ardupilot/ArduCopter/control_stabilize.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_stabilize.pde - init and run calls for stabilize flight mode
*/
// stabilize_init - initialise stabilize controller
static bool stabilize_init(bool ignore_checks)
{
// set target altitude to zero for reporting
// To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
pos_control.set_alt_target(0);
// stabilize should never be made to fail
return true;
}
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// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
static void stabilize_run()
{
int16_t target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
// if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || g.rc_3.control_in <= 0) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
return;
}
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// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// convert pilot input to lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
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// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
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// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// body-frame rate controller is run directly from 100hz loop
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// output pilot's throttle
attitude_control.set_throttle_out(pilot_throttle_scaled, true);
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}