2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2017-12-10 23:57:04 -04:00
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#include "mode.h"
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2014-01-24 23:00:07 -04:00
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2018-03-14 17:14:49 -03:00
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#if MODE_ACRO_ENABLED == ENABLED
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2014-01-24 23:00:07 -04:00
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/*
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2016-07-25 15:45:29 -03:00
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* Init and run calls for acro flight mode
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2014-01-24 23:00:07 -04:00
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*/
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2019-05-09 23:18:49 -03:00
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void ModeAcro::run()
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2014-01-24 23:00:07 -04:00
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{
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2019-02-28 05:03:23 -04:00
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// convert the input to the desired body frame rate
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2014-02-09 21:26:49 -04:00
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float target_roll, target_pitch, target_yaw;
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2019-02-28 05:03:23 -04:00
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get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
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2014-01-24 23:00:07 -04:00
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2019-02-28 05:03:23 -04:00
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if (!motors->armed()) {
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// Motors should be Stopped
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2019-04-09 09:16:58 -03:00
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
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2019-05-09 23:18:49 -03:00
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} else if (copter.ap.throttle_zero) {
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2019-02-28 05:03:23 -04:00
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// Attempting to Land
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2019-04-09 09:16:58 -03:00
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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2019-02-28 05:03:23 -04:00
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} else {
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2019-04-09 09:16:58 -03:00
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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2014-01-30 08:44:44 -04:00
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}
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2019-04-09 09:16:58 -03:00
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switch (motors->get_spool_state()) {
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case AP_Motors::SpoolState::SHUT_DOWN:
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2019-02-28 05:03:23 -04:00
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// Motors Stopped
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2019-04-05 07:38:17 -03:00
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attitude_control->set_attitude_target_to_current_attitude();
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2019-02-28 05:03:23 -04:00
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attitude_control->reset_rate_controller_I_terms();
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2019-04-09 09:16:58 -03:00
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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2019-02-28 05:03:23 -04:00
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// Landed
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2019-04-05 07:38:17 -03:00
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attitude_control->set_attitude_target_to_current_attitude();
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2019-02-28 05:03:23 -04:00
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attitude_control->reset_rate_controller_I_terms();
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2019-04-09 09:16:58 -03:00
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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2019-02-28 05:03:23 -04:00
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// clear landing flag above zero throttle
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if (!motors->limit.throttle_lower) {
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set_land_complete(false);
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}
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2019-04-09 09:16:58 -03:00
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break;
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case AP_Motors::SpoolState::SPOOLING_UP:
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case AP_Motors::SpoolState::SPOOLING_DOWN:
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// do nothing
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break;
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2019-02-28 05:03:23 -04:00
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}
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2014-01-24 23:00:07 -04:00
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2014-01-30 20:55:00 -04:00
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// run attitude controller
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2017-01-09 03:31:26 -04:00
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attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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2014-01-30 20:55:00 -04:00
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// output pilot's throttle without angle boost
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2019-03-06 02:36:32 -04:00
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attitude_control->set_throttle_out(get_pilot_desired_throttle(),
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false,
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copter.g.throttle_filt);
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2014-01-24 23:00:07 -04:00
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}
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2019-09-07 20:33:56 -03:00
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float ModeAcro::throttle_hover() const
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{
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if (g2.acro_thr_mid > 0) {
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return g2.acro_thr_mid;
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}
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return Mode::throttle_hover();
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}
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2014-01-24 23:00:07 -04:00
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// get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates
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// returns desired angle rates in centi-degrees-per-second
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2019-05-09 23:18:49 -03:00
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void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out)
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2014-01-24 23:00:07 -04:00
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{
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2014-01-27 00:55:02 -04:00
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float rate_limit;
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2014-01-24 23:00:07 -04:00
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Vector3f rate_ef_level, rate_bf_level, rate_bf_request;
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2014-11-10 20:07:08 -04:00
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// apply circular limit to pitch and roll inputs
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2016-04-16 06:58:46 -03:00
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float total_in = norm(pitch_in, roll_in);
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2014-11-10 20:07:08 -04:00
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2016-10-23 03:59:09 -03:00
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if (total_in > ROLL_PITCH_YAW_INPUT_MAX) {
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float ratio = (float)ROLL_PITCH_YAW_INPUT_MAX / total_in;
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2014-11-10 20:07:08 -04:00
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roll_in *= ratio;
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pitch_in *= ratio;
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}
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2014-08-02 05:57:42 -03:00
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2014-08-12 23:25:59 -03:00
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// calculate roll, pitch rate requests
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2016-06-22 01:16:28 -03:00
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if (g.acro_rp_expo <= 0) {
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2014-08-12 23:25:59 -03:00
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rate_bf_request.x = roll_in * g.acro_rp_p;
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rate_bf_request.y = pitch_in * g.acro_rp_p;
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} else {
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// expo variables
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float rp_in, rp_in3, rp_out;
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2014-08-18 00:56:22 -03:00
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// range check expo
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2016-06-22 01:16:28 -03:00
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if (g.acro_rp_expo > 1.0f) {
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g.acro_rp_expo = 1.0f;
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2014-08-18 00:56:22 -03:00
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}
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2014-08-12 23:25:59 -03:00
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// roll expo
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2016-10-23 03:59:09 -03:00
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rp_in = float(roll_in)/ROLL_PITCH_YAW_INPUT_MAX;
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2014-08-12 23:25:59 -03:00
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rp_in3 = rp_in*rp_in*rp_in;
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2016-06-22 01:16:28 -03:00
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rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
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2016-10-23 03:59:09 -03:00
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rate_bf_request.x = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
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2014-08-12 23:25:59 -03:00
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// pitch expo
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2016-10-23 03:59:09 -03:00
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rp_in = float(pitch_in)/ROLL_PITCH_YAW_INPUT_MAX;
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2014-08-12 23:25:59 -03:00
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rp_in3 = rp_in*rp_in*rp_in;
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2016-06-22 01:16:28 -03:00
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rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
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2016-10-23 03:59:09 -03:00
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rate_bf_request.y = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
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2014-08-12 23:25:59 -03:00
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}
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// calculate yaw rate request
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2016-10-23 03:55:33 -03:00
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rate_bf_request.z = get_pilot_desired_yaw_rate(yaw_in);
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2014-01-24 23:00:07 -04:00
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// calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
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2019-10-25 03:06:05 -03:00
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if (g.acro_trainer != (uint8_t)Trainer::OFF) {
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2017-05-23 02:02:33 -03:00
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// get attitude targets
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const Vector3f att_target = attitude_control->get_att_target_euler_cd();
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2014-02-09 21:26:49 -04:00
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// Calculate trainer mode earth frame rate command for roll
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2017-05-23 02:02:33 -03:00
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int32_t roll_angle = wrap_180_cd(att_target.x);
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2014-02-09 21:26:49 -04:00
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rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
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// Calculate trainer mode earth frame rate command for pitch
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2017-05-23 02:02:33 -03:00
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int32_t pitch_angle = wrap_180_cd(att_target.y);
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2014-02-09 21:26:49 -04:00
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rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
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// Calculate trainer mode earth frame rate command for yaw
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rate_ef_level.z = 0;
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// Calculate angle limiting earth frame rate commands
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2019-10-25 03:06:05 -03:00
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if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
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2018-10-03 00:14:44 -03:00
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const float angle_max = copter.aparm.angle_max;
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if (roll_angle > angle_max){
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2019-07-27 00:30:18 -03:00
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rate_ef_level.x += AC_AttitudeControl::sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
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2018-10-03 00:14:44 -03:00
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}else if (roll_angle < -angle_max) {
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2019-07-27 00:30:18 -03:00
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rate_ef_level.x += AC_AttitudeControl::sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
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2014-02-09 21:26:49 -04:00
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}
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2018-10-03 00:14:44 -03:00
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if (pitch_angle > angle_max){
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2019-07-27 00:30:18 -03:00
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rate_ef_level.y += AC_AttitudeControl::sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
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2018-10-03 00:14:44 -03:00
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}else if (pitch_angle < -angle_max) {
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2019-07-27 00:30:18 -03:00
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rate_ef_level.y += AC_AttitudeControl::sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
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2014-02-09 21:26:49 -04:00
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}
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2014-01-24 23:00:07 -04:00
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}
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2014-02-09 21:26:49 -04:00
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// convert earth-frame level rates to body-frame level rates
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2017-01-09 03:31:26 -04:00
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attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
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2014-02-09 21:26:49 -04:00
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// combine earth frame rate corrections with rate requests
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2019-10-25 03:06:05 -03:00
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if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
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2014-02-09 21:26:49 -04:00
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rate_bf_request.x += rate_bf_level.x;
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rate_bf_request.y += rate_bf_level.y;
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rate_bf_request.z += rate_bf_level.z;
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}else{
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2019-03-11 13:15:25 -03:00
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float acro_level_mix = constrain_float(1-float(MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0), 0, 1)*ahrs.cos_pitch();
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2014-02-09 21:26:49 -04:00
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// Scale leveling rates by stick input
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rate_bf_level = rate_bf_level*acro_level_mix;
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// Calculate rate limit to prevent change of rate through inverted
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2015-05-08 15:40:08 -03:00
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rate_limit = fabsf(fabsf(rate_bf_request.x)-fabsf(rate_bf_level.x));
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2014-02-09 21:26:49 -04:00
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rate_bf_request.x += rate_bf_level.x;
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rate_bf_request.x = constrain_float(rate_bf_request.x, -rate_limit, rate_limit);
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// Calculate rate limit to prevent change of rate through inverted
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2015-05-15 12:53:29 -03:00
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rate_limit = fabsf(fabsf(rate_bf_request.y)-fabsf(rate_bf_level.y));
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2014-02-09 21:26:49 -04:00
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rate_bf_request.y += rate_bf_level.y;
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rate_bf_request.y = constrain_float(rate_bf_request.y, -rate_limit, rate_limit);
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// Calculate rate limit to prevent change of rate through inverted
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2015-05-08 15:40:08 -03:00
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rate_limit = fabsf(fabsf(rate_bf_request.z)-fabsf(rate_bf_level.z));
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2014-02-09 21:26:49 -04:00
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rate_bf_request.z += rate_bf_level.z;
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rate_bf_request.z = constrain_float(rate_bf_request.z, -rate_limit, rate_limit);
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}
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2014-01-24 23:00:07 -04:00
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}
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// hand back rate request
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roll_out = rate_bf_request.x;
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pitch_out = rate_bf_request.y;
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yaw_out = rate_bf_request.z;
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}
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2018-03-14 17:14:49 -03:00
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#endif
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