ACfly的ctrl_positon.cpp的代码
#include "ctrl_Attitude.hpp"
#include "ControlSystem.hpp"
#include "ctrl_Main.hpp"
#include "Parameters.hpp"
#include "MeasurementSystem.hpp"
#include "Sensors.hpp"
#include "TD4.hpp"
#include "ESO_AngularRate.hpp"
#include "ESO_h.hpp"
#include "Filters_LP.hpp"
#include "drv_PWMOut.hpp"
#include "smooth_kp.hpp"
#include "TD3_3D.hpp"
#include "vector2.hpp"
#include "Commulink.hpp"
#include "StorageSystem.hpp"
/*参数*/
//控制参数
struct PosCtrlCfg
{
//XY航线速度
float AutoVXY[2];
//Z航线速度
float AutoVZ[2];
//XYZ航线速度
float AutoVXYZ[2];
//高度前馈滤波器
float Z_TD4P1[2];
float Z_TD4P2[2];
float Z_TD4P3[2];
float Z_TD4P4[2];
//位置反馈增益
float P1[2];
//速度反馈增益
float P2[2];
//加速度反馈增益
float P3[2];
//水平速度控制速度反馈增益
float P2_VelXY[2];
//水平速度控制加速度反馈增益
float P3_VelXY[2];
//最大水平速度
float maxVelXY[2];
//最大水平加速度
float maxAccXY[2];
//最大水平加加速度
float maxJerkXY[2];
//自动模式最大水平速度
float maxAutoVelXY[2];
//自动模式最大水平加速度
float maxAutoAccXY[2];
//自动模式最大水平加加速度
float maxAutoJerkXY[2];
//最大向上速度
float maxVelUp[2];
//最大向下速度
float maxVelDown[2];
//最大向上加速度
float maxAccUp[2];
//最大向下加速度
float maxAccDown[2];
//最大向上加加速度
float maxJerkUp[2];
//最大向下加加速度
float maxJerkDown[2];
//自动模式最大向上速度
float maxAutoVelUp[2];
//自动模式最大向下速度
float maxAutoVelDown[2];
//自动模式最大向上加速度
float maxAutoAccUp[2];
//自动模式最大向下加速度
float maxAutoAccDown[2];
//自动模式最大向上加加速度
float maxAutoJerkUp[2];
//自动模式最大向下加加速度
float maxAutoJerkDown[2];
}__PACKED;
static PosCtrlCfg cfg;
/*参数*/
/*参数接口*/
float get_maxVelUp()
{
return cfg.maxVelUp[0];
}
float get_maxVelDown()
{
return cfg.maxVelDown[0];
}
float get_maxVelXY()
{
return cfg.maxVelXY[0];
}
/*参数接口*/
/*控制接口*/
static bool Altitude_Control_Enabled = false;
static bool Position_Control_Enabled = false;
//位置控制模式
static Position_ControlMode Altitude_ControlMode = Position_ControlMode_Position;
static Position_ControlMode HorizontalPosition_ControlMode = Position_ControlMode_Position;
//期望TD4滤波器
static TD4_SL Target_tracker[3];
//期望速度低通滤波器
static Filter_Butter4_LP TargetVelocityFilter[3];
static vector3<double> target_position;
static vector3<double> target_velocity;
static double VelCtrlMaxRoll = -1 , VelCtrlMaxPitch = -1;
/*高度*/
bool is_Altitude_Control_Enabled( bool* ena, double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
*ena = Altitude_Control_Enabled;
UnlockCtrl();
return true;
}
return false;
}
bool Altitude_Control_Enable( double TIMEOUT )
{
if( get_Altitude_MSStatus() != MS_Ready )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Altitude_Control_Enabled == true )
{ //控制器已打开
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
Attitude_Control_Enable();
Altitude_ControlMode = Position_ControlMode_Locking;
Altitude_Control_Enabled = true;
//更新控制时间
if(!isMSafe)
last_ZCtrlTime = TIME::now();
//读参数
if( ReadParamGroup( "PosCtrl", (uint64_t*)&cfg, 0, TIMEOUT ) != PR_OK )
{
UnlockCtrl();
return false;
}
Position_Control_set_ZAutoSpeed(cfg.AutoVZ[0]);
Target_tracker[2].P1 = cfg.Z_TD4P1[0];
Target_tracker[2].P2 = cfg.Z_TD4P2[0];
Target_tracker[2].P3 = cfg.Z_TD4P3[0];
Target_tracker[2].P4 = cfg.Z_TD4P4[0];
UnlockCtrl();
return true;
}
return false;
}
bool Altitude_Control_Disable( double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
if( Altitude_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( ForceMSafeCtrl && !isMSafe )
{ //屏蔽用户控制
UnlockCtrl();
return false;
}
Position_Control_Disable();
Altitude_ControlMode = Position_ControlMode_Null;
Altitude_Control_Enabled = false;
UnlockCtrl();
return true;
}
return false;
}
bool get_Altitude_ControlMode( Position_ControlMode* mode, double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && (Is_2DAutoMode(Altitude_ControlMode) || Is_3DAutoMode(Altitude_ControlMode)) )
{ //用户控制访问且为自动模式时更新控制时间
last_ZCtrlTime = TIME::now();
}
*mode = Altitude_ControlMode;
UnlockCtrl();
return true;
}
return false;
}
//设定Z自动飞行速度
static double AutoVelZ = 200;
bool Position_Control_set_ZAutoSpeed( double AtVelZ, double TIMEOUT )
{
if( isnan(AtVelZ) || isinf(AtVelZ) )
return false;
if( LockCtrl(TIMEOUT) )
{
AutoVelZ = AtVelZ;
UnlockCtrl();
return true;
}
return false;
}
//移动Z目标位置
bool Position_Control_move_TargetPositionZRelative( double posz, double TIMEOUT )
{
if( isnan(posz) || isinf(posz) )
return false;
//必须为位置或者自动模式
if( Altitude_ControlMode!=Position_ControlMode_Position &&
Is_2DAutoMode(Altitude_ControlMode)==false &&
Is_3DAutoMode(Altitude_ControlMode)==false )
return false;
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe )
{ //用户控制访问更新控制时间
last_ZCtrlTime = TIME::now();
}
target_position.z += posz;
return true;
}
bool Position_Control_set_TargetPositionZ( double posz, double TIMEOUT )
{
if( isnan(posz) || isinf(posz) )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Altitude_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
target_position.z = posz;
if( Is_2DAutoMode(Altitude_ControlMode)==false && Altitude_ControlMode!=Position_ControlMode_Position )
{
vector3<double> pos;
get_Position(&pos);
Target_tracker[2].x1 = pos.z;
}
Altitude_ControlMode = Position_ControlMode_RouteLine;
//更新控制时间
if(!isMSafe)
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetPositionZGlobal( double posz, double TIMEOUT )
{
if( isnan(posz) || isinf(posz) )
return false;
//获取最优全球定位传感器信息
PosSensorHealthInf1 global_inf;
if( get_OptimalGlobal_Z( &global_inf ) == false )
return false;
posz -= global_inf.HOffset;
return Position_Control_set_TargetPositionZ( posz, TIMEOUT );
}
bool Position_Control_set_TargetPositionZRelative( double posz, double TIMEOUT )
{
if( isnan(posz) || isinf(posz) )
return false;
vector3<double> pos;
if( get_Position( &pos, TIMEOUT ) == false )
return false;
return Position_Control_set_TargetPositionZ( pos.z + posz, TIMEOUT );
}
bool Position_Control_set_TargetVelocityZ( double velz, double TIMEOUT )
{
if( isnan(velz) || isinf(velz) )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Altitude_Control_Enabled == false )
{ //控制器未打开
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
target_velocity.z = velz;
Altitude_ControlMode = Position_ControlMode_Velocity;
//更新控制时间
if(!isMSafe)
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetPositionZRA( double posz, double TIMEOUT )
{
//获取起飞位置Z坐标
double homeZ;
getHomeLocalZ(&homeZ);
return Position_Control_set_TargetPositionZ( homeZ + posz, TIMEOUT );
}
bool Position_Control_set_ZLock( double TIMEOUT )
{
vector3<double> pos;
if( get_Position( &pos, TIMEOUT ) == false )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Altitude_Control_Enabled == false )
{ //控制器未打开
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
if( Altitude_ControlMode != Position_ControlMode_Position )
Altitude_ControlMode = Position_ControlMode_Locking;
Target_tracker[2].x1 = pos.z;
//更新控制时间
if(!isMSafe)
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
//起飞到当前高度上方的height高度
static double TakeoffHeight;
bool Position_Control_Takeoff_HeightRelative( double height, double TIMEOUT )
{
if( height < 10 )
return false;
bool inFlight; get_is_inFlight(&inFlight);
if( inFlight == true )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Altitude_Control_Enabled == false )
{ //控制器未打开
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
Altitude_ControlMode = Position_ControlMode_Takeoff;
TakeoffHeight = height;
//更新控制时间
if(!isMSafe)
last_ZCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_Takeoff_HeightGlobal( double height, double TIMEOUT )
{
//获取最优全球定位传感器信息
PosSensorHealthInf1 global_inf;
if( get_OptimalGlobal_Z( &global_inf ) == false )
return false;
height -= global_inf.HOffset;
height -= global_inf.PositionENU.z;
return Position_Control_Takeoff_HeightRelative( height, TIMEOUT );
}
bool Position_Control_Takeoff_Height( double height, double TIMEOUT )
{
vector3<double> pos;
get_Position(&pos);
height = height - pos.z;
return Position_Control_Takeoff_HeightRelative( height, TIMEOUT );
}
/*高度*/
/*水平位置*/
bool is_Position_Control_Enabled( bool* ena, double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
*ena = Position_Control_Enabled;
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_Enable( double TIMEOUT )
{
if( get_Position_MSStatus() != MS_Ready )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == true )
{ //控制器已打开
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
Altitude_Control_Enable();
if( Altitude_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
HorizontalPosition_ControlMode = Position_ControlMode_Locking;
Position_Control_Enabled = true;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = TIME::now();
//读参数
Position_Control_set_XYAutoSpeed(cfg.AutoVXY[0]);
Position_Control_set_XYZAutoSpeed(cfg.AutoVXYZ[0]);
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_Disable( double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( ForceMSafeCtrl && !isMSafe )
{ //屏蔽用户控制
UnlockCtrl();
return false;
}
HorizontalPosition_ControlMode = Position_ControlMode_Null;
Position_Control_Enabled = false;
UnlockCtrl();
return true;
}
return false;
}
bool get_Position_ControlMode( Position_ControlMode* mode, double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && (Is_2DAutoMode(HorizontalPosition_ControlMode) || Is_3DAutoMode(HorizontalPosition_ControlMode)) )
{ //用户控制访问且为自动模式时更新控制时间
last_XYCtrlTime = TIME::now();
}
*mode = HorizontalPosition_ControlMode;
UnlockCtrl();
return true;
}
return false;
}
//设定自动飞行速度
static double AutoVelXY = 500;
static double AutoVelXYZ = 500;
bool Position_Control_set_XYAutoSpeed( double AtVelXY, double TIMEOUT )
{
if( isnan(AtVelXY) || isinf(AtVelXY) )
return false;
if( LockCtrl(TIMEOUT) )
{
AutoVelXY = AtVelXY;
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_XYZAutoSpeed( double AtVelXYZ, double TIMEOUT )
{
if( isnan(AtVelXYZ) || isinf(AtVelXYZ) )
return false;
if( LockCtrl(TIMEOUT) )
{
AutoVelXYZ = AtVelXYZ;
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetVelocityXY_AngleLimit( double velx, double vely, double maxAngle, double TIMEOUT )
{
if( isnan(velx) || isinf(velx) ||
isnan(vely) || isinf(vely) ||
isnan(maxAngle) || isinf(maxAngle)
)
return false;
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{ //控制器未打开
UnlockCtrl();
return false;
}
Quaternion attitude;
if( get_AirframeY_quat( &attitude, TIMEOUT ) == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
constrain_vector( velx, vely, (double)cfg.maxVelXY[0] );
target_velocity.x = velx;
target_velocity.y = vely;
HorizontalPosition_ControlMode = Position_ControlMode_Velocity;
VelCtrlMaxRoll = maxAngle;
if( VelCtrlMaxRoll>=0 && VelCtrlMaxRoll<0.05 )
VelCtrlMaxRoll = 0.05;
VelCtrlMaxPitch = -1;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetVelocityBodyHeadingXY_AngleLimit( double velx, double vely, double maxRoll, double maxPitch, double TIMEOUT )
{
if( isnan(velx) || isinf(velx) ||
isnan(vely) || isinf(vely) ||
isnan(maxPitch) || isinf(maxPitch) ||
isnan(maxRoll) || isinf(maxRoll)
)
return false;
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{ //控制器未打开
UnlockCtrl();
return false;
}
Quaternion attitude;
if( get_AirframeY_quat( &attitude, TIMEOUT ) == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
constrain_vector( velx, vely, (double)cfg.maxVelXY[0] );
double yaw = attitude.getYaw();
double sin_Yaw, cos_Yaw;
fast_sin_cos( yaw, &sin_Yaw, &cos_Yaw );
double velx_ENU = BodyHeading2ENU_x( velx , vely , sin_Yaw , cos_Yaw );
double vely_ENU = BodyHeading2ENU_y( velx , vely , sin_Yaw , cos_Yaw );
target_velocity.x = velx_ENU;
target_velocity.y = vely_ENU;
HorizontalPosition_ControlMode = Position_ControlMode_Velocity;
VelCtrlMaxRoll = maxRoll;
if( VelCtrlMaxRoll>=0 && VelCtrlMaxRoll<0.05 )
VelCtrlMaxRoll = 0.05;
VelCtrlMaxPitch = maxPitch;
if( VelCtrlMaxPitch>=0 && VelCtrlMaxPitch < 0.05 )
VelCtrlMaxPitch = 0.05;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_XYLock( double TIMEOUT )
{
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
if( HorizontalPosition_ControlMode != Position_ControlMode_Position )
HorizontalPosition_ControlMode = Position_ControlMode_Locking;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
/*直线飞行*/
//直线方程系数
//A=(x1,y1,z1)=target_position目标点
//B=(x2,y2,z2)=起点
static vector3<double> route_line_A_B; //(B-A)
static double route_line_m; // 1/(B-A)^2
bool Position_Control_set_TargetPositionXY( double posx, double posy, double TIMEOUT )
{
if( isnan(posx) || isinf(posx) ||
isnan(posy) || isinf(posy) )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
target_position.x = posx;
target_position.y = posy;
vector3<double> position;
get_Position(&position);
//calculate vector B-A
route_line_A_B = position - target_position;
route_line_A_B.z = 0;
double route_line_A_B_sq = route_line_A_B.get_square();
if( route_line_A_B_sq > 0.1 )
{
//calculate 1/(B-A)^2
route_line_m = 1.0 / route_line_A_B_sq;
HorizontalPosition_ControlMode = Position_ControlMode_RouteLine;
}
else
HorizontalPosition_ControlMode = Position_ControlMode_Position;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetPositionXYZ( double posx, double posy, double posz, double TIMEOUT )
{
if( isnan(posx) || isinf(posx) ||
isnan(posy) || isinf(posy) ||
isnan(posz) || isinf(posz) )
return false;
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
target_position.x = posx;
target_position.y = posy;
target_position.z = posz;
vector3<double> position;
get_Position(&position);
//calculate vector B-A
route_line_A_B = position - target_position;
double route_line_A_B_sq = route_line_A_B.get_square();
if( route_line_A_B_sq > 0.1 )
{
//calculate 1/(B-A)^2
route_line_m = 1.0 / route_line_A_B_sq;
HorizontalPosition_ControlMode = Altitude_ControlMode = Position_ControlMode_RouteLine3D;
}
else
HorizontalPosition_ControlMode = Altitude_ControlMode = Position_ControlMode_Position;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = last_ZCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetPositionXYRelative( double posx, double posy, double TIMEOUT )
{
if( isnan(posx) || isinf(posx) ||
isnan(posy) || isinf(posy) )
return false;
vector3<double> position;
get_Position(&position);
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
target_position.x = position.x + posx;
target_position.y = position.y + posy;
//calculate vector B-A
route_line_A_B = position - target_position;
route_line_A_B.z = 0;
double route_line_A_B_sq = route_line_A_B.get_square();
if( route_line_A_B_sq > 0.1 )
{
//calculate 1/(B-A)^2
route_line_m = 1.0 / route_line_A_B_sq;
HorizontalPosition_ControlMode = Position_ControlMode_RouteLine;
}
else
HorizontalPosition_ControlMode = Position_ControlMode_Position;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetPositionXYZRelative( double posx, double posy, double posz, double TIMEOUT )
{
if( isnan(posx) || isinf(posx) ||
isnan(posy) || isinf(posy) ||
isnan(posz) || isinf(posz) )
return false;
vector3<double> position;
get_Position(&position);
if( LockCtrl(TIMEOUT) )
{
if( Position_Control_Enabled == false )
{
UnlockCtrl();
return false;
}
bool isMSafe = (xTaskGetCurrentTaskHandle()==MSafeTaskHandle);
if( !isMSafe && ForceMSafeCtrl )
{ //屏蔽用户控制
last_XYCtrlTime = last_ZCtrlTime = TIME::now();
UnlockCtrl();
return false;
}
target_position.x = position.x + posx;
target_position.y = position.y + posy;
target_position.z = position.z + posz;
//calculate vector B-A
route_line_A_B = position - target_position;
double route_line_A_B_sq = route_line_A_B.get_square();
if( route_line_A_B_sq > 0.1 )
{
//calculate 1/(B-A)^2
route_line_m = 1.0 / route_line_A_B_sq;
HorizontalPosition_ControlMode = Altitude_ControlMode = Position_ControlMode_RouteLine3D;
}
else
HorizontalPosition_ControlMode = Altitude_ControlMode = Position_ControlMode_Position;
//更新控制时间
if(!isMSafe)
last_XYCtrlTime = last_ZCtrlTime = TIME::now();
UnlockCtrl();
return true;
}
return false;
}
bool Position_Control_set_TargetPositionXYRelativeBodyheading( double posx, double posy, double TIMEOUT )
{
Quaternion att;
get_Attitude_quat( &att );
double yaw = att.getYaw();
double sin_Yaw, cos_Yaw;
fast_sin_cos( yaw, &sin_Yaw, &cos_Yaw );
double posx_enu = BodyHeading2ENU_x( posx , posy , sin_Yaw , cos_Yaw );
double posy_enu = BodyHeading2ENU_y( posx , posy , sin_Yaw , cos_Yaw );
return Position_Control_set_TargetPositionXYRelative( posx_enu, posy_enu, TIMEOUT );
}
bool Position_Control_set_TargetPositionXYZRelativeBodyheading( double posx, double posy, double posz, double TIMEOUT )
{
Quaternion att;
get_Attitude_quat( &att );
double yaw = att.getYaw();
double sin_Yaw, cos_Yaw;
fast_sin_cos( yaw, &sin_Yaw, &cos_Yaw );
double posx_enu = BodyHeading2ENU_x( posx , posy , sin_Yaw , cos_Yaw );
double posy_enu = BodyHeading2ENU_y( posx , posy , sin_Yaw , cos_Yaw );
return Position_Control_set_TargetPositionXYZRelative( posx_enu, posy_enu, posz, TIMEOUT );
}
bool Position_Control_set_TargetPositionXY_LatLon( double Lat, double Lon, double TIMEOUT )
{
if( isnan(Lat) || isinf(Lat) ||
isnan(Lon) || isinf(Lon) )
return false;
//获取最优全球定位传感器信息
PosSensorHealthInf2 global_inf;
if( get_OptimalGlobal_XY( &global_inf ) == false )
return false;
//获取指定经纬度平面坐标
double x, y;
map_projection_project( &global_inf.mp, Lat, Lon, &x, &y );
x -= global_inf.HOffset.x;
y -= global_inf.HOffset.y;
return Position_Control_set_TargetPositionXY( x, y, TIMEOUT );
}
bool Position_Control_set_TargetPositionXYZ_LatLon( double Lat, double Lon, double posz, double TIMEOUT )
{
if( isnan(Lat) || isinf(Lat) ||
isnan(Lon) || isinf(Lon) ||
isnan(posz) || isinf(posz) )
return false;
//获取最优全球定位传感器信息
PosSensorHealthInf3 global_inf;
if( get_OptimalGlobal_XYZ( &global_inf ) == false )
return false;
//获取指定经纬度平面坐标
double x, y;
map_projection_project( &global_inf.mp, Lat, Lon, &x, &y );
x -= global_inf.HOffset.x;
y -= global_inf.HOffset.y;
posz -= global_inf.HOffset.z;
return Position_Control_set_TargetPositionXYZ( x, y, posz, TIMEOUT );
}
bool Position_Control_set_TargetPositionXYZRA_LatLon( double Lat, double Lon, double posz, double TIMEOUT )
{
if( isnan(Lat) || isinf(Lat) ||
isnan(Lon) || isinf(Lon) ||
isnan(posz) || isinf(posz) )
return false;
//获取最优全球定位传感器信息
PosSensorHealthInf2 global_inf;
if( get_OptimalGlobal_XY( &global_inf ) == false )
return false;
//获取指定经纬度平面坐标
double x, y;
map_projection_project( &global_inf.mp, Lat, Lon, &x, &y );
x -= global_inf.HOffset.x;
y -= global_inf.HOffset.y;
//获取起飞位置Z坐标
double homeZ;
getHomeLocalZ(&homeZ);
return Position_Control_set_TargetPositionXYZ( x, y, homeZ + posz, TIMEOUT );
}
bool Position_Control_set_TargetPositionXYZRelative_LatLon( double Lat, double Lon, double posz, double TIMEOUT )
{
if( isnan(Lat) || isinf(Lat) ||
isnan(Lon) || isinf(Lon) ||
isnan(posz) || isinf(posz) )
return false;
//获取最优全球定位传感器信息
PosSensorHealthInf2 global_inf;
if( get_OptimalGlobal_XY( &global_inf ) == false )
return false;
//获取指定经纬度平面坐标
double x, y, z;
map_projection_project( &global_inf.mp, Lat, Lon, &x, &y );
x -= global_inf.HOffset.x;
y -= global_inf.HOffset.y;
z = global_inf.PositionENU.z + posz;
return Position_Control_set_TargetPositionXYZ( x, y, z, TIMEOUT );
}
/*直线飞行*/
/*水平位置*/
/*控制接口*/
/*滤波器*/
static Filter_Butter4_LP ThrOut_Filters[3];
/*滤波器*/
void ctrl_Position()
{
bool Attitude_Control_Enabled; is_Attitude_Control_Enabled(&Attitude_Control_Enabled);
if( Attitude_Control_Enabled == false )
{
Altitude_Control_Enabled = false;
Position_Control_Enabled = false;
return;
}
double e_1_n;
double e_1;
double e_2_n;
double e_2;
bool inFlight; get_is_inFlight(&inFlight);
vector3<double> Position; get_Position_Ctrl(&Position);
vector3<double> VelocityENU; get_VelocityENU_Ctrl(&VelocityENU);
vector3<double> AccelerationENU; get_AccelerationENU_Ctrl(&AccelerationENU);
get_throttle_force(&AccelerationENU.z); AccelerationENU.z-=GravityAcc;
//位置速度滤波
double Ps = cfg.P1[0];
double Pv = cfg.P2[0];
double Pa = cfg.P3[0];
static vector3<double> TAcc;
vector3<double> TargetVelocity;
vector3<double> TargetVelocity_1;
vector3<double> TargetVelocity_2;
//XY或Z其中一个为非3D模式则退出3D模式
if( Is_3DAutoMode(HorizontalPosition_ControlMode) && Is_3DAutoMode(Altitude_ControlMode)==false )
HorizontalPosition_ControlMode = Position_ControlMode_Locking;
else if( Is_3DAutoMode(HorizontalPosition_ControlMode)==false && Is_3DAutoMode(Altitude_ControlMode) )
Altitude_ControlMode = Position_ControlMode_Locking;
if( Position_Control_Enabled )
{ //水平位置控制
if( get_Position_MSStatus() != MS_Ready )
{
Position_Control_Enabled = false;
goto PosCtrl_Finish;
}
switch( HorizontalPosition_ControlMode )
{
case Position_ControlMode_Position:
{
if( inFlight )
{
vector2<double> e1;
e1.x = target_position.x - Position.x;
e1.y = target_position.y - Position.y;
vector2<double> e1_1;
e1_1.x = - VelocityENU.x;
e1_1.y = - VelocityENU.y;
vector2<double> e1_2;
e1_2.x = - TAcc.x;
e1_2.y = - TAcc.y;
double e1_length = safe_sqrt(e1.get_square());
e_1_n = e1.x*e1_1.x + e1.y*e1_1.y;
if( !is_zero(e1_length) )
e_1 = e_1_n / e1_length;
else
e_1 = 0;
e_2_n = ( e1.x*e1_2.x + e1.y*e1_2.y + e1_1.x*e1_1.x + e1_1.y*e1_1.y )*e1_length - e_1*e_1_n;
if( !is_zero(e1_length*e1_length) )
e_2 = e_2_n / (e1_length*e1_length);
else
e_2 = 0;
smooth_kp_d2 d1 = smooth_kp_2( e1_length, e_1, e_2 , Ps, 200 );
vector2<double> T2;
vector2<double> T2_1;
vector2<double> T2_2;
if( !is_zero(e1_length*e1_length*e1_length) )
{
vector2<double> n = e1 * (1.0/e1_length);
vector2<double> n_1 = (e1_1*e1_length - e1*e_1) / (e1_length*e1_length);
vector2<double> n_2 = ( (e1_2*e1_length-e1*e_2)*e1_length - (e1_1*e1_length-e1*e_1)*(2*e_1) ) / (e1_length*e1_length*e1_length);
T2 = n*d1.d0;
T2_1 = n*d1.d1 + n_1*d1.d0;
T2_2 = n*d1.d2 + n_1*(2*d1.d1) + n_2*d1.d0;
}
TargetVelocity.x = T2.x; TargetVelocity.y = T2.y;
TargetVelocity_1.x = T2_1.x; TargetVelocity_1.y = T2_1.y;
TargetVelocity_2.x = T2_2.x; TargetVelocity_2.y = T2_2.y;
}
else
{
//没起飞前在位置控制模式
//重置期望位置
target_position.x = Position.x;
target_position.y = Position.y;
Attitude_Control_set_Target_RollPitch( 0, 0 );
goto PosCtrl_Finish;
}
break;
}
case Position_ControlMode_Velocity:
{
if( !inFlight )
{
//没起飞时重置期望速度
Attitude_Control_set_Target_RollPitch( 0, 0 );
goto PosCtrl_Finish;
}
else
{
TargetVelocity.x = target_velocity.x;
TargetVelocity.y = target_velocity.y;
Pv = cfg.P2_VelXY[0];
}
break;
}
case Position_ControlMode_RouteLine:
{
if( inFlight )
{
//计算垂足
vector2<double> A( target_position.x, target_position.y );
vector2<double> C( Position.x, Position.y );
vector2<double> A_C = C - A;
vector2<double> A_B( route_line_A_B.x, route_line_A_B.y );
double k = (A_C * A_B) * route_line_m;
vector2<double> foot_point = (A_B * k) + A;
//计算偏差
vector2<double> e1r = A - foot_point;
vector2<double> e1d = foot_point - C;
double e1r_length = safe_sqrt(e1r.get_square());
double e1d_length = safe_sqrt(e1d.get_square());
//计算route方向单位向量
vector2<double> route_n;
if( e1r_length > 0.001 )
route_n = e1r * (1.0/e1r_length);
//计算d方向单位向量
vector2<double> d_n;
if( e1d_length > 0.001 )
d_n = e1d * (1.0/e1d_length);
//计算e1导数
vector2<double> e1_1( VelocityENU.x, VelocityENU.y );
double e1r_1 = -(e1_1 * route_n);
double e1d_1 = -(e1_1 * d_n);
//e1二阶导
vector2<double> e1_2( TAcc.x, TAcc.y );
double e1r_2 = -(e1_2 * route_n);
double e1d_2 = -(e1_2 * d_n);
/*route方向*/
smooth_kp_d2 d1r = smooth_kp_2( e1r_length, e1r_1, e1r_2 , Ps, AutoVelXY );
vector2<double> T2r = route_n * d1r.d0;
vector2<double> T2r_1 = route_n * d1r.d1;
vector2<double> T2r_2 = route_n * d1r.d2;
/*route方向*/
/*d方向*/
smooth_kp_d2 d1d = smooth_kp_2( e1d_length, e1d_1, e1d_2 , Ps, AutoVelXY );
vector2<double> T2d = d_n * d1d.d0;
vector2<double> T2d_1 = d_n * d1d.d1;
vector2<double> T2d_2 = d_n * d1d.d2;
/*d方向*/
TargetVelocity.x = T2r.x+T2d.x; TargetVelocity.y = T2r.y+T2d.y;
TargetVelocity_1.x = T2r_1.x+T2d_1.x; TargetVelocity_1.y = T2r_1.y+T2d_1.y;
TargetVelocity_2.x = T2r_2.x+T2d_2.x; TargetVelocity_2.y = T2r_2.y+T2d_2.y;
if( e1r.get_square() + e1d.get_square() < 20*20 )
HorizontalPosition_ControlMode = Position_ControlMode_Position;
}
else
{
//没起飞时重置期望速度
Attitude_Control_set_Target_RollPitch( 0, 0 );
return;
}
break;
}
case Position_ControlMode_RouteLine3D:
{
if( inFlight )
{
//计算垂足
vector3<double> A_C = Position - target_position;
double k = (A_C * route_line_A_B) * route_line_m;
vector3<double> foot_point = (route_line_A_B * k) + target_position;
//计算偏差
vector3<double> e1r = target_position - foot_point;
vector3<double> e1d = foot_point - Position;
double e1r_length = safe_sqrt(e1r.get_square());
double e1d_length = safe_sqrt(e1d.get_square());
//计算route方向单位向量
vector3<double> route_n;
if( e1r_length > 0.001 )
route_n = e1r * (1.0/e1r_length);
//计算e1导数
double e1r_1_length = -(VelocityENU * route_n);
vector3<double> e1r_1 = route_n * e1r_1_length;
vector3<double> e1d_1 = -(VelocityENU + e1r_1);
//e1二阶导
vector3<double> e1_2( TAcc.x, TAcc.y, AccelerationENU.z );
double e1r_2_length = -(e1_2 * route_n);
vector3<double> e1r_2 = route_n * e1r_2_length;
vector3<double> e1d_2 = -(e1_2 + e1r_2);
/*route方向*/
smooth_kp_d2 d1r = smooth_kp_2( e1r_length, e1r_1_length, e1r_2_length , Ps, AutoVelXYZ );
vector3<double> T2r = route_n * d1r.d0;
vector3<double> T2r_1 = route_n * d1r.d1;
vector3<double> T2r_2 = route_n * d1r.d2;
/*route方向*/
/*d方向*/
e_1_n = e1d.x*e1d_1.x + e1d.y*e1d_1.y + e1d.z*e1d_1.z;
if( !is_zero(e1d_length) )
e_1 = e_1_n / e1d_length;
else
e_1 = 0;
e_2_n = ( e1d.x*e1d_2.x + e1d.y*e1d_2.y + e1d.z*e1d_2.z + e1d_1.x*e1d_1.x + e1d_1.y*e1d_1.y + e1d_1.z*e1d_1.z )*e1d_length - e_1*e_1_n;
if( !is_zero(e1d_length*e1d_length) )
e_2 = e_2_n / (e1d_length*e1d_length);
else
e_2 = 0;
smooth_kp_d2 d1d = smooth_kp_2( e1d_length, e_1, e_2 , Ps, AutoVelXYZ );
vector3<double> T2d;
vector3<double> T2d_1;
vector3<double> T2d_2;
if( !is_zero(e1d_length*e1d_length*e1d_length) )
{
vector3<double> n = e1d * (1.0/e1d_length);
vector3<double> n_1 = (e1d_1*e1d_length - e1d*e_1) / (e1d_length*e1d_length);
vector3<double> n_2 = ( (e1d_2*e1d_length-e1d*e_2)*e1d_length - (e1d_1*e1d_length-e1d*e_1)*(2*e_1) ) / (e1d_length*e1d_length*e1d_length);
T2d = n*d1d.d0;
T2d_1 = n*d1d.d1 + n_1*d1d.d0;
T2d_2 = n*d1d.d2 + n_1*(2*d1d.d1) + n_2*d1d.d0;
}
/*d方向*/
TargetVelocity = T2r + T2d;
TargetVelocity_1 = T2r_1 + T2d_1;
TargetVelocity_2 = T2r_2 + T2d_2;
if( e1r.get_square() + e1d.get_square() < 20*20 )
HorizontalPosition_ControlMode = Altitude_ControlMode = Position_ControlMode_Position;
}
else
{
//没起飞时重置期望速度
Attitude_Control_set_Target_RollPitch( 0, 0 );
return;
}
break;
}
case Position_ControlMode_Locking:
default:
{ //刹车锁位置
static uint16_t lock_counter = 0;
if( inFlight )
{
TargetVelocity.x = 0;
TargetVelocity.y = 0;
if( VelocityENU.x*VelocityENU.x + VelocityENU.y*VelocityENU.y < 10*10 )
{
if( ++lock_counter >= CtrlRateHz*0.7 )
{
lock_counter = 0;
target_position.x = Position.x;
target_position.y = Position.y;
HorizontalPosition_ControlMode = Position_ControlMode_Position;
}
}
else
lock_counter = 0;
}
else
{
lock_counter = 0;
target_position.x = Position.x;
target_position.y = Position.y;
HorizontalPosition_ControlMode = Position_ControlMode_Position;
Attitude_Control_set_Target_RollPitch( 0, 0 );
return;
}
break;
}
}
//计算期望加速度
vector2<double> e2;
e2.x = TargetVelocity.x - VelocityENU.x;
e2.y = TargetVelocity.y - VelocityENU.y;
vector2<double> e2_1;
e2_1.x = TargetVelocity_1.x - TAcc.x;
e2_1.y = TargetVelocity_1.y - TAcc.y;
double e2_length = safe_sqrt(e2.get_square());
e_1_n = e2.x*e2_1.x + e2.y*e2_1.y;
if( !is_zero(e2_length) )
e_1 = e_1_n / e2_length;
else
e_1 = 0;
smooth_kp_d1 d2;
if( Is_AutoMode(HorizontalPosition_ControlMode) )
d2 = smooth_kp_1( e2_length, e_1 , Pv, cfg.maxAutoAccXY[0] );
else
d2 = smooth_kp_1( e2_length, e_1 , Pv, cfg.maxAccXY[0] );
vector2<double> T3;
vector2<double> T3_1;
if( !is_zero(e2_length*e2_length) )
{
vector2<double> n = e2 * (1.0/e2_length);
vector2<double> n_1 = (e2_1*e2_length - e2*e_1) / (e2_length*e2_length);
T3 = n*d2.d0;
T3_1 = n*d2.d1 + n_1*d2.d0;
}
T3 += vector2<double>( TargetVelocity_1.x, TargetVelocity_1.y );
T3_1 += vector2<double>( TargetVelocity_2.x, TargetVelocity_2.y );
vector2<double> e3;
e3.x = T3.x - TAcc.x;
e3.y = T3.y - TAcc.y;
double e3_length = safe_sqrt(e3.get_square());
double d3;
if( Is_AutoMode(HorizontalPosition_ControlMode) )
d3 = smooth_kp_0( e3_length , Pa, cfg.maxAutoJerkXY[0] );
else
d3 = smooth_kp_0( e3_length , Pa, cfg.maxJerkXY[0] );
vector2<double> T4;
if( !is_zero(e3_length) )
{
vector2<double> n = e3 * (1.0/e3_length);
T4 = n*d3;
}
if( Is_AutoMode(HorizontalPosition_ControlMode) )
T4.constrain( cfg.maxAutoJerkXY[0] );
else
T4.constrain( cfg.maxJerkXY[0] );
T4 += T3_1;
TAcc.x += T4.x*(1.0/CtrlRateHz);
TAcc.y += T4.y*(1.0/CtrlRateHz);
//去除风力扰动
vector3<double> WindDisturbance;
get_WindDisturbance( &WindDisturbance );
vector2<double> target_acceleration;
// target_acceleration.x = TAcc.x - WindDisturbance.x;
// target_acceleration.y = TAcc.y - WindDisturbance.y;
target_acceleration.x = T3.x - WindDisturbance.x;
target_acceleration.y = T3.y - WindDisturbance.y;
//旋转至Bodyheading
Quaternion attitude;
get_Attitude_quat(&attitude);
double yaw = attitude.getYaw();
double sin_Yaw, cos_Yaw;
fast_sin_cos( yaw, &sin_Yaw, &cos_Yaw );
double target_acceleration_x_bodyheading = ENU2BodyHeading_x( target_acceleration.x , target_acceleration.y , sin_Yaw , cos_Yaw );
double target_acceleration_y_bodyheading = ENU2BodyHeading_y( target_acceleration.x , target_acceleration.y , sin_Yaw , cos_Yaw );
// target_acceleration_x_bodyheading = ThrOut_Filters[0].run(target_acceleration_x_bodyheading);
// target_acceleration_y_bodyheading = ThrOut_Filters[1].run(target_acceleration_y_bodyheading);
//计算风力补偿角度
double WindDisturbance_Bodyheading_x = ENU2BodyHeading_x( WindDisturbance.x , WindDisturbance.y , sin_Yaw , cos_Yaw );
double WindDisturbance_Bodyheading_y = ENU2BodyHeading_y( WindDisturbance.x , WindDisturbance.y , sin_Yaw , cos_Yaw );
//计算角度
double AccUp = GravityAcc + AccelerationENU.z;
double AntiDisturbancePitch = atan2( -WindDisturbance_Bodyheading_x , AccUp );
double AntiDisturbanceRoll = atan2( WindDisturbance_Bodyheading_y , AccUp );
//计算目标角度
double target_Roll = atan2( -target_acceleration_y_bodyheading , AccUp );
double target_Pitch = atan2( target_acceleration_x_bodyheading , AccUp );
if( HorizontalPosition_ControlMode==Position_ControlMode_Velocity )
{ //角度限幅
if( VelCtrlMaxRoll>0 && VelCtrlMaxPitch>0 )
{
target_Roll = constrain( target_Roll , AntiDisturbanceRoll - VelCtrlMaxRoll, AntiDisturbanceRoll + VelCtrlMaxRoll );
target_Pitch = constrain( target_Pitch , AntiDisturbancePitch - VelCtrlMaxPitch, AntiDisturbancePitch + VelCtrlMaxPitch );
}
else if( VelCtrlMaxRoll>0 )
{
vector2<double> Tangle( target_Roll - AntiDisturbanceRoll, target_Pitch - AntiDisturbancePitch );
Tangle.constrain(VelCtrlMaxRoll);
target_Roll = AntiDisturbanceRoll + Tangle.x;
target_Pitch = AntiDisturbancePitch + Tangle.y;
}
}
//设定目标角度
Attitude_Control_set_Target_RollPitch( target_Roll, target_Pitch );
//获取真实目标角度修正TAcc
Attitude_Control_get_Target_RollPitch( &target_Roll, &target_Pitch );
target_acceleration_x_bodyheading = tan(target_Pitch)*GravityAcc;
target_acceleration_y_bodyheading = -tan(target_Roll)*GravityAcc;
target_acceleration.x = BodyHeading2ENU_x( target_acceleration_x_bodyheading, target_acceleration_y_bodyheading , sin_Yaw, cos_Yaw );
target_acceleration.y = BodyHeading2ENU_y( target_acceleration_x_bodyheading, target_acceleration_y_bodyheading , sin_Yaw, cos_Yaw );
TAcc.x = target_acceleration.x + WindDisturbance.x;
TAcc.y = target_acceleration.y + WindDisturbance.y;
}//水平位置控制
else
{
ThrOut_Filters[0].reset(0);
ThrOut_Filters[1].reset(0);
}
PosCtrl_Finish:
if( Altitude_Control_Enabled )
{//高度控制
//设置控制量限幅
Target_tracker[2].r2p = cfg.maxVelUp[0];
Target_tracker[2].r2n = cfg.maxVelDown[0];
Target_tracker[2].r3p = cfg.maxAccUp[0];
Target_tracker[2].r3n = cfg.maxAccDown[0];
Target_tracker[2].r4p = cfg.maxJerkUp[0];
Target_tracker[2].r4n = cfg.maxJerkDown[0];
if( !Is_3DAutoMode(Altitude_ControlMode) )
{
switch( Altitude_ControlMode )
{
case Position_ControlMode_Position:
{ //控制位置
if( inFlight )
{
Target_tracker[2].r2p = 0.3*cfg.maxVelUp[0];
Target_tracker[2].r2n = 0.3*cfg.maxVelDown[0];
Target_tracker[2].track4( target_position.z , 1.0 / CtrlRateHz );
}
else
{
//没起飞前在位置控制模式
//不要起飞
Target_tracker[2].reset();
target_position.z = Target_tracker[2].x1 = Position.z;
Attitude_Control_set_Throttle( get_STThrottle() );
goto AltCtrl_Finish;
}
break;
}
case Position_ControlMode_Velocity:
{ //控制速度
if( inFlight || target_velocity.z > 0 )
{
double TVel;
if( target_velocity.z > cfg.maxVelUp[0] )
TVel = cfg.maxVelUp[0];
else if( target_velocity.z < -cfg.maxVelDown[0] )
TVel = -cfg.maxVelDown[0];
else
TVel = target_velocity.z;
Target_tracker[2].track3( TVel , 1.0 / CtrlRateHz );
}
else
{
//没起飞且期望速度为负
//不要起飞
Target_tracker[2].reset();
Target_tracker[2].x1 = Position.z;
Attitude_Control_set_Throttle( get_STThrottle() );
goto AltCtrl_Finish;
}
break;
}
case Position_ControlMode_Takeoff:
{ //起飞
//设置控制量最大值
Target_tracker[2].r3p = cfg.maxAutoAccUp[0];
Target_tracker[2].r3n = cfg.maxAutoAccDown[0];
Target_tracker[2].r4p = cfg.maxAutoJerkUp[0];
Target_tracker[2].r4n = cfg.maxAutoJerkDown[0];
if( inFlight )
{
//已起飞
//控制达到目标高度
double homeZ;
getHomeLocalZ(&homeZ);
if( Position.z - homeZ < 100 )
Target_tracker[2].r2n = Target_tracker[2].r2p = 50;
else
Target_tracker[2].r2n = Target_tracker[2].r2p = ( AutoVelZ < cfg.maxAutoVelUp[0] ) ? AutoVelZ : cfg.maxAutoVelUp[0];
Target_tracker[2].track4( target_position.z , 1.0 / CtrlRateHz );
if( fabs( target_position.z - Position.z ) < 10 && \
in_symmetry_range( Target_tracker[2].x2 , 0.1 ) && \
in_symmetry_range( Target_tracker[2].x3 , 0.1 ) )
Altitude_ControlMode = Position_ControlMode_Position;
}
else
{
//未起飞
//等待起飞
target_position.z = Position.z + TakeoffHeight;
Target_tracker[2].x1 = Position.z;
Target_tracker[2].track3( 50 , 1.0 / CtrlRateHz );
}
break;
}
case Position_ControlMode_RouteLine:
{ //飞到指定高度
//设置控制量最大值
Target_tracker[2].r3p = cfg.maxAutoAccUp[0];
Target_tracker[2].r3n = cfg.maxAutoAccDown[0];
Target_tracker[2].r4p = cfg.maxAutoJerkUp[0];
Target_tracker[2].r4n = cfg.maxAutoJerkDown[0];
if( inFlight )
{
//已起飞
//控制达到目标高度
Target_tracker[2].r2n = Target_tracker[2].r2p = AutoVelZ;
Target_tracker[2].track4( target_position.z , 1.0f / CtrlRateHz );
if( fabs( target_position.z - Position.z ) < 10 && \
in_symmetry_range( VelocityENU.z , 10.0f ) && \
in_symmetry_range( AccelerationENU.z , 50.0f ) && \
in_symmetry_range( Target_tracker[2].x2 , 0.1f ) && \
in_symmetry_range( Target_tracker[2].x3 , 0.1f ) )
Altitude_ControlMode = Position_ControlMode_Position;
}
else
{
//未起飞
//不要起飞
Target_tracker[2].reset();
Target_tracker[2].x1 = Position.z;
Attitude_Control_set_Throttle( 0 );
goto AltCtrl_Finish;
}
break;
}
case Position_ControlMode_Locking:
default:
{ //锁位置（减速到0然后锁住高度）
if( inFlight )
{
Target_tracker[2].track3( 0 , 1.0 / CtrlRateHz );
if( in_symmetry_range( VelocityENU.z , 10.0 ) && \
in_symmetry_range( Target_tracker[2].x2 , 0.1 ) && \
in_symmetry_range( Target_tracker[2].x3 , 0.1 ) )
{
target_position.z = Target_tracker[2].x1;
Altitude_ControlMode = Position_ControlMode_Position;
}
}
else
{
Altitude_ControlMode = Position_ControlMode_Position;
Attitude_Control_set_Throttle( get_STThrottle() );
goto AltCtrl_Finish;
}
break;
}
}
}
if( inFlight )
{
//计算期望速度
double target_velocity_z;
//期望垂直速度的导数
double Tvz_1, Tvz_2;
if( Is_3DAutoMode(Altitude_ControlMode) )
{
target_velocity_z = TargetVelocity.z;
Tvz_1 = TargetVelocity_1.z;
Tvz_2 = TargetVelocity_2.z;
Target_tracker[2].reset();
Target_tracker[2].x1 = target_position.z;
}
else
{
if( Target_tracker[2].get_tracking_mode() == 4 )
{
double max_fb_vel = ( Target_tracker[2].x1 - Position.z ) > 0 ? cfg.maxAutoVelUp[0] : cfg.maxAutoVelDown[0];
smooth_kp_d2 TvFb = smooth_kp_2(
Target_tracker[2].x1 - Position.z,
Target_tracker[2].x2 - VelocityENU.z,
Target_tracker[2].x3 - AccelerationENU.z,
Ps, max_fb_vel );
target_velocity_z = TvFb.d0 + Target_tracker[2].x2;
Tvz_1 = TvFb.d1 + Target_tracker[2].x3;
Tvz_2 = TvFb.d2 + Target_tracker[2].x4;
}
else
{
target_velocity_z = Target_tracker[2].x2;
Tvz_1 = Target_tracker[2].x3;
Tvz_2 = Target_tracker[2].x4;
}
}
//计算期望加速度
double max_fb_acc = ( target_velocity_z - VelocityENU.z ) > 0 ? cfg.maxAutoAccUp[0] : cfg.maxAutoAccDown[0];
smooth_kp_d1 TaFb = smooth_kp_1(
target_velocity_z - VelocityENU.z,
Tvz_1 - AccelerationENU.z,
Pv, max_fb_acc );
double target_acceleration_z = TaFb.d0 + Tvz_1;
double target_acceleration_z_1 = TaFb.d1 + Tvz_2;
//target_acceleration_z = TargetVelocityFilter[2].run( target_acceleration_z );
//加速度误差
double acceleration_z_error = target_acceleration_z - AccelerationENU.z;
//获取倾角cosin
Quaternion quat;
get_Airframe_quat(&quat);
double lean_cosin = quat.get_lean_angle_cosin();
//获取电机起转油门
double MotorStartThrottle = get_STThrottle();
//获取悬停油门 - 电机起转油门
double hover_throttle;
get_hover_throttle(&hover_throttle);
hover_throttle = hover_throttle - MotorStartThrottle;
//计算输出油门
double force, T, b;
get_throttle_force(&force);
get_ESO_height_T(&T);
get_throttle_b(&b);
if( force < 1 )
force = 1;
double throttle = ( force + T * ( acceleration_z_error * Pa + target_acceleration_z_1 ) )/b;
//倾角补偿
if( lean_cosin > 0.1 )
throttle /= lean_cosin;
else //倾角太大
throttle = (100 - MotorStartThrottle) / 2;
if( inFlight )
{
double logbuf[10];
logbuf[0] = throttle;
logbuf[1] = hover_throttle;
logbuf[2] = force;
logbuf[3] = target_acceleration_z;
logbuf[4] = AccelerationENU.z;
SDLog_Msg_DebugVect( "thr", logbuf, 5 );
}
//油门限幅
throttle += MotorStartThrottle;
if( throttle > 90 )
throttle = 90;
if( inFlight )
{
if( throttle < MotorStartThrottle )
throttle = MotorStartThrottle;
}
//侧翻保护
static uint32_t RollOverProtectCounter = 0;
if( lean_cosin < 0 )
{
if( ++RollOverProtectCounter >= CtrlRateHz*3 )
{
RollOverProtectCounter = CtrlRateHz*3;
throttle = 0;
}
}
else
RollOverProtectCounter = 0;
// throttle = ThrOut_Filters[2].run(throttle);
//输出
Attitude_Control_set_Throttle( throttle );
}
else
{
//没起飞
//均匀增加油门起飞
double throttle;
get_Target_Throttle(&throttle);
ThrOut_Filters[2].reset(throttle);
Attitude_Control_set_Throttle( throttle + 1.0/CtrlRateHz * 15 );
}
}//高度控制
AltCtrl_Finish:
return;
}
void init_Ctrl_Position()
{
//初始化期望TD4滤波器
Target_tracker[0] = TD4_SL( 15 , 15 , 15 , 15 );
Target_tracker[1] = TD4_SL( 15 , 15 , 15 , 15 );
Target_tracker[2] = TD4_SL( 1 , 2 , 50 , 60 );
Target_tracker[2].r3p = 900;
Target_tracker[2].r3n = 600;
//初始化期望速度低通滤波器
TargetVelocityFilter[0].set_cutoff_frequency( CtrlRateHz , 10 );
TargetVelocityFilter[1].set_cutoff_frequency( CtrlRateHz , 10 );
TargetVelocityFilter[2].set_cutoff_frequency( CtrlRateHz , 10 );
/*初始化参数*/
PosCtrlCfg initial_cfg;
//XY航线速度
initial_cfg.AutoVXY[0] = 500;
//Z航线速度
initial_cfg.AutoVZ[0] = 200;
//XYZ航线速度
initial_cfg.AutoVXYZ[0] = 500;
//高度前馈滤波器
initial_cfg.Z_TD4P1[0] = 1;
initial_cfg.Z_TD4P2[0] = 5;
initial_cfg.Z_TD4P3[0] = 50;
initial_cfg.Z_TD4P4[0] = 60;
//位置反馈增益
initial_cfg.P1[0] = 1;
//速度反馈增益
initial_cfg.P2[0] = 2;
//加速度反馈增益
initial_cfg.P3[0] = 10;
//水平速度控制速度反馈增益
initial_cfg.P2_VelXY[0] = 4;
//水平速度控制加速度反馈增益
initial_cfg.P3_VelXY[0] = 25;
//最大水平速度
initial_cfg.maxVelXY[0] = 1500;
//最大水平加速度
initial_cfg.maxAccXY[0] = 600;
//最大水平加加速度
initial_cfg.maxJerkXY[0] = 3000;
//自动模式最大水平速度
initial_cfg.maxAutoVelXY[0] = 1200;
//自动模式最大水平加速度
initial_cfg.maxAutoAccXY[0] = 300;
//自动模式最大水平加加速度
initial_cfg.maxAutoJerkXY[0] = 600;
//最大向上速度
initial_cfg.maxVelUp[0] = 250;
//最大向下速度
initial_cfg.maxVelDown[0] = 200;
//最大向上加速度
initial_cfg.maxAccUp[0] = 800;
//最大向下加速度
initial_cfg.maxAccDown[0] = 600;
//最大向上加加速度
initial_cfg.maxJerkUp[0] = 5000;
//最大向下加加速度
initial_cfg.maxJerkDown[0] = 3000;
//自动模式最大向上速度
initial_cfg.maxAutoVelUp[0] = 200;
//自动模式最大向下速度
initial_cfg.maxAutoVelDown[0] = 200;
//自动模式最大向上加速度
initial_cfg.maxAutoAccUp[0] = 250;
//自动模式最大向下加速度
initial_cfg.maxAutoAccDown[0] = 200;
//自动模式最大向上加加速度
initial_cfg.maxAutoJerkUp[0] = 800;
//自动模式最大向下加加速度
initial_cfg.maxAutoJerkDown[0] = 800;
/*初始化参数*/
SName param_names[] = {
//XY航线速度
"PC_AutoVXY" ,
//Z航线速度
"PC_AutoVZ" ,
//XYZ航线速度
"PC_AutoVXYZ" ,
//高度前馈滤波器
"PC_Z_TD4P1" ,
"PC_Z_TD4P2" ,
"PC_Z_TD4P3" ,
"PC_Z_TD4P4" ,
//位置反馈增益
"PC_P1" ,
//速度反馈增益
"PC_P2" ,
//加速度反馈增益
"PC_P3" ,
//水平速度控制速度反馈增益
"PC_P2VelXY" ,
//水平速度控制加速度反馈增益
"PC_P3VelXY" ,
//最大水平速度
"PC_maxVelXY" ,
//最大水平加速度
"PC_maxAccXY" ,
//最大水平加加速度
"PC_maxJerkXY" ,
//自动模式最大水平速度
"PC_maxAutoVelXY" ,
//自动模式最大水平加速度
"PC_maxAutoAccXY" ,
//自动模式最大水平加加速度
"PC_maxAutoJerkXY" ,
//最大向上速度
"PC_maxVelUp" ,
//最大向下速度
"PC_maxVelDn" ,
//最大向上加速度
"PC_maxAccUp" ,
//最大向下加速度
"PC_maxAccDn" ,
//最大向上加加速度
"PC_maxJerkUp" ,
//最大向下加加速度
"PC_maxJerkDn" ,
//自动模式最大向上速度
"PC_maxAutoVelUp" ,
//自动模式最大向下速度
"PC_maxAutoVelDn" ,
//自动模式最大向上加速度
"PC_maxAutoAccUp" ,
//自动模式最大向下加速度
"PC_maxAutoAccDn" ,
//自动模式最大向上加加速度
"PC_maxAutoJerkUp" ,
//自动模式最大向下加加速度
"PC_maxAutoJerkDn" ,
};
MAV_PARAM_TYPE param_types[] = {
//XY航线速度
MAV_PARAM_TYPE_REAL32 ,
//Z航线速度
MAV_PARAM_TYPE_REAL32 ,
//XYZ航线速度
MAV_PARAM_TYPE_REAL32 ,
//高度前馈滤波器
MAV_PARAM_TYPE_REAL32 ,
MAV_PARAM_TYPE_REAL32 ,
MAV_PARAM_TYPE_REAL32 ,
MAV_PARAM_TYPE_REAL32 ,
//位置反馈增益
MAV_PARAM_TYPE_REAL32 ,
//速度反馈增益
MAV_PARAM_TYPE_REAL32 ,
//加速度反馈增益
MAV_PARAM_TYPE_REAL32 ,
//水平速度控制速度反馈增益
MAV_PARAM_TYPE_REAL32 ,
//水平速度控制加速度反馈增益
MAV_PARAM_TYPE_REAL32 ,
//最大水平速度
MAV_PARAM_TYPE_REAL32 ,
//最大水平加速度
MAV_PARAM_TYPE_REAL32 ,
//最大水平加加速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大水平速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大水平加速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大水平加加速度
MAV_PARAM_TYPE_REAL32 ,
//最大向上速度
MAV_PARAM_TYPE_REAL32 ,
//最大向下速度
MAV_PARAM_TYPE_REAL32 ,
//最大向上加速度
MAV_PARAM_TYPE_REAL32 ,
//最大向下加速度
MAV_PARAM_TYPE_REAL32 ,
//最大向上加加速度
MAV_PARAM_TYPE_REAL32 ,
//最大向下加加速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大向上速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大向下速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大向上加速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大向下加速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大向上加加速度
MAV_PARAM_TYPE_REAL32 ,
//自动模式最大向下加加速度
MAV_PARAM_TYPE_REAL32 ,
};
ThrOut_Filters[0].set_cutoff_frequency( CtrlRateHz, 20 );
ThrOut_Filters[1].set_cutoff_frequency( CtrlRateHz, 20 );
ThrOut_Filters[2].set_cutoff_frequency( CtrlRateHz, 20 );
ParamGroupRegister( "PosCtrl", 2, 30, param_types, param_names, (uint64_t*)&initial_cfg );
}
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