x - rc_throttle_vehicle_frame3.x;
	   rc_throttle_vehicle_frame.y = rc_throttle_vehicle_frame1.y + rc_throttle_vehicle_frame2.y - rc_throttle_vehicle_frame3.y;
	   rc_throttle_vehicle_frame.z = -rc_throttle_vehicle_frame1.z - rc_throttle_vehicle_frame2.z + rc_throttle_vehicle_frame3.z;
//----------------------------------------------------

	 // Read the output of the z controller and rotate it so it always points up
	 //深度保持控制
	 float z_throttle = pos_control.update_z_controller_f();//输出了垂直变化量
//将深度保持控制的对地系转到机体系
	 Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, z_throttle);//变到机体坐标系

	
	//手柄控制和深度保持的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);
	 motors.set_throttle(throttle_vehicle_frame.z +rc_throttle_vehicle_frame.z/2+0.5);

	 

	 rov_message.pressure_level = int(PressLevel);
 
	 Vector3f earth_frame_rc_inputs = Vector3f(0.0, 0.0, joystick_z);//仅仅与竖直有关 手柄是在half系 Z轴
	  

	 bottom_detectorgain();

	
	 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(surface_depth_use()*100 - 10.0f); // set target to 5cm below surface level
			 
			 holding_depth = true;
			 
	
		 } else if (ap.at_bottom||bottom_set) {//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 +10);//cm
			 holding_depth = true;
			 
	
		 } else if (!holding_depth) {
			
			 pos_control.calc_leash_length_z();//刹车长度 12.19
			// pos_control.set_target_to_stopping_point_z();//有对位置的付值
			 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 %d %f %f\n",(int)holding_depth,pos_control.get_alt_target(),barometer.get_altitude()*100);
	
	}
	 static uint16_t count = 0;
	 count++;
	 if (count>400)
		 {
		 count = 0;
		// gcs().send_text(MAV_SEVERITY_INFO, "surf %d %d %d %f\n",(int)ap.at_surface,(int)ap.at_bottom,(int)motors.limit.throttle_upper,(float)motors.get_throttle());
		  
		// gcs().send_text(MAV_SEVERITY_INFO, "alt %f %f %f %f\n",pos_control.get_alt_target(),barometer.get_altitude()*100,pos_control.alt_rate.get(),joystick_z);

	 }

}

void Sub::altcontrol(){//相对机体系的手柄控制
	//深度控制
	 float z_throttle = pos_control.update_z_controller_f();//输出了set_throttle_out
	//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.
	float z_throttle_joystic = gaindelay(1.0-(float)PressLevel_f*0.1);//0~1
	 motors.set_throttle(throttle_vehicle_frame.z + z_throttle_joystic);//Z轴油门
	
	   rov_message.pressure_level = int(PressLevel);
	  //防止交叉
	  float forward = channel_forward->norm_input();
	  float lateral =channel_lateral->norm_input();
	  if (fabsf(forward)>=fabsf(lateral))
		{
		  lateral = 0.0;
		 }else{
		   forward = 0.0;
		 }
	 //变换到集体轴
		 if (control_mode == SPORT)
		{
			 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
		}else{
			motors.set_forward(constrain_float(-throttle_vehicle_frame.x + getgainfstatble(forward),-1.0,1.0));//
	   		motors.set_lateral(constrain_float(-throttle_vehicle_frame.y + getgainfstatble(lateral),-1.0,1.0));//
		}
	   
	
	   Vector3f earth_frame_rc_inputs1 = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), 0.0, (z_throttle_joystic-0.5)*2);//去掉侧移影响
	   bottom_detectorgain();
	
	   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();
		   
	   } else { // hold z
		  	if (ap.at_surface) {    //最大油门不能向上动

			 	pos_control.set_alt_target(surface_depth_use()*100 - 10.0f); // set target to 5cm below surface level
				 
			   	holding_depth = true;
	  		} else if (ap.at_bottom||bottom_set) {//最大油门不能向下动
			   pos_control.set_alt_target(barometer.get_altitude()*100+10);//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, " get_alt_target %d  %f  \n",(int)holding_depth,motors.get_throttle());
	   }
	
	   static uint16_t count = 0;
	   count++;
	   if (count>300)
		   {
		    count = 0;
		     gcs().send_text(MAV_SEVERITY_INFO, " surface %d %d %d\n",(int)ap.at_surface,(int)ap.at_bottom,(int)motors.limit.throttle_upper);
		     gcs().send_text(MAV_SEVERITY_INFO, " altitude %f %f %f\n",pos_control.get_alt_target(),barometer.get_altitude()*100,motors.get_throttle());
	
		   }

}