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()
{

	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());
		get_pilot_desired_lean_angles(0, (int16_t)((0.5-channel_throttle->norm_input())*5700), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());

		target_yaw = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()*0.3);//*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_);
        }

    }


}


// 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();

    //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);
   
   motors.set_throttle(throttle_vehicle_frame.z + gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain));
	rov_message.pressure_level = int(PressLevel);
    motors.set_forward(constrain_float(-throttle_vehicle_frame.x + getgainf(channel_forward->norm_input()),-0.8,0.8));//*0.6 变慢
    motors.set_lateral(constrain_float(-throttle_vehicle_frame.y + getgainf(channel_lateral->norm_input()),-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_inputs = ahrs.get_rotation_body_to_ned() * Vector3f(channel_forward->norm_input(), 0.0, (2.0*(0.5-PressLevel_f*0.1)));//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();
        //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 +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;
		  
        }
    }


	
}
/*
float rmpforward(float _gain){
	static uint16_t rmpcounter = 0;
	float get_forward_gain = motors.get_forward();
	float temp=0;
	rmpcounter++;
	if (rmpcounter>20)
	{
		rmpcounter =0;
		if(get_forward_gain - _gain>0.01){
			temp = get_forward_gain-0.01;
		
	 	}else if(get_forward_gain- _gain<-0.01){
			temp = get_forward_gain+0.01;
		}
		else{
			temp = _gain;
		}
	}
	if (_gain>0.3)
	{
		temp =constrain_float(temp,0.4,1.0);
	}else if(temp<-0.3){
		temp = constrain_float(temp,-1.0,-0.4);
	}else{
		temp=0.0;
		}
	

}*/