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94 lines
3.2 KiB
94 lines
3.2 KiB
#include "Sub.h" |
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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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bool Sub::circle_init() |
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{ |
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if (!position_ok()) { |
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return false; |
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} |
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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_jerk_xy_to_default(); |
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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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} |
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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 Sub::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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// update parameters, to allow changing at runtime |
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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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// if not armed set throttle to zero and exit immediately |
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if (!motors.armed()) { |
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// To-Do: add some initialisation of position controllers |
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); |
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// Sub vehicles do not stabilize roll/pitch/yaw when disarmed |
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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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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// 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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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(channel_throttle->get_control_in()); |
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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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circle_nav.update(); |
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/////////////////////// |
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// update xy outputs // |
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float lateral_out, forward_out; |
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translate_circle_nav_rp(lateral_out, forward_out); |
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// Send to forward/lateral outputs |
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motors.set_lateral(lateral_out); |
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motors.set_forward(forward_out); |
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// call attitude controller |
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if (circle_pilot_yaw_override) { |
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate, get_smoothing_gain()); |
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} else { |
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attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true, get_smoothing_gain()); |
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} |
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// adjust climb rate using rangefinder |
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if (rangefinder_alt_ok()) { |
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// if rangefinder 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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// 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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