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74 lines
2.9 KiB
74 lines
2.9 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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* Init and run calls for stabilize flight mode for trad heli |
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*/ |
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// stabilize_init - initialise stabilize controller |
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bool Copter::heli_stabilize_init(bool ignore_checks) |
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{ |
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// set target altitude to zero for reporting |
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// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error? |
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pos_control.set_alt_target(0); |
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// set stab collective true to use stabilize scaled collective pitch range |
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input_manager.set_use_stab_col(true); |
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return true; |
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} |
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// stabilize_run - runs the main stabilize controller |
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// should be called at 100hz or more |
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void Copter::heli_stabilize_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 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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// clear landing flag above zero throttle |
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if (motors.armed() && motors.get_interlock() && motors.rotor_runup_complete() && !ap.throttle_zero) { |
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set_land_complete(false); |
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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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// 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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// 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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// 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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// output pilot's throttle - note that TradHeli does not used 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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