You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
106 lines
3.6 KiB
106 lines
3.6 KiB
#include "Copter.h" |
|
|
|
|
|
/* |
|
* Init and run calls for althold, flight mode |
|
*/ |
|
|
|
// althold_init - initialise althold controller |
|
bool ModeAltHold::init(bool ignore_checks) |
|
{ |
|
// initialise position and desired velocity |
|
if (!pos_control->is_active_z()) { |
|
pos_control->set_alt_target_to_current_alt(); |
|
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); |
|
} |
|
|
|
return true; |
|
} |
|
|
|
// althold_run - runs the althold controller |
|
// should be called at 100hz or more |
|
void ModeAltHold::run() |
|
{ |
|
float takeoff_climb_rate = 0.0f; |
|
|
|
// initialize vertical speeds and acceleration |
|
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); |
|
pos_control->set_max_accel_z(g.pilot_accel_z); |
|
|
|
// apply SIMPLE mode transform to pilot inputs |
|
update_simple_mode(); |
|
|
|
// get pilot desired lean angles |
|
float target_roll, target_pitch; |
|
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max()); |
|
|
|
// get pilot's desired yaw rate |
|
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); |
|
|
|
// get pilot desired climb rate |
|
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in()); |
|
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up); |
|
|
|
// Alt Hold State Machine Determination |
|
AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate); |
|
|
|
// Alt Hold State Machine |
|
switch (althold_state) { |
|
|
|
case AltHold_MotorStopped: |
|
attitude_control->reset_rate_controller_I_terms(); |
|
attitude_control->set_yaw_target_to_current_heading(); |
|
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero |
|
break; |
|
|
|
case AltHold_Landed_Ground_Idle: |
|
attitude_control->set_yaw_target_to_current_heading(); |
|
// FALLTHROUGH |
|
|
|
case AltHold_Landed_Pre_Takeoff: |
|
attitude_control->reset_rate_controller_I_terms_smoothly(); |
|
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero |
|
break; |
|
|
|
case AltHold_Takeoff: |
|
// initiate take-off |
|
if (!takeoff.running()) { |
|
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); |
|
} |
|
|
|
// get take-off adjusted pilot and takeoff climb rates |
|
takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate); |
|
|
|
// get avoidance adjusted climb rate |
|
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate); |
|
|
|
// set position controller targets |
|
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); |
|
pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt); |
|
break; |
|
|
|
case AltHold_Flying: |
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); |
|
|
|
#if AC_AVOID_ENABLED == ENABLED |
|
// apply avoidance |
|
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max); |
|
#endif |
|
|
|
// adjust climb rate using rangefinder |
|
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate); |
|
|
|
// get avoidance adjusted climb rate |
|
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate); |
|
|
|
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); |
|
break; |
|
} |
|
|
|
// call attitude controller |
|
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); |
|
|
|
// call z-axis position controller |
|
pos_control->update_z_controller(); |
|
|
|
}
|
|
|