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113 lines
4.5 KiB
113 lines
4.5 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_sport.pde - init and run calls for sport flight mode |
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*/ |
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// sport_init - initialise sport controller |
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bool Copter::sport_init(bool ignore_checks) |
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{ |
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// initialize vertical speed and acceleration |
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max); |
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pos_control.set_accel_z(g.pilot_accel_z); |
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// initialise position and desired velocity |
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pos_control.set_alt_target(inertial_nav.get_altitude()); |
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z()); |
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return true; |
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} |
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// sport_run - runs the sport controller |
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// should be called at 100hz or more |
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void Copter::sport_run() |
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{ |
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float target_roll_rate, target_pitch_rate, target_yaw_rate; |
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float target_climb_rate = 0; |
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float takeoff_climb_rate = 0.0f; |
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// initialize vertical speed and acceleration |
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max); |
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pos_control.set_accel_z(g.pilot_accel_z); |
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// if not armed or throttle at zero, set throttle to zero and exit immediately |
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if(!motors.armed() || ap.throttle_zero) { |
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); |
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return; |
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} |
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// apply SIMPLE mode transform |
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update_simple_mode(); |
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// get pilot's desired roll and pitch rates |
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// calculate rate requests |
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target_roll_rate = channel_roll->control_in * g.acro_rp_p; |
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target_pitch_rate = channel_pitch->control_in * g.acro_rp_p; |
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int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor); |
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target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll; |
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// Calculate trainer mode earth frame rate command for pitch |
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int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor); |
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target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch; |
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if (roll_angle > aparm.angle_max){ |
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target_roll_rate -= g.acro_rp_p*(roll_angle-aparm.angle_max); |
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}else if (roll_angle < -aparm.angle_max) { |
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target_roll_rate -= g.acro_rp_p*(roll_angle+aparm.angle_max); |
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} |
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if (pitch_angle > aparm.angle_max){ |
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target_pitch_rate -= g.acro_rp_p*(pitch_angle-aparm.angle_max); |
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}else if (pitch_angle < -aparm.angle_max) { |
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target_pitch_rate -= g.acro_rp_p*(pitch_angle+aparm.angle_max); |
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} |
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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 desired climb rate |
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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in); |
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target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max); |
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// get takeoff adjusted pilot and takeoff climb rates |
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takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate); |
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// check for take-off |
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if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) { |
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if (!takeoff_state.running) { |
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takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); |
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} |
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// indicate we are taking off |
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set_land_complete(false); |
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// clear i term when we're taking off |
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set_throttle_takeoff(); |
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} |
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// reset target lean angles and heading while landed |
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if (ap.land_complete) { |
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// move throttle to between minimum and non-takeoff-throttle to keep us on the ground |
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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt); |
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average); |
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}else{ |
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// call attitude controller |
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attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate); |
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// call throttle controller |
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if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) { |
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// if sonar is ok, use surface tracking |
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target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt); |
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} |
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// call position controller |
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pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); |
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pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt); |
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pos_control.update_z_controller(); |
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} |
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}
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