ardupilot/ArduCopter/mode_althold.cpp

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#include "Copter.h"
/*
* Init and run calls for althold, flight mode
*/
// althold_init - initialise althold controller
bool Copter::ModeAltHold::init(bool ignore_checks)
{
// initialise position and desired velocity
if (!pos_control->is_active_z()) {
pos_control->set_alt_target_to_current_alt();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
void Copter::ModeAltHold::run()
{
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AltHoldModeState althold_state;
float takeoff_climb_rate = 0.0f;
// initialize vertical speeds and acceleration
pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_accel_z(g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
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float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max());
// 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)
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float 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)
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float 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);
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// Alt Hold State Machine Determination
if (!motors->armed() || !motors->get_interlock()) {
althold_state = AltHold_MotorStopped;
} else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
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althold_state = AltHold_Takeoff;
} else if (!ap.auto_armed || ap.land_complete) {
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althold_state = AltHold_Landed;
} else {
althold_state = AltHold_Flying;
}
// Alt Hold State Machine
switch (althold_state) {
case AltHold_MotorStopped:
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motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
#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);
heli_flags.init_targets_on_arming=true;
if (ap.land_complete_maybe) {
pos_control->relax_alt_hold_controllers(0.0f);
}
#else
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
#endif
pos_control->update_z_controller();
break;
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case AltHold_Takeoff:
#if FRAME_CONFIG == HELI_FRAME
if (heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
}
#endif
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// initiate take-off
if (!takeoff_state.running) {
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takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// 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();
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break;
case AltHold_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) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
}
#if FRAME_CONFIG == HELI_FRAME
if (heli_flags.init_targets_on_arming) {
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
if (motors->get_interlock()) {
heli_flags.init_targets_on_arming=false;
}
}
#else
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
#endif
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller();
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break;
case AltHold_Flying:
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
#if AC_AVOID_ENABLED == ENABLED
// apply avoidance
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
#endif
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// adjust climb rate using rangefinder
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
// get avoidance adjusted climb rate
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control->update_z_controller();
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break;
}
}