watchrobot/ArduSub/control_sport.dak

#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_;


/*
 * 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 使用roll pitch =0的姿态

    
	attitude_desired_quat_.from_euler(0.0, 0.0,ahrs.yaw);
    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 {
        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;
            
            last_input_ms = tnow;
            attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
		    ahrs.get_quat_body_to_ned(attitude_desired_quat_);
        } 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
		 attitude_desired_quat_.from_euler(0.0, 0.0,ahrs.yaw);
	
		 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;
	 float beta = 0.0;	
	 float dot=0.0;

	 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
		 Vector3f Xbx = mat_body*Vector3f(1,0,0);
		 Xbx.z = 0.0;
		 Vector3f Xex = Vector3f(1,0,0);

		dot = Xbx * Xex/Xbx.length();
		 beta = acosf(dot );
		 if (Xbx.y<0)
		{
			beta = -beta;
		}
		 Vector3f Xbz = mat_body*Vector3f(0,0,1);
		 Vector3f Xez = Vector3f(0,0,1);
		float dotz = Xbz * Xez/Xbz.length();
		 if (dotz<0)
		{
			 beta = beta-PI;
			 if (beta<-PI)
			{
				 beta = beta+2*PI;
			}
		}

		 
		 mat_half.a.x= cosf(beta);
		 mat_half.a.y=-sinf(beta);
		 mat_half.a.z=0.0;	
		 mat_half.b.x= sinf(beta);
		 mat_half.b.y= cosf(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 Xbz = mat_body*Vector3f(0,0,1);
		Xbz.z = 0.0;
		Vector3f Xex = Vector3f(1,0,0);
		dot = Xbz * Xex/Xbz.length();
		beta =  acosf(dot );
		if (Xbz.y<0)
		{
			beta = -beta;
		}
		 if (mat_body.c.x>0)//头朝下
		{
			 beta = beta-PI;
			 if (beta<-PI)
			{
				 beta = beta+2*PI;
			}
		}
		 mat_half.a.x= cosf(beta);
		 mat_half.a.y=-sinf(beta);
		 mat_half.a.z=0.0;	
		 mat_half.b.x= sinf(beta);
		 mat_half.b.y= cosf(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;


	 }
	// 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

	
	 
		   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_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, 2*(gaindelay(1.0-(float)PressLevel_f*0.1,updowmgain)-0.5));//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
	 //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);
	
     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 +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_target	%d	%f %f\n",(int)holding_depth,pos_control.get_alt_target(),barometer.get_altitude()*100);
	
	}
	 static uint16_t count = 0;
	 count++;
	 if (count>300)
		 {
		 count = 0;
		 
		 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(),motors.get_throttle());
	 	 gcs().send_text(MAV_SEVERITY_INFO, "surf %d %d %f \n",(int)ap.at_surface,(int)ap.at_bottom,motors.get_throttle_thrust_max());
		 }

}

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 %f \n",z_throttle,throttle_vehicle_frame.z,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
	
	   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
	
	
	   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+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_lower);
		     gcs().send_text(MAV_SEVERITY_INFO, " altitude %f %f \n",pos_control.get_alt_target(),barometer.get_altitude()*100);
	
		   }

}


// 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();

    altcontrol();


	
}