ardupilot/ArduCopter/mode_loiter.cpp

195 lines
6.5 KiB
C++
Raw Normal View History

#include "Copter.h"
#if MODE_LOITER_ENABLED == ENABLED
/*
* Init and run calls for loiter flight mode
*/
// loiter_init - initialise loiter controller
bool ModeLoiter::init(bool ignore_checks)
{
if (!copter.failsafe.radio) {
float target_roll, target_pitch;
// 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, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
// process pilot's roll and pitch input
2021-05-11 01:42:02 -03:00
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
loiter_nav->clear_pilot_desired_acceleration();
}
loiter_nav->init_target();
2021-05-19 11:07:38 -03:00
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
2021-05-11 01:42:02 -03:00
pos_control->init_z_controller();
}
return true;
}
#if PRECISION_LANDING == ENABLED
bool ModeLoiter::do_precision_loiter()
2016-11-13 22:46:47 -04:00
{
if (!_precision_loiter_enabled) {
return false;
}
if (copter.ap.land_complete_maybe) {
2016-11-13 22:46:47 -04:00
return false; // don't move on the ground
}
// if the pilot *really* wants to move the vehicle, let them....
if (loiter_nav->get_pilot_desired_acceleration().length() > 50.0f) {
2016-11-13 22:46:47 -04:00
return false;
}
if (!copter.precland.target_acquired()) {
2016-11-13 22:46:47 -04:00
return false; // we don't have a good vector
}
return true;
}
void ModeLoiter::precision_loiter_xy()
2016-11-13 22:46:47 -04:00
{
loiter_nav->clear_pilot_desired_acceleration();
2016-11-13 22:46:47 -04:00
Vector2f target_pos, target_vel_rel;
if (!copter.precland.get_target_position_cm(target_pos)) {
2016-11-13 22:46:47 -04:00
target_pos.x = inertial_nav.get_position().x;
target_pos.y = inertial_nav.get_position().y;
}
if (!copter.precland.get_target_velocity_relative_cms(target_vel_rel)) {
2016-11-13 22:46:47 -04:00
target_vel_rel.x = -inertial_nav.get_velocity().x;
target_vel_rel.y = -inertial_nav.get_velocity().y;
}
2021-05-11 01:42:02 -03:00
pos_control->set_pos_target_xy_cm(target_pos.x, target_pos.y);
pos_control->override_vehicle_velocity_xy(-target_vel_rel);
2016-11-13 22:46:47 -04:00
}
#endif
2016-11-13 22:46:47 -04:00
// loiter_run - runs the loiter controller
// should be called at 100hz or more
void ModeLoiter::run()
{
2017-11-10 11:23:18 -04:00
float target_roll, target_pitch;
float target_yaw_rate = 0.0f;
float target_climb_rate = 0.0f;
2021-05-19 11:07:38 -03:00
// set vertical speed and acceleration limits
2021-05-11 01:42:02 -03:00
pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
2015-06-24 22:31:06 -03:00
// process pilot inputs unless we are in radio failsafe
if (!copter.failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
2017-11-10 11:23:18 -04:00
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
2017-11-10 11:23:18 -04:00
// process pilot's roll and pitch input
2021-05-11 01:42:02 -03:00
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
// 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)
2016-05-08 05:46:59 -03:00
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// get pilot desired climb 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)
2016-05-08 05:46:59 -03:00
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
loiter_nav->clear_pilot_desired_acceleration();
}
// relax loiter target if we might be landed
if (copter.ap.land_complete_maybe) {
loiter_nav->soften_for_landing();
}
2015-06-24 22:31:06 -03:00
// Loiter State Machine Determination
AltHoldModeState loiter_state = get_alt_hold_state(target_climb_rate);
2015-06-24 22:31:06 -03:00
// Loiter State Machine
switch (loiter_state) {
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate();
2021-05-19 11:07:38 -03:00
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
break;
case AltHold_Takeoff:
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
2015-06-24 22:31:06 -03:00
}
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
2021-05-19 11:07:38 -03:00
// set position controller targets adjusted for pilot input
2021-05-13 02:40:05 -03:00
takeoff.do_pilot_takeoff(target_climb_rate);
2015-06-24 22:31:06 -03:00
// run loiter controller
loiter_nav->update();
2015-06-24 22:31:06 -03:00
// call attitude controller
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
2015-06-24 22:31:06 -03:00
break;
case AltHold_Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly();
loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
2021-05-19 11:07:38 -03:00
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
2015-06-24 22:31:06 -03:00
break;
case AltHold_Flying:
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if PRECISION_LANDING == ENABLED
2016-11-13 22:46:47 -04:00
if (do_precision_loiter()) {
precision_loiter_xy();
}
#endif
2016-11-13 22:46:47 -04:00
// run loiter controller
loiter_nav->update();
// call attitude controller
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
// adjust climb rate using rangefinder
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
2021-05-11 01:42:02 -03:00
pos_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate, false);
2015-06-24 22:31:06 -03:00
break;
}
2021-05-13 02:40:05 -03:00
2021-05-19 11:07:38 -03:00
// run the vertical position controller and set output throttle
2021-05-13 02:40:05 -03:00
pos_control->update_z_controller();
}
uint32_t ModeLoiter::wp_distance() const
{
return loiter_nav->get_distance_to_target();
}
int32_t ModeLoiter::wp_bearing() const
{
return loiter_nav->get_bearing_to_target();
}
#endif