ardupilot/ArduCopter/mode_circle.cpp

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#include "Copter.h"
#if MODE_CIRCLE_ENABLED == ENABLED
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/*
* Init and run calls for circle flight mode
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*/
// circle_init - initialise circle controller flight mode
bool ModeCircle::init(bool ignore_checks)
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{
pilot_yaw_override = false;
speed_changing = false;
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// set speed and acceleration limits
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pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
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pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
pos_control->set_correction_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed
copter.circle_nav->init();
return true;
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}
// circle_run - runs the circle flight mode
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// should be called at 100hz or more
void ModeCircle::run()
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{
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// set speed and acceleration limits
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pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// get pilot's desired yaw rate (or zero if in radio failsafe)
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!is_zero(target_yaw_rate)) {
pilot_yaw_override = true;
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}
// Check for any change in params and update in real time
copter.circle_nav->check_param_change();
// pilot changes to circle rate and radius
// skip if in radio failsafe
if (!copter.failsafe.radio && copter.circle_nav->pilot_control_enabled()) {
// update the circle controller's radius target based on pilot pitch stick inputs
const float radius_current = copter.circle_nav->get_radius(); // circle controller's radius target, which begins as the circle_radius parameter
const float pitch_stick = channel_pitch->norm_input_dz(); // pitch stick normalized -1 to 1
const float nav_speed = copter.wp_nav->get_default_speed_xy(); // copter WP_NAV parameter speed
const float radius_pilot_change = (pitch_stick * nav_speed) * G_Dt; // rate of change (pitch stick up reduces the radius, as in moving forward)
const float radius_new = MAX(radius_current + radius_pilot_change,0); // new radius target
if (!is_equal(radius_current, radius_new)) {
copter.circle_nav->set_radius_cm(radius_new);
}
// update the orbicular rate target based on pilot roll stick inputs
// skip if using CH6 tuning knob for circle rate
if (g.radio_tuning != TUNING_CIRCLE_RATE) {
const float roll_stick = channel_roll->norm_input_dz(); // roll stick normalized -1 to 1
if (is_zero(roll_stick)) {
// no speed change, so reset speed changing flag
speed_changing = false;
} else {
const float rate = copter.circle_nav->get_rate(); // circle controller's rate target, which begins as the circle_rate parameter
const float rate_current = copter.circle_nav->get_rate_current(); // current adjusted rate target, which is probably different from _rate
const float rate_pilot_change = (roll_stick * G_Dt); // rate of change from 0 to 1 degrees per second
float rate_new = rate_current; // new rate target
if (is_positive(rate)) {
// currently moving clockwise, constrain 0 to 90
rate_new = constrain_float(rate_current + rate_pilot_change, 0, 90);
} else if (is_negative(rate)) {
// currently moving counterclockwise, constrain -90 to 0
rate_new = constrain_float(rate_current + rate_pilot_change, -90, 0);
} else if (is_zero(rate) && !speed_changing) {
// Stopped, pilot has released the roll stick, and pilot now wants to begin moving with the roll stick
rate_new = rate_pilot_change;
}
speed_changing = true;
copter.circle_nav->set_rate(rate_new);
}
}
}
// get pilot desired climb rate (or zero if in radio failsafe)
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
// if not armed set throttle to zero and exit immediately
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if (is_disarmed_or_landed()) {
make_safe_ground_handling();
return;
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}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// update the vertical offset based on the surface measurement
copter.surface_tracking.update_surface_offset();
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copter.failsafe_terrain_set_status(copter.circle_nav->update(target_climb_rate));
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// call attitude controller
if (pilot_yaw_override) {
attitude_control->input_thrust_vector_rate_heading(copter.circle_nav->get_thrust_vector(), target_yaw_rate);
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} else {
attitude_control->input_thrust_vector_heading(copter.circle_nav->get_thrust_vector(), copter.circle_nav->get_yaw());
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}
pos_control->update_z_controller();
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}
uint32_t ModeCircle::wp_distance() const
{
return copter.circle_nav->get_distance_to_target();
}
int32_t ModeCircle::wp_bearing() const
{
return copter.circle_nav->get_bearing_to_target();
}
#endif