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64 lines
2.2 KiB
64 lines
2.2 KiB
#include "Sub.h" |
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bool Sub::surface_init(bool ignore_checks) |
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{ |
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if(!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately. |
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gcs_send_text(MAV_SEVERITY_WARNING, "Surface mode requires external pressure sensor."); |
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return false; |
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} |
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// initialize vertical speeds and leash lengths |
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pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); |
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pos_control.set_accel_z(wp_nav.get_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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void Sub::surface_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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// if not armed set throttle to zero and exit immediately |
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if (!motors.armed() || !motors.get_interlock()) { |
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motors.output_min(); |
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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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// Already at surface, hold depth at surface |
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if(ap.at_surface) |
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set_mode(ALT_HOLD, MODE_REASON_SURFACE_COMPLETE); |
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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->get_control_in(), channel_pitch->get_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->get_control_in()); |
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// call attitude controller |
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); |
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// set target climb rate |
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float cmb_rate = constrain_float(abs(g.land_speed), 1, pos_control.get_speed_up()); |
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// record desired climb rate for logging |
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desired_climb_rate = cmb_rate; |
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// update altitude target and call position controller |
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pos_control.set_alt_target_from_climb_rate_ff(cmb_rate, G_Dt, true); |
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pos_control.update_z_controller(); |
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// pilot has control for repositioning |
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motors.set_forward(channel_forward->norm_input()); |
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motors.set_lateral(channel_lateral->norm_input()); |
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}
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