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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{
// 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;
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float target_yaw_rate;
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
ArduCopter: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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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->set_yaw_target_to_current_heading();
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->set_yaw_target_to_current_heading();
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