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82 lines
2.8 KiB
82 lines
2.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* control_circle.pde - 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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static bool circle_init(bool ignore_checks) |
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{ |
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if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) { |
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circle_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(-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 circle controller including setting the circle center based on vehicle speed |
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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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static void circle_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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// if not auto armed set throttle to zero and exit immediately |
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if(!ap.auto_armed || ap.land_complete) { |
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// To-Do: add some initialisation of position controllers |
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attitude_control.relax_bf_rate_controller(); |
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attitude_control.set_yaw_target_to_current_heading(); |
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attitude_control.set_throttle_out(0, false); |
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return; |
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} |
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// process pilot inputs |
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if (!failsafe.radio) { |
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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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if (target_yaw_rate != 0) { |
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circle_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(g.rc_3.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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// run circle controller |
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circle_nav.update(); |
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// call attitude controller |
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if (circle_pilot_yaw_override) { |
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate); |
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}else{ |
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attitude_control.angle_ef_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true); |
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} |
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// run altitude 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_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt); |
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} |
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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); |
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pos_control.update_z_controller(); |
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}
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