2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2014-01-28 04:31:45 -04:00
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/*
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2016-07-25 15:45:29 -03:00
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* Init and run calls for althold, flight mode
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2014-01-28 04:31:45 -04:00
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*/
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// althold_init - initialise althold controller
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2017-12-10 23:51:13 -04:00
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bool Copter::ModeAltHold::init(bool ignore_checks)
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2014-01-28 04:31:45 -04:00
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{
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2014-03-13 14:29:38 -03:00
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// initialize vertical speeds and leash lengths
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2017-11-08 09:25:53 -04:00
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pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
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2017-01-09 03:31:26 -04:00
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pos_control->set_accel_z(g.pilot_accel_z);
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2014-03-13 14:29:38 -03:00
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2015-10-27 10:06:50 -03:00
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// initialise position and desired velocity
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2017-01-09 03:31:26 -04:00
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if (!pos_control->is_active_z()) {
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pos_control->set_alt_target_to_current_alt();
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pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
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2016-10-14 09:28:32 -03:00
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}
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2014-04-30 04:29:32 -03:00
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2015-06-21 23:33:19 -03:00
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// stop takeoff if running
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takeoff_stop();
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2014-01-28 04:31:45 -04:00
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return true;
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}
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// althold_run - runs the althold controller
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// should be called at 100hz or more
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2017-12-10 23:51:13 -04:00
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void Copter::ModeAltHold::run()
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2014-01-28 04:31:45 -04:00
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{
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2015-06-09 21:06:33 -03:00
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AltHoldModeState althold_state;
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2015-04-30 04:40:38 -03:00
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float takeoff_climb_rate = 0.0f;
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2014-01-28 04:31:45 -04:00
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2015-11-18 09:07:42 -04:00
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// initialize vertical speeds and acceleration
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2017-11-08 09:25:53 -04:00
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pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
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2017-01-09 03:31:26 -04:00
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pos_control->set_accel_z(g.pilot_accel_z);
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2015-10-19 21:05:10 -03:00
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2014-01-28 04:31:45 -04:00
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// get pilot desired lean angles
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2015-06-09 21:06:33 -03:00
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float target_roll, target_pitch;
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2017-01-09 03:31:26 -04:00
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get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control->get_althold_lean_angle_max());
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2014-01-28 04:31:45 -04:00
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// get pilot's desired yaw rate
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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
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float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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2014-01-28 04:31:45 -04:00
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// get pilot desired climb rate
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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
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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2017-11-08 09:25:53 -04:00
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target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
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2015-04-30 04:40:38 -03:00
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2015-06-09 21:06:33 -03:00
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// Alt Hold State Machine Determination
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2017-01-09 03:31:26 -04:00
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if (!motors->armed() || !motors->get_interlock()) {
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2016-05-05 09:51:56 -03:00
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althold_state = AltHold_MotorStopped;
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2017-12-12 06:53:56 -04:00
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} else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
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2015-06-09 21:06:33 -03:00
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althold_state = AltHold_Takeoff;
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2016-07-11 23:26:35 -03:00
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} else if (!ap.auto_armed || ap.land_complete) {
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2015-06-09 21:06:33 -03:00
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althold_state = AltHold_Landed;
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} else {
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althold_state = AltHold_Flying;
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}
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// Alt Hold State Machine
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switch (althold_state) {
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2016-05-05 09:51:56 -03:00
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case AltHold_MotorStopped:
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2015-06-09 21:06:33 -03:00
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2017-01-09 03:31:26 -04:00
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motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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2017-10-26 19:53:49 -03:00
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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2016-07-11 23:26:35 -03:00
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#if FRAME_CONFIG == HELI_FRAME
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2016-05-05 09:51:56 -03:00
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// force descent rate and call position controller
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2017-01-09 03:31:26 -04:00
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pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
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2017-10-26 19:53:49 -03:00
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heli_flags.init_targets_on_arming=true;
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2016-01-17 23:52:36 -04:00
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#else
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2017-01-09 03:31:26 -04:00
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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2016-05-05 09:51:56 -03:00
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#endif
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2017-01-09 03:31:26 -04:00
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pos_control->update_z_controller();
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2015-11-11 23:19:15 -04:00
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break;
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2015-06-09 21:06:33 -03:00
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case AltHold_Takeoff:
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2017-10-26 19:53:49 -03:00
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#if FRAME_CONFIG == HELI_FRAME
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if (heli_flags.init_targets_on_arming) {
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heli_flags.init_targets_on_arming=false;
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}
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#endif
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2016-07-11 23:26:35 -03:00
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// set motors to full range
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2017-01-09 03:31:26 -04:00
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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2015-06-09 21:06:33 -03:00
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2015-06-21 23:33:19 -03:00
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// initiate take-off
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2015-04-30 03:06:55 -03:00
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if (!takeoff_state.running) {
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2015-04-30 02:03:59 -03:00
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takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
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2015-06-21 23:33:19 -03:00
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// indicate we are taking off
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set_land_complete(false);
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// clear i terms
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set_throttle_takeoff();
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2015-04-30 03:06:55 -03:00
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}
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2014-01-28 04:31:45 -04:00
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2015-06-21 23:33:19 -03:00
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// get take-off adjusted pilot and takeoff climb rates
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takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
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2014-01-28 04:31:45 -04:00
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2017-01-05 02:24:02 -04:00
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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2015-06-09 21:06:33 -03:00
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// call attitude controller
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2017-01-09 03:31:26 -04:00
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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2015-06-09 21:06:33 -03:00
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// call position controller
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2017-01-09 03:31:26 -04:00
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pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control->add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
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pos_control->update_z_controller();
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2015-06-09 21:06:33 -03:00
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break;
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case AltHold_Landed:
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2016-07-11 23:26:35 -03:00
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// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
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if (target_climb_rate < 0.0f) {
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2017-01-09 03:31:26 -04:00
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motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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2016-05-05 09:55:37 -03:00
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} else {
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2017-01-09 03:31:26 -04:00
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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2016-01-17 23:52:36 -04:00
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}
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2016-07-11 23:26:35 -03:00
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2017-10-26 19:53:49 -03:00
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#if FRAME_CONFIG == HELI_FRAME
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if (heli_flags.init_targets_on_arming) {
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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if (motors->get_interlock()) {
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heli_flags.init_targets_on_arming=false;
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}
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}
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#else
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2017-01-09 03:31:26 -04:00
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->set_yaw_target_to_current_heading();
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2017-10-26 19:53:49 -03:00
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#endif
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2017-01-09 03:31:26 -04:00
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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pos_control->update_z_controller();
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2015-06-09 21:06:33 -03:00
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break;
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case AltHold_Flying:
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2017-01-09 03:31:26 -04:00
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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2016-12-16 23:42:58 -04:00
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2017-01-02 20:36:26 -04:00
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#if AC_AVOID_ENABLED == ENABLED
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2016-12-16 23:42:58 -04:00
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// apply avoidance
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2016-03-21 01:23:41 -03:00
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_copter.avoid.adjust_roll_pitch(target_roll, target_pitch, _copter.aparm.angle_max);
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2017-01-02 20:36:26 -04:00
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#endif
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2016-12-16 23:42:58 -04:00
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2014-01-28 04:31:45 -04:00
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// call attitude controller
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2017-01-09 03:31:26 -04:00
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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2014-01-28 04:31:45 -04:00
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2016-04-27 09:18:35 -03:00
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// adjust climb rate using rangefinder
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2016-03-21 01:23:41 -03:00
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if (_copter.rangefinder_alt_ok()) {
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2016-04-27 08:37:04 -03:00
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// if rangefinder is ok, use surface tracking
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2017-01-09 03:31:26 -04:00
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target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
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2014-01-28 04:31:45 -04:00
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}
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2017-01-05 02:24:02 -04:00
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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2014-01-28 04:31:45 -04:00
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// call position controller
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2017-01-09 03:31:26 -04:00
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pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control->update_z_controller();
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2015-06-09 21:06:33 -03:00
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break;
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2014-01-28 04:31:45 -04:00
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}
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}
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