ardupilot/ArduCopter/control_acro.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
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/*
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* control_acro.pde - init and run calls for acro flight mode
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*/
// acro_init - initialise acro controller
bool Copter::acro_init(bool ignore_checks)
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{
// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) && (get_pilot_desired_throttle(channel_throttle->control_in) > get_non_takeoff_throttle())) {
return false;
}
// set target altitude to zero for reporting
pos_control.set_alt_target(0);
return true;
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}
// acro_run - runs the acro controller
// should be called at 100hz or more
void Copter::acro_run()
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{
float target_roll, target_pitch, target_yaw;
float pilot_throttle_scaled;
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// if not armed set throttle to zero and exit immediately
if (!motors.armed() || ap.throttle_zero || !motors.get_interlock()) {
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
// slow start if landed
if (ap.land_complete) {
motors.slow_start(true);
}
return;
}
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
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// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
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// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in);
// run attitude controller
attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
// output pilot's throttle without angle boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
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}
// get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates
// returns desired angle rates in centi-degrees-per-second
void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out)
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{
float rate_limit;
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Vector3f rate_ef_level, rate_bf_level, rate_bf_request;
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// apply circular limit to pitch and roll inputs
float total_in = pythagorous2((float)pitch_in, (float)roll_in);
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if (total_in > ROLL_PITCH_INPUT_MAX) {
float ratio = (float)ROLL_PITCH_INPUT_MAX / total_in;
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roll_in *= ratio;
pitch_in *= ratio;
}
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// calculate roll, pitch rate requests
if (g.acro_expo <= 0) {
rate_bf_request.x = roll_in * g.acro_rp_p;
rate_bf_request.y = pitch_in * g.acro_rp_p;
} else {
// expo variables
float rp_in, rp_in3, rp_out;
// range check expo
if (g.acro_expo > 1.0f) {
g.acro_expo = 1.0f;
}
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// roll expo
rp_in = float(roll_in)/ROLL_PITCH_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in;
rp_out = (g.acro_expo * rp_in3) + ((1 - g.acro_expo) * rp_in);
rate_bf_request.x = ROLL_PITCH_INPUT_MAX * rp_out * g.acro_rp_p;
// pitch expo
rp_in = float(pitch_in)/ROLL_PITCH_INPUT_MAX;
rp_in3 = rp_in*rp_in*rp_in;
rp_out = (g.acro_expo * rp_in3) + ((1 - g.acro_expo) * rp_in);
rate_bf_request.y = ROLL_PITCH_INPUT_MAX * rp_out * g.acro_rp_p;
}
// calculate yaw rate request
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rate_bf_request.z = yaw_in * g.acro_yaw_p;
// calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
if (g.acro_trainer != ACRO_TRAINER_DISABLED) {
// Calculate trainer mode earth frame rate command for roll
int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
// Calculate trainer mode earth frame rate command for pitch
int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
// Calculate trainer mode earth frame rate command for yaw
rate_ef_level.z = 0;
// Calculate angle limiting earth frame rate commands
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (roll_angle > aparm.angle_max){
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rate_ef_level.x -= g.acro_balance_roll*(roll_angle-aparm.angle_max);
}else if (roll_angle < -aparm.angle_max) {
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rate_ef_level.x -= g.acro_balance_roll*(roll_angle+aparm.angle_max);
}
if (pitch_angle > aparm.angle_max){
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rate_ef_level.y -= g.acro_balance_pitch*(pitch_angle-aparm.angle_max);
}else if (pitch_angle < -aparm.angle_max) {
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rate_ef_level.y -= g.acro_balance_pitch*(pitch_angle+aparm.angle_max);
}
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}
// convert earth-frame level rates to body-frame level rates
attitude_control.euler_rate_to_ang_vel(attitude_control.get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_bf_request.x += rate_bf_level.x;
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.z += rate_bf_level.z;
}else{
float acro_level_mix = constrain_float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch();
// Scale leveling rates by stick input
rate_bf_level = rate_bf_level*acro_level_mix;
// Calculate rate limit to prevent change of rate through inverted
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rate_limit = fabsf(fabsf(rate_bf_request.x)-fabsf(rate_bf_level.x));
rate_bf_request.x += rate_bf_level.x;
rate_bf_request.x = constrain_float(rate_bf_request.x, -rate_limit, rate_limit);
// Calculate rate limit to prevent change of rate through inverted
rate_limit = fabsf(fabsf(rate_bf_request.y)-fabsf(rate_bf_level.y));
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.y = constrain_float(rate_bf_request.y, -rate_limit, rate_limit);
// Calculate rate limit to prevent change of rate through inverted
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rate_limit = fabsf(fabsf(rate_bf_request.z)-fabsf(rate_bf_level.z));
rate_bf_request.z += rate_bf_level.z;
rate_bf_request.z = constrain_float(rate_bf_request.z, -rate_limit, rate_limit);
}
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}
// hand back rate request
roll_out = rate_bf_request.x;
pitch_out = rate_bf_request.y;
yaw_out = rate_bf_request.z;
}