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85 lines
3.3 KiB
85 lines
3.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* control_althold.pde - init and run calls for althold, flight mode |
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*/ |
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// althold_init - initialise althold controller |
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static bool althold_init(bool ignore_checks) |
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{ |
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// initialize vertical speeds and leash lengths |
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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 altitude target to stopping point |
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pos_control.set_target_to_stopping_point_z(); |
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return true; |
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} |
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// althold_run - runs the althold controller |
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// should be called at 100hz or more |
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static void althold_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 target_climb_rate; |
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float takeoff_climb_rate = 0.0f; |
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately |
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if(!ap.auto_armed || !motors.get_interlock()) { |
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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(g.rc_3.control_in)-throttle_average); |
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return; |
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} |
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// apply SIMPLE mode transform to pilot inputs |
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update_simple_mode(); |
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// get pilot desired 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(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch); |
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// get pilot's desired yaw rate |
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target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in); |
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// get pilot desired climb rate |
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target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.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 || g.rc_3.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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attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true,g.throttle_filt); |
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average); |
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}else{ |
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// call attitude controller |
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attitude_control.angle_ef_roll_pitch_rate_ef_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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// call throttle controller |
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if (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(target_climb_rate, G_Dt); |
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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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