ardupilot/ArduSub/control_surface.cpp

67 lines
2.3 KiB
C++
Raw Normal View History

2016-08-25 00:08:30 -03:00
#include "Sub.h"
bool Sub::surface_init(bool ignore_checks)
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "Surface mode requires external pressure sensor.");
return false;
}
#endif
2016-08-25 00:08:30 -03:00
// initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
pos_control.set_accel_z(wp_nav.get_accel_z());
// initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}
void Sub::surface_run()
{
float target_roll, target_pitch;
float target_yaw_rate;
// if not armed set throttle to zero and exit immediately
if (!motors.armed() || !motors.get_interlock()) {
motors.output_min();
2016-08-25 00:08:30 -03:00
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
return;
}
// Already at surface, hold depth at surface
if (ap.at_surface) {
set_mode(ALT_HOLD, MODE_REASON_SURFACE_COMPLETE);
}
2016-08-25 00:08:30 -03:00
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// set target climb rate
float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_speed_up());
2016-08-25 00:08:30 -03:00
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate_ff(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
// pilot has control for repositioning
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
2016-08-25 00:08:30 -03:00
}