Felix Geisendörfer
81 linhas
2.0 KiB
Go
81 linhas
2.0 KiB
Go
// Package control implements flight stablization.
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package control
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import (
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"github.com/felixge/godrone/attitude"
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"github.com/felixge/pidctrl"
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"math"
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"sync"
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)
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const (
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rotationMax = 0.15
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throttleMax = 1 - rotationMax
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)
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// NewControl returns a new Control with the given roll, pitch and yaw PID
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// values.
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func NewControl(roll, pitch, yaw []float64) *Control {
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return &Control{
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roll: pidctrl.NewPIDController(roll[0], roll[1], roll[2]),
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pitch: pidctrl.NewPIDController(pitch[0], pitch[1], pitch[2]),
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yaw: pidctrl.NewPIDController(yaw[0], yaw[1], yaw[2]),
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}
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}
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// Control determines how to translate a given setpoint and measured attitude
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// into motor output.
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type Control struct {
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l sync.Mutex
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roll *pidctrl.PIDController
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pitch *pidctrl.PIDController
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yaw *pidctrl.PIDController
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throttle float64
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}
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// Set sets the desired attitude and throttle setpoint. For now it does not
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// support altitude stabilization.
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func (c *Control) Set(s attitude.Attitude, throttle float64) {
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c.l.Lock()
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defer c.l.Unlock()
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c.roll.Set(s.Roll)
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c.pitch.Set(s.Pitch)
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c.yaw.Set(s.Yaw)
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c.throttle = throttle
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}
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// Update takes the last measured attitude and converts it into motor outputs
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// to correct it towards the setpoint.
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func (c *Control) Update(a attitude.Attitude) (speeds [4]float64) {
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c.l.Lock()
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defer c.l.Unlock()
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var (
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adjRoll = c.roll.Update(a.Roll)
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adjPitch = c.pitch.Update(a.Pitch)
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adjYaw = c.yaw.Update(a.Yaw)
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throttle = clipToRange(c.throttle*throttleMax, 0, throttleMax)
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)
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if throttle == 0 {
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return
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}
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speeds = [4]float64{
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throttle + clip(+adjRoll+adjPitch-adjYaw, rotationMax),
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throttle + clip(-adjRoll+adjPitch+adjYaw, rotationMax),
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throttle + clip(-adjRoll-adjPitch-adjYaw, rotationMax),
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throttle + clip(+adjRoll-adjPitch+adjYaw, rotationMax),
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}
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return
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}
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func clip(val, max float64) float64 {
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return math.Max(math.Min(val, max), -max)
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}
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func clipToRange(val, min, max float64) float64 {
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return math.Min(math.Max(val, min), max)
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}
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