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AP_Mount: implement user defined angle limits (especially for Siyi) #24011

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merged 2 commits into from
Jun 13, 2023
Merged

AP_Mount: implement user defined angle limits (especially for Siyi) #24011

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d7a5664
AP_Mount: backend set_angle_target enforces bf limits
rmackay9 Jun 7, 2023
27df9fe
AP_Mount: Siyi implements body-frame yaw limits
rmackay9 Jun 8, 2023
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12 changes: 12 additions & 0 deletions libraries/AP_Mount/AP_Mount_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,18 @@ bool AP_Mount_Backend::has_pitch_control() const
// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
void AP_Mount_Backend::set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame)
{
// enforce angle limits
roll_deg = constrain_float(roll_deg, _params.roll_angle_min, _params.roll_angle_max);
pitch_deg = constrain_float(pitch_deg, _params.pitch_angle_min, _params.pitch_angle_max);
if (!yaw_is_earth_frame) {
// only limit yaw if in body-frame. earth-frame yaw limiting is backend specific
// custom wrap code (instead of wrap_180) to better handle yaw of <= -180
if (yaw_deg > 180) {
yaw_deg -= 360;
}
yaw_deg = constrain_float(yaw_deg, _params.yaw_angle_min, _params.yaw_angle_max);
}

// set angle targets
mavt_target.target_type = MountTargetType::ANGLE;
mavt_target.angle_rad.roll = radians(roll_deg);
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14 changes: 12 additions & 2 deletions libraries/AP_Mount/AP_Mount_Siyi.cpp
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Expand Up @@ -598,8 +598,18 @@ void AP_Mount_Siyi::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_
const float pitch_err_rad = (pitch_rad - current_angle_transformed.y);
const float pitch_rate_scalar = constrain_float(100.0 * pitch_err_rad * AP_MOUNT_SIYI_PITCH_P / AP_MOUNT_SIYI_RATE_MAX_RADS, -100, 100);

// convert yaw angle to body-frame the use simple P controller to convert yaw angle error to a target rate scalar (-100 to +100)
const float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
// convert yaw angle to body-frame
float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;

// enforce body-frame yaw angle limits. If beyond limits always use body-frame control
const float yaw_bf_min = radians(_params.yaw_angle_min);
const float yaw_bf_max = radians(_params.yaw_angle_max);
if (yaw_bf_rad < yaw_bf_min || yaw_bf_rad > yaw_bf_max) {
yaw_bf_rad = constrain_float(yaw_bf_rad, yaw_bf_min, yaw_bf_max);
yaw_is_ef = false;
}

// use simple P controller to convert yaw angle error to a target rate scalar (-100 to +100)
const float yaw_err_rad = (yaw_bf_rad - current_angle_transformed.z);
const float yaw_rate_scalar = constrain_float(100.0 * yaw_err_rad * AP_MOUNT_SIYI_YAW_P / AP_MOUNT_SIYI_RATE_MAX_RADS, -100, 100);

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