2014-01-28 04:31:31 -04:00
|
|
|
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
|
2015-05-29 23:12:49 -03:00
|
|
|
#include "Copter.h"
|
|
|
|
|
2014-01-28 04:31:31 -04:00
|
|
|
/*
|
2016-07-25 15:45:29 -03:00
|
|
|
* Init and run calls for sport flight mode
|
2014-01-28 04:31:31 -04:00
|
|
|
*/
|
|
|
|
|
|
|
|
// sport_init - initialise sport controller
|
2015-05-29 23:12:49 -03:00
|
|
|
bool Copter::sport_init(bool ignore_checks)
|
2014-01-28 04:31:31 -04:00
|
|
|
{
|
2015-10-19 21:05:10 -03:00
|
|
|
// initialize vertical speed and acceleration
|
2014-04-29 23:17:59 -03:00
|
|
|
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
|
|
|
|
pos_control.set_accel_z(g.pilot_accel_z);
|
|
|
|
|
2015-10-27 10:06:50 -03:00
|
|
|
// initialise position and desired velocity
|
|
|
|
pos_control.set_alt_target(inertial_nav.get_altitude());
|
|
|
|
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
|
2014-04-29 23:17:59 -03:00
|
|
|
|
2014-01-28 04:31:31 -04:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// sport_run - runs the sport controller
|
|
|
|
// should be called at 100hz or more
|
2015-05-29 23:12:49 -03:00
|
|
|
void Copter::sport_run()
|
2014-01-28 04:31:31 -04:00
|
|
|
{
|
2016-07-31 22:49:44 -03:00
|
|
|
SportModeState sport_state;
|
2015-04-30 04:40:38 -03:00
|
|
|
float takeoff_climb_rate = 0.0f;
|
2014-01-28 04:31:31 -04:00
|
|
|
|
2015-10-19 21:05:10 -03:00
|
|
|
// initialize vertical speed and acceleration
|
|
|
|
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
|
|
|
|
pos_control.set_accel_z(g.pilot_accel_z);
|
|
|
|
|
2014-01-28 04:31:31 -04:00
|
|
|
// apply SIMPLE mode transform
|
|
|
|
update_simple_mode();
|
|
|
|
|
|
|
|
// get pilot's desired roll and pitch rates
|
2014-02-12 08:55:13 -04:00
|
|
|
|
|
|
|
// calculate rate requests
|
2016-07-31 22:49:44 -03:00
|
|
|
float target_roll_rate = channel_roll->get_control_in() * g.acro_rp_p;
|
|
|
|
float target_pitch_rate = channel_pitch->get_control_in() * g.acro_rp_p;
|
2014-05-07 05:25:46 -03:00
|
|
|
|
2014-02-12 08:55:13 -04:00
|
|
|
int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
|
2014-05-07 05:25:46 -03:00
|
|
|
target_roll_rate -= constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
|
2014-02-12 08:55:13 -04:00
|
|
|
|
|
|
|
// Calculate trainer mode earth frame rate command for pitch
|
|
|
|
int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
|
2014-05-07 05:25:46 -03:00
|
|
|
target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
|
2014-02-12 08:55:13 -04:00
|
|
|
|
|
|
|
if (roll_angle > aparm.angle_max){
|
|
|
|
target_roll_rate -= g.acro_rp_p*(roll_angle-aparm.angle_max);
|
|
|
|
}else if (roll_angle < -aparm.angle_max) {
|
|
|
|
target_roll_rate -= g.acro_rp_p*(roll_angle+aparm.angle_max);
|
|
|
|
}
|
|
|
|
|
|
|
|
if (pitch_angle > aparm.angle_max){
|
|
|
|
target_pitch_rate -= g.acro_rp_p*(pitch_angle-aparm.angle_max);
|
|
|
|
}else if (pitch_angle < -aparm.angle_max) {
|
|
|
|
target_pitch_rate -= g.acro_rp_p*(pitch_angle+aparm.angle_max);
|
|
|
|
}
|
2014-01-28 04:31:31 -04:00
|
|
|
|
|
|
|
// get pilot's desired yaw rate
|
2016-07-31 22:49:44 -03:00
|
|
|
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
|
2014-01-28 04:31:31 -04:00
|
|
|
|
|
|
|
// get pilot desired climb rate
|
2016-07-31 22:49:44 -03:00
|
|
|
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
|
2015-04-30 04:40:38 -03:00
|
|
|
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
|
|
|
|
|
2016-07-31 22:49:44 -03:00
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
|
|
// helicopters are held on the ground until rotor speed runup has finished
|
|
|
|
bool takeoff_triggered = (ap.land_complete && (target_climb_rate > 0.0f) && motors.rotor_runup_complete());
|
|
|
|
#else
|
|
|
|
bool takeoff_triggered = ap.land_complete && (target_climb_rate > 0.0f);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// State Machine Determination
|
|
|
|
if (!motors.armed() || !motors.get_interlock()) {
|
|
|
|
sport_state = Sport_MotorStopped;
|
|
|
|
} else if (takeoff_state.running || takeoff_triggered) {
|
|
|
|
sport_state = Sport_Takeoff;
|
|
|
|
} else if (!ap.auto_armed || ap.land_complete) {
|
|
|
|
sport_state = Sport_Landed;
|
|
|
|
} else {
|
|
|
|
sport_state = Sport_Flying;
|
|
|
|
}
|
|
|
|
|
|
|
|
// State Machine
|
|
|
|
switch (sport_state) {
|
|
|
|
|
|
|
|
case Sport_MotorStopped:
|
|
|
|
|
|
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
|
|
|
|
attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
|
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
|
|
// force descent rate and call position controller
|
|
|
|
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
|
|
|
|
#else
|
|
|
|
attitude_control.relax_attitude_controllers();
|
|
|
|
attitude_control.reset_rate_controller_I_terms();
|
|
|
|
attitude_control.set_yaw_target_to_current_heading();
|
|
|
|
pos_control.relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
|
|
|
|
#endif
|
|
|
|
pos_control.update_z_controller();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case Sport_Takeoff:
|
|
|
|
// set motors to full range
|
|
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
2015-04-30 03:06:55 -03:00
|
|
|
|
2016-07-31 22:49:44 -03:00
|
|
|
// initiate take-off
|
2015-04-30 03:06:55 -03:00
|
|
|
if (!takeoff_state.running) {
|
2015-04-30 02:03:59 -03:00
|
|
|
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
|
2016-07-31 22:49:44 -03:00
|
|
|
// indicate we are taking off
|
|
|
|
set_land_complete(false);
|
|
|
|
// clear i terms
|
|
|
|
set_throttle_takeoff();
|
2015-04-30 03:06:55 -03:00
|
|
|
}
|
2014-01-28 04:31:31 -04:00
|
|
|
|
2016-07-31 22:49:44 -03:00
|
|
|
// get take-off adjusted pilot and takeoff climb rates
|
|
|
|
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
|
2014-01-28 04:31:31 -04:00
|
|
|
|
2016-07-31 22:49:44 -03:00
|
|
|
// call attitude controller
|
|
|
|
attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
|
|
|
|
|
|
|
|
// call position controller
|
|
|
|
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
|
|
|
|
pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
|
|
|
|
pos_control.update_z_controller();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case Sport_Landed:
|
|
|
|
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
|
|
|
|
if (target_climb_rate < 0.0f) {
|
2016-02-02 08:16:25 -04:00
|
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
|
2016-07-31 22:49:44 -03:00
|
|
|
} else {
|
2016-02-02 08:16:25 -04:00
|
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
2016-01-17 23:53:22 -04:00
|
|
|
}
|
2014-05-07 05:25:46 -03:00
|
|
|
|
2016-07-31 22:49:44 -03:00
|
|
|
attitude_control.reset_rate_controller_I_terms();
|
|
|
|
attitude_control.set_yaw_target_to_current_heading();
|
|
|
|
attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
|
|
|
|
pos_control.relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
|
|
|
|
pos_control.update_z_controller();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case Sport_Flying:
|
|
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
2014-01-28 04:31:31 -04:00
|
|
|
// call attitude controller
|
2015-11-28 13:57:14 -04:00
|
|
|
attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
|
2014-01-28 04:31:31 -04:00
|
|
|
|
2016-04-27 09:18:35 -03:00
|
|
|
// adjust climb rate using rangefinder
|
|
|
|
if (rangefinder_alt_ok()) {
|
2016-04-27 08:37:04 -03:00
|
|
|
// if rangefinder is ok, use surface tracking
|
2015-04-13 15:03:38 -03:00
|
|
|
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
|
2014-01-28 04:31:31 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
// call position controller
|
2015-10-27 10:06:50 -03:00
|
|
|
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
|
2014-01-28 04:31:31 -04:00
|
|
|
pos_control.update_z_controller();
|
2016-07-31 22:49:44 -03:00
|
|
|
break;
|
2014-01-28 04:31:31 -04:00
|
|
|
}
|
|
|
|
}
|