ardupilot/ArduPlane/mode_qstabilize.cpp

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#include "mode.h"
#include "Plane.h"
bool ModeQStabilize::_enter()
{
if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
plane.control_mode = plane.previous_mode;
} else {
plane.auto_state.vtol_mode = true;
}
return true;
}
void ModeQStabilize::update()
{
// set nav_roll and nav_pitch using sticks
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// Beware that QuadPlane::tailsitter_check_input (called from Plane::read_radio)
// may alter the control_in values for roll and yaw, but not the corresponding
// radio_in values. This means that the results for norm_input would not necessarily
// be correct for tailsitters, so get_control_in() must be used instead.
// normalize control_input to [-1,1]
const float roll_input = (float)plane.channel_roll->get_control_in() / plane.channel_roll->get_range();
const float pitch_input = (float)plane.channel_pitch->get_control_in() / plane.channel_pitch->get_range();
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// then scale to target angles in centidegrees
if (plane.quadplane.tailsitter_active()) {
// tailsitters are different
set_tailsitter_roll_pitch(roll_input, pitch_input);
return;
}
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if ((plane.quadplane.options & QuadPlane::OPTION_INGORE_FW_ANGLE_LIMITS_IN_Q_MODES) == 0) {
// by default angles are also constrained by forward flight limits
set_limited_roll_pitch(roll_input, pitch_input);
} else {
// use angle max for both roll and pitch
plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
}
}
// set the desired roll and pitch for a tailsitter
void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const float pitch_input)
{
// separate limit for roll, if set
if (plane.quadplane.tailsitter.max_roll_angle > 0) {
// roll param is in degrees not centidegrees
plane.nav_roll_cd = plane.quadplane.tailsitter.max_roll_angle * 100.0f * roll_input;
} else {
plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
}
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// angle max for tailsitter pitch
plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
}
// set the desired roll and pitch for normal quadplanes, also limited by forward flight limtis
void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
{
plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
// pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
// tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
if (pitch_input > 0) {
plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
} else {
plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
}
}