ardupilot/ArduCopter/mode_land.cpp

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#include "Copter.h"
// FIXME? why are these static?
static bool land_with_gps;
static uint32_t land_start_time;
static bool land_pause;
// land_init - initialise land controller
bool Copter::ModeLand::init(bool ignore_checks)
{
// check if we have GPS and decide which LAND we're going to do
land_with_gps = copter.position_ok();
if (land_with_gps) {
// set target to stopping point
Vector3f stopping_point;
loiter_nav->get_stopping_point_xy(stopping_point);
loiter_nav->init_target(stopping_point);
}
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// initialize vertical speeds and leash lengths
pos_control->set_max_speed_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up());
pos_control->set_max_accel_z(wp_nav->get_accel_z());
// 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());
}
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land_start_time = millis();
land_pause = false;
// reset flag indicating if pilot has applied roll or pitch inputs during landing
ap.land_repo_active = false;
return true;
}
// land_run - runs the land controller
// should be called at 100hz or more
void Copter::ModeLand::run()
{
if (land_with_gps) {
gps_run();
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} else {
nogps_run();
}
}
// land_gps_run - runs the land controller
// horizontal position controlled with loiter controller
// should be called at 100hz or more
void Copter::ModeLand::gps_run()
{
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
zero_throttle_and_relax_ac();
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
// disarm when the landing detector says we've landed
if (ap.land_complete) {
copter.init_disarm_motors();
}
return;
}
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// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// pause before beginning land descent
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if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
land_pause = false;
}
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land_run_horizontal_control();
land_run_vertical_control(land_pause);
}
// land_nogps_run - runs the land controller
// pilot controls roll and pitch angles
// should be called at 100hz or more
void Copter::ModeLand::nogps_run()
{
float target_roll = 0.0f, target_pitch = 0.0f;
float target_yaw_rate = 0;
// process pilot inputs
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
copter.set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// get pilot desired lean angles
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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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
attitude_control->set_throttle_out(0,false,g.throttle_filt);
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#else
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// disarm when the landing detector says we've landed
if (ap.land_complete) {
copter.init_disarm_motors();
}
return;
}
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// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// pause before beginning land descent
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if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
land_pause = false;
}
land_run_vertical_control(land_pause);
}
// do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
// called during GPS failsafe to ensure that if we were already in LAND mode that we do not use the GPS
// has no effect if we are not already in LAND mode
void Copter::ModeLand::do_not_use_GPS()
{
land_with_gps = false;
}
// set_mode_land_with_pause - sets mode to LAND and triggers 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
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void Copter::set_mode_land_with_pause(mode_reason_t reason)
{
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set_mode(LAND, reason);
land_pause = true;
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}
// landing_with_GPS - returns true if vehicle is landing using GPS
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bool Copter::landing_with_GPS()
{
return (control_mode == LAND && land_with_gps);
}