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106 lines
3.6 KiB
106 lines
3.6 KiB
#include "Copter.h" |
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#if MODE_CIRCLE_ENABLED == ENABLED |
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/* |
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* Init and run calls for circle flight mode |
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*/ |
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// circle_init - initialise circle controller flight mode |
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bool Copter::ModeCircle::init(bool ignore_checks) |
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{ |
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if (copter.position_ok() || ignore_checks) { |
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pilot_yaw_override = false; |
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// initialize speeds and accelerations |
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pos_control->set_speed_xy(wp_nav->get_speed_xy()); |
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pos_control->set_accel_xy(wp_nav->get_wp_acceleration()); |
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pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); |
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pos_control->set_accel_z(g.pilot_accel_z); |
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// initialise circle controller including setting the circle center based on vehicle speed |
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copter.circle_nav->init(); |
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return true; |
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}else{ |
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return false; |
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} |
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} |
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// circle_run - runs the circle flight mode |
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// should be called at 100hz or more |
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void Copter::ModeCircle::run() |
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{ |
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float target_yaw_rate = 0; |
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float target_climb_rate = 0; |
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// initialize speeds and accelerations |
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pos_control->set_speed_xy(wp_nav->get_speed_xy()); |
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pos_control->set_accel_xy(wp_nav->get_wp_acceleration()); |
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pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); |
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pos_control->set_accel_z(g.pilot_accel_z); |
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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 (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) { |
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// To-Do: add some initialisation of position controllers |
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zero_throttle_and_relax_ac(); |
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pos_control->set_alt_target_to_current_alt(); |
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return; |
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} |
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// process pilot inputs |
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if (!copter.failsafe.radio) { |
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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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if (!is_zero(target_yaw_rate)) { |
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pilot_yaw_override = true; |
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} |
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// get pilot desired climb rate |
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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in()); |
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// check for pilot requested take-off |
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if (ap.land_complete && target_climb_rate > 0) { |
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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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} |
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// set motors to full range |
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); |
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// run circle controller |
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copter.circle_nav->update(); |
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// call attitude controller |
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if (pilot_yaw_override) { |
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(copter.circle_nav->get_roll(), |
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copter.circle_nav->get_pitch(), |
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target_yaw_rate); |
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}else{ |
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attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(), |
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copter.circle_nav->get_pitch(), |
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copter.circle_nav->get_yaw(), true); |
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} |
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// adjust climb rate using rangefinder |
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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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// update altitude target and call position controller |
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pos_control->set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false); |
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pos_control->update_z_controller(); |
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} |
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uint32_t Copter::ModeCircle::wp_distance() const |
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{ |
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return copter.circle_nav->get_distance_to_target(); |
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} |
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int32_t Copter::ModeCircle::wp_bearing() const |
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{ |
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return copter.circle_nav->get_bearing_to_target(); |
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} |
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#endif
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