ardupilot/ArduCopter/mode_stabilize_heli.cpp

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#include "Copter.h"
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#if FRAME_CONFIG == HELI_FRAME
/*
* Init and run calls for stabilize flight mode for trad heli
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*/
// stabilize_init - initialise stabilize controller
bool ModeStabilize_Heli::init(bool ignore_checks)
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{
// be aware that when adding code to this function that it is *NOT
// RUN* at vehicle startup!
// set stab collective true to use stabilize scaled collective pitch range
copter.input_manager.set_use_stab_col(true);
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return true;
}
// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void ModeStabilize_Heli::run()
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{
float target_roll, target_pitch;
float pilot_throttle_scaled;
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// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
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// get pilot's desired throttle
pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
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// Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
// we may be in autorotation flight. This is so that the servos move in a realistic fashion while disarmed
// for operational checks. Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero
// so the swash servos move.
if (!motors->armed()) {
// Motors should be Stopped
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
} else {
// heli will not let the spool state progress to THROTTLE_UNLIMITED until motor interlock is enabled
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->reset_yaw_target_and_rate(false);
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// If aircraft is landed, set target heading to current and reset the integrator
// Otherwise motors could be at ground idle for practice autorotation
if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
attitude_control->reset_yaw_target_and_rate(false);
attitude_control->reset_rate_controller_I_terms_smoothly();
}
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
attitude_control->reset_rate_controller_I_terms_smoothly();
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing
break;
}
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// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// output pilot's throttle - note that TradHeli does not used angle-boost
attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
#endif //HELI_FRAME