Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen
Autopilot.cpp@5:9a42b7d85a6b, 2021-11-15 (annotated)
- Committer:
- osaka
- Date:
- Mon Nov 15 03:50:10 2021 +0000
- Revision:
- 5:9a42b7d85a6b
- Parent:
- 3:46d4a32011fc
debug
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
osaka | 0:e9cdfc6579a7 | 1 | #include "Autopilot.hpp" |
osaka | 0:e9cdfc6579a7 | 2 | |
osaka | 0:e9cdfc6579a7 | 3 | Autopilot::Autopilot() |
osaka | 0:e9cdfc6579a7 | 4 | { |
osaka | 0:e9cdfc6579a7 | 5 | } |
osaka | 0:e9cdfc6579a7 | 6 | |
osaka | 3:46d4a32011fc | 7 | void Autopilot::update_val(const Vector3 rpy, const float altitude, const Vector3 pos) |
osaka | 0:e9cdfc6579a7 | 8 | { |
osaka | 0:e9cdfc6579a7 | 9 | this->roll = rpy.x; |
osaka | 0:e9cdfc6579a7 | 10 | this->pitch = rpy.y; |
osaka | 0:e9cdfc6579a7 | 11 | this->yaw = rpy.z; |
osaka | 0:e9cdfc6579a7 | 12 | this->alt = altitude; |
osaka | 0:e9cdfc6579a7 | 13 | this->pos_ned = pos; |
osaka | 0:e9cdfc6579a7 | 14 | } |
osaka | 0:e9cdfc6579a7 | 15 | |
osaka | 0:e9cdfc6579a7 | 16 | void Autopilot::level() |
osaka | 0:e9cdfc6579a7 | 17 | { |
osaka | 0:e9cdfc6579a7 | 18 | roll_obj = 0.0f; |
osaka | 0:e9cdfc6579a7 | 19 | } |
osaka | 0:e9cdfc6579a7 | 20 | |
osaka | 0:e9cdfc6579a7 | 21 | void Autopilot::guide() |
osaka | 0:e9cdfc6579a7 | 22 | { |
osaka | 0:e9cdfc6579a7 | 23 | float x_dist = destination.x - pos_ned.x; |
osaka | 0:e9cdfc6579a7 | 24 | float y_dist = destination.y - pos_ned.y; |
osaka | 0:e9cdfc6579a7 | 25 | yaw_obj = std::atan2(y_dist, x_dist); //rad |
osaka | 5:9a42b7d85a6b | 26 | float yaw_diff = angdiff_pi(yaw_obj - yaw); |
osaka | 5:9a42b7d85a6b | 27 | roll_obj = p_control(yaw_diff, 0.3f); |
osaka | 0:e9cdfc6579a7 | 28 | } |
osaka | 0:e9cdfc6579a7 | 29 | |
osaka | 0:e9cdfc6579a7 | 30 | void Autopilot::turn() |
osaka | 0:e9cdfc6579a7 | 31 | { |
osaka | 0:e9cdfc6579a7 | 32 | float x_dist = turn_center.x - pos_ned.x; |
osaka | 0:e9cdfc6579a7 | 33 | float y_dist = turn_center.y - pos_ned.y; |
osaka | 1:73704460a8b4 | 34 | float yaw_center = std::atan2(y_dist, x_dist); |
osaka | 5:9a42b7d85a6b | 35 | float yaw_diff = angdiff_pi(yaw_center - yaw); //旋回中心までの方位角, rad |
osaka | 0:e9cdfc6579a7 | 36 | float dist = std::sqrt(x_dist*x_dist + y_dist*y_dist); //旋回中心までの距離 |
osaka | 0:e9cdfc6579a7 | 37 | //旋回円から遠い場合は旋回中心まで誘導 |
osaka | 0:e9cdfc6579a7 | 38 | if (dist > 2*turn_r) |
osaka | 0:e9cdfc6579a7 | 39 | { |
osaka | 2:049e057f4625 | 40 | set_dest(turn_center.x, turn_center.y); |
osaka | 0:e9cdfc6579a7 | 41 | guide(); |
osaka | 0:e9cdfc6579a7 | 42 | } |
osaka | 0:e9cdfc6579a7 | 43 | else |
osaka | 0:e9cdfc6579a7 | 44 | { |
osaka | 0:e9cdfc6579a7 | 45 | roll_obj = 0.35f; //基準 |
osaka | 5:9a42b7d85a6b | 46 | roll_obj -= 0.6f * (angdiff_pi(0.5f*M_PI - yaw_diff)); //旋回中心方向に対する角度を90[deg]にする |
osaka | 5:9a42b7d85a6b | 47 | if (std::abs(0.5f*M_PI - yaw_diff) < deg2rad(5)) //距離を保つ |
osaka | 0:e9cdfc6579a7 | 48 | roll_obj -= 0.035f * (turn_r - dist); |
osaka | 0:e9cdfc6579a7 | 49 | else |
osaka | 0:e9cdfc6579a7 | 50 | roll_obj -= 0.01f * (turn_r - dist); //角度のずれが大きいときは角度合わせを優先 |
osaka | 0:e9cdfc6579a7 | 51 | } |
osaka | 0:e9cdfc6579a7 | 52 | } |
osaka | 0:e9cdfc6579a7 | 53 | |
osaka | 0:e9cdfc6579a7 | 54 | void Autopilot::keep_alt() |
osaka | 0:e9cdfc6579a7 | 55 | { |
osaka | 0:e9cdfc6579a7 | 56 | |
osaka | 0:e9cdfc6579a7 | 57 | } |
osaka | 0:e9cdfc6579a7 | 58 | |
osaka | 1:73704460a8b4 | 59 | void Autopilot::set_dest(float x, float y) |
osaka | 0:e9cdfc6579a7 | 60 | { |
osaka | 1:73704460a8b4 | 61 | this->destination.x = x; |
osaka | 1:73704460a8b4 | 62 | this->destination.y = y; |
osaka | 0:e9cdfc6579a7 | 63 | } |
osaka | 0:e9cdfc6579a7 | 64 | |
osaka | 1:73704460a8b4 | 65 | void Autopilot::set_turn(float x, float y, float r) |
osaka | 0:e9cdfc6579a7 | 66 | { |
osaka | 1:73704460a8b4 | 67 | this->turn_center.x = x; |
osaka | 1:73704460a8b4 | 68 | this->turn_center.y = y; |
osaka | 0:e9cdfc6579a7 | 69 | this->turn_r = r; |
osaka | 0:e9cdfc6579a7 | 70 | } |
osaka | 0:e9cdfc6579a7 | 71 | |
osaka | 2:049e057f4625 | 72 | void Autopilot::return_val(float &r_obj, float &p_obj, float &a_obj) |
osaka | 0:e9cdfc6579a7 | 73 | { |
osaka | 0:e9cdfc6579a7 | 74 | limit_obj(); |
osaka | 2:049e057f4625 | 75 | r_obj = this->roll_obj; |
osaka | 2:049e057f4625 | 76 | p_obj = this->pitch_obj; |
osaka | 2:049e057f4625 | 77 | a_obj = this->alt_obj; |
osaka | 0:e9cdfc6579a7 | 78 | } |
osaka | 0:e9cdfc6579a7 | 79 | |
osaka | 0:e9cdfc6579a7 | 80 | void Autopilot::limit_obj() |
osaka | 0:e9cdfc6579a7 | 81 | { |
osaka | 0:e9cdfc6579a7 | 82 | //roll目標値を±30[deg]に制限 |
osaka | 0:e9cdfc6579a7 | 83 | if (roll_obj > deg2rad(30.0f)) |
osaka | 1:73704460a8b4 | 84 | roll_obj = deg2rad(30.0f); |
osaka | 0:e9cdfc6579a7 | 85 | else if (roll_obj < deg2rad(-30.0f)) |
osaka | 0:e9cdfc6579a7 | 86 | roll_obj = deg2rad(-30.0f); |
osaka | 0:e9cdfc6579a7 | 87 | |
osaka | 0:e9cdfc6579a7 | 88 | //pitch目標値を±10[deg]に制限 |
osaka | 0:e9cdfc6579a7 | 89 | if (pitch_obj > deg2rad(10.0f)) |
osaka | 0:e9cdfc6579a7 | 90 | pitch_obj = deg2rad(10.0f); |
osaka | 0:e9cdfc6579a7 | 91 | else if (pitch_obj < deg2rad(-10.0f)) |
osaka | 0:e9cdfc6579a7 | 92 | pitch_obj = deg2rad(-10.0f); |
osaka | 0:e9cdfc6579a7 | 93 | } |
osaka | 0:e9cdfc6579a7 | 94 | |
osaka | 5:9a42b7d85a6b | 95 | float Autopilot::p_control(float diff, float kp) |
osaka | 0:e9cdfc6579a7 | 96 | { |
osaka | 5:9a42b7d85a6b | 97 | return kp * diff; |
osaka | 0:e9cdfc6579a7 | 98 | } |
osaka | 0:e9cdfc6579a7 | 99 | |
osaka | 5:9a42b7d85a6b | 100 | float Autopilot::angdiff_pi(float rad) |
osaka | 0:e9cdfc6579a7 | 101 | { |
osaka | 1:73704460a8b4 | 102 | if (rad > M_PI) |
osaka | 1:73704460a8b4 | 103 | return rad - 2*M_PI; |
osaka | 1:73704460a8b4 | 104 | else if (rad < -M_PI) |
osaka | 1:73704460a8b4 | 105 | return rad + 2*M_PI; |
osaka | 0:e9cdfc6579a7 | 106 | else |
osaka | 0:e9cdfc6579a7 | 107 | return rad; |
osaka | 0:e9cdfc6579a7 | 108 | } |
osaka | 0:e9cdfc6579a7 | 109 | |
osaka | 0:e9cdfc6579a7 | 110 | float Autopilot::deg2rad(float deg) |
osaka | 0:e9cdfc6579a7 | 111 | { |
osaka | 1:73704460a8b4 | 112 | return deg * M_PI / 180.0f; |
osaka | 0:e9cdfc6579a7 | 113 | } |