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95 lines
3.7 KiB
95 lines
3.7 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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#if FRAME_CONFIG == HELI_FRAME |
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/* |
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* heli_control_acro.pde - init and run calls for acro flight mode for trad heli |
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*/ |
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// heli_acro_init - initialise acro controller |
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bool Copter::heli_acro_init(bool ignore_checks) |
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{ |
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// if heli is equipped with a flybar, then tell the attitude controller to pass through controls directly to servos |
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attitude_control.use_flybar_passthrough(motors.has_flybar(), motors.supports_yaw_passthrough()); |
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motors.set_acro_tail(true); |
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// set stab collective false to use full collective pitch range |
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input_manager.set_use_stab_col(false); |
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// always successfully enter acro |
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return true; |
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} |
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// heli_acro_run - runs the acro controller |
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// should be called at 100hz or more |
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void Copter::heli_acro_run() |
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{ |
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float target_roll, target_pitch, target_yaw; |
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float pilot_throttle_scaled; |
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because |
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// we may be in autorotation flight. These should be reset only when transitioning from disarmed |
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// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so |
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// that the servos move in a realistic fashion while disarmed for operational checks. |
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// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move |
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if(!motors.armed()) { |
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heli_flags.init_targets_on_arming=true; |
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attitude_control.set_yaw_target_to_current_heading(); |
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} |
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if(motors.armed() && heli_flags.init_targets_on_arming) { |
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attitude_control.set_yaw_target_to_current_heading(); |
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if (motors.rotor_speed_above_critical()) { |
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heli_flags.init_targets_on_arming=false; |
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} |
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} |
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if (!motors.has_flybar()){ |
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// convert the input to the desired body frame rate |
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get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw); |
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if (motors.supports_yaw_passthrough()) { |
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// if the tail on a flybar heli has an external gyro then |
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// also use no deadzone for the yaw control and |
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// pass-through the input direct to output. |
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target_yaw = channel_yaw->pwm_to_angle_dz(0); |
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} |
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// run attitude controller |
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attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw); |
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}else{ |
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/* |
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for fly-bar passthrough use control_in values with no |
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deadzone. This gives true pass-through. |
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*/ |
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float roll_in = channel_roll->pwm_to_angle_dz(0); |
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float pitch_in = channel_pitch->pwm_to_angle_dz(0); |
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float yaw_in; |
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if (motors.supports_yaw_passthrough()) { |
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// if the tail on a flybar heli has an external gyro then |
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// also use no deadzone for the yaw control and |
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// pass-through the input direct to output. |
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yaw_in = channel_yaw->pwm_to_angle_dz(0); |
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} else { |
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// if there is no external gyro then run the usual |
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// ACRO_YAW_P gain on the input control, including |
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// deadzone |
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yaw_in = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); |
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} |
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// run attitude controller |
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attitude_control.passthrough_bf_roll_pitch_rate_yaw(roll_in, pitch_in, yaw_in); |
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} |
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// get pilot's desired throttle |
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pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->get_control_in()); |
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// output pilot's throttle without 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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