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59 lines
2.2 KiB
59 lines
2.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Copter.h" |
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/* |
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* control_stabilize.pde - init and run calls for stabilize flight mode |
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*/ |
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// stabilize_init - initialise stabilize controller |
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bool Copter::stabilize_init(bool ignore_checks) |
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{ |
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// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high |
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if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) && (get_pilot_desired_throttle(channel_throttle->control_in) > get_non_takeoff_throttle())) { |
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return false; |
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} |
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// set target altitude to zero for reporting |
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pos_control.set_alt_target(0); |
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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 Copter::stabilize_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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// if not armed set throttle to zero and exit immediately |
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if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) { |
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); |
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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return; |
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} |
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); |
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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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// To-Do: convert get_pilot_desired_lean_angles to return angles as floats |
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get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch, 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->control_in); |
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// get pilot's desired throttle |
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pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in); |
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// call attitude controller |
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); |
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// body-frame rate controller is run directly from 100hz loop |
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// output pilot's throttle |
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attitude_control.set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt); |
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}
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