ardupilot/ArduPlane/mode_qstabilize.cpp

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#include "mode.h"
#include "Plane.h"
#if HAL_QUADPLANE_ENABLED
bool ModeQStabilize::_enter()
{
quadplane.throttle_wait = false;
return true;
}
void ModeQStabilize::update()
{
// set nav_roll and nav_pitch using sticks
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// Beware that QuadPlane::tailsitter_check_input (called from Plane::read_radio)
// may alter the control_in values for roll and yaw, but not the corresponding
// radio_in values. This means that the results for norm_input would not necessarily
// be correct for tailsitters, so get_control_in() must be used instead.
// normalize control_input to [-1,1]
const float roll_input = (float)plane.channel_roll->get_control_in() / plane.channel_roll->get_range();
const float pitch_input = (float)plane.channel_pitch->get_control_in() / plane.channel_pitch->get_range();
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// then scale to target angles in centidegrees
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if (plane.quadplane.tailsitter.active()) {
// tailsitters are different
set_tailsitter_roll_pitch(roll_input, pitch_input);
return;
}
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if (!plane.quadplane.option_is_set(QuadPlane::OPTION::INGORE_FW_ANGLE_LIMITS_IN_Q_MODES)) {
// by default angles are also constrained by forward flight limits
set_limited_roll_pitch(roll_input, pitch_input);
} else {
// use angle max for both roll and pitch
plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
}
}
// quadplane stabilize mode
void ModeQStabilize::run()
{
const uint32_t now = AP_HAL::millis();
if (quadplane.tailsitter.in_vtol_transition(now)) {
// Tailsitters in FW pull up phase of VTOL transition run FW controllers
Mode::run();
return;
}
// special check for ESC calibration in QSTABILIZE
if (quadplane.esc_calibration != 0) {
quadplane.run_esc_calibration();
plane.stabilize_roll();
plane.stabilize_pitch();
return;
}
// normal QSTABILIZE mode
float pilot_throttle_scaled = quadplane.get_pilot_throttle();
quadplane.hold_stabilize(pilot_throttle_scaled);
// Stabilize with fixed wing surfaces
plane.stabilize_roll();
plane.stabilize_pitch();
}
// set the desired roll and pitch for a tailsitter
void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const float pitch_input)
{
// separate limit for roll, if set
if (plane.quadplane.tailsitter.max_roll_angle > 0) {
// roll param is in degrees not centidegrees
plane.nav_roll_cd = plane.quadplane.tailsitter.max_roll_angle * 100.0f * roll_input;
} else {
plane.nav_roll_cd = roll_input * plane.quadplane.aparm.angle_max;
}
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// angle max for tailsitter pitch
plane.nav_pitch_cd = pitch_input * plane.quadplane.aparm.angle_max;
plane.quadplane.transition->set_VTOL_roll_pitch_limit(plane.nav_roll_cd, plane.nav_pitch_cd);
}
// set the desired roll and pitch for normal quadplanes, also limited by forward flight limtis
void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
{
plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
// pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
// tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
if (pitch_input > 0) {
plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
} else {
plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
}
}
#endif