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82 lines
3.2 KiB
82 lines
3.2 KiB
#include "Copter.h" |
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#if FRAME_CONFIG == HELI_FRAME |
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/* |
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* Init and run calls for stabilize flight mode for trad heli |
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*/ |
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// stabilize_init - initialise stabilize controller |
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bool ModeStabilize_Heli::init(bool ignore_checks) |
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{ |
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// set stab collective true to use stabilize scaled collective pitch range |
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copter.input_manager.set_use_stab_col(true); |
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return true; |
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} |
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// stabilize_run - runs the main stabilize controller |
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// should be called at 100hz or more |
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void ModeStabilize_Heli::run() |
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{ |
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float target_roll, target_pitch; |
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float target_yaw_rate; |
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float pilot_throttle_scaled; |
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// apply SIMPLE mode transform to pilot inputs |
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update_simple_mode(); |
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// convert pilot input to lean angles |
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get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max); |
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// get pilot's desired yaw rate |
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); |
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// get pilot's desired throttle |
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pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in()); |
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because |
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// we may be in autorotation flight. This is so that the servos move in a realistic fashion while disarmed |
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// for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero |
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// so the swash servos move. |
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if (!motors->armed()) { |
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// Motors should be Stopped |
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN); |
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} else { |
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// heli will not let the spool state progress to THROTTLE_UNLIMITED until motor interlock is enabled |
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); |
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} |
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switch (motors->get_spool_state()) { |
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case AP_Motors::SpoolState::SHUT_DOWN: |
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// Motors Stopped |
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attitude_control->reset_yaw_target_and_rate(); |
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attitude_control->reset_rate_controller_I_terms(); |
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break; |
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case AP_Motors::SpoolState::GROUND_IDLE: |
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// If aircraft is landed, set target heading to current and reset the integrator |
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// Otherwise motors could be at ground idle for practice autorotation |
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if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) { |
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attitude_control->reset_yaw_target_and_rate(); |
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attitude_control->reset_rate_controller_I_terms_smoothly(); |
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} |
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break; |
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED: |
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if (copter.ap.land_complete && !motors->using_leaky_integrator()) { |
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attitude_control->reset_rate_controller_I_terms_smoothly(); |
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} |
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break; |
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case AP_Motors::SpoolState::SPOOLING_UP: |
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case AP_Motors::SpoolState::SPOOLING_DOWN: |
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// do nothing |
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break; |
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} |
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// call attitude controller |
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); |
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// output pilot's throttle - note that TradHeli does not used angle-boost |
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attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt); |
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} |
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#endif //HELI_FRAME
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