ardupilot/ArduSub/control_circle.cpp

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#include "Sub.h"
/*
* control_circle.pde - init and run calls for circle flight mode
*/
// circle_init - initialise circle controller flight mode
bool Sub::circle_init()
{
if (!position_ok()) {
return false;
}
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circle_pilot_yaw_override = false;
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// initialize speeds and accelerations
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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);
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// initialise circle controller including setting the circle center based on vehicle speed
circle_nav.init();
return true;
}
// circle_run - runs the circle flight mode
// should be called at 100hz or more
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void Sub::circle_run()
{
float target_yaw_rate = 0;
float target_climb_rate = 0;
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// update parameters, to allow changing at runtime
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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);
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// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
// To-Do: add some initialisation of position controllers
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out(0,true,g.throttle_filt);
attitude_control.relax_attitude_controllers();
return;
}
// process pilot inputs
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// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
circle_pilot_yaw_override = true;
}
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// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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// set motors to full range
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// run circle controller
failsafe_terrain_set_status(circle_nav.update());
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///////////////////////
// update xy outputs //
float lateral_out, forward_out;
translate_circle_nav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
// call attitude controller
if (circle_pilot_yaw_override) {
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_yaw_rate);
} else {
attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true);
}
// update altitude target and call position controller
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pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, false);
pos_control.update_z_controller();
}