ardupilot/ArduCopter/mode_circle.cpp

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#include "Copter.h"
#if MODE_CIRCLE_ENABLED == ENABLED
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/*
* Init and run calls for circle flight mode
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*/
// circle_init - initialise circle controller flight mode
bool Copter::ModeCircle::init(bool ignore_checks)
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{
if (copter.position_ok() || ignore_checks) {
pilot_yaw_override = false;
// initialize speeds and accelerations
pos_control->set_max_speed_xy(wp_nav->get_default_speed_xy());
pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_max_accel_z(g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed
copter.circle_nav->init();
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return true;
}else{
return false;
}
}
// circle_run - runs the circle flight mode
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// should be called at 100hz or more
void Copter::ModeCircle::run()
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{
float target_yaw_rate = 0;
float target_climb_rate = 0;
// initialize speeds and accelerations
pos_control->set_max_speed_xy(wp_nav->get_default_speed_xy());
pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control->set_max_accel_z(g.pilot_accel_z);
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
// To-Do: add some initialisation of position controllers
zero_throttle_and_relax_ac();
pos_control->set_alt_target_to_current_alt();
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return;
}
// process pilot inputs
if (!copter.failsafe.radio) {
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// 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());
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if (!is_zero(target_yaw_rate)) {
pilot_yaw_override = true;
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}
// 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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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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// check for pilot requested take-off
if (ap.land_complete && target_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run circle controller
copter.circle_nav->update();
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// call attitude controller
if (pilot_yaw_override) {
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(copter.circle_nav->get_roll(),
copter.circle_nav->get_pitch(),
target_yaw_rate);
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}else{
attitude_control->input_euler_angle_roll_pitch_yaw(copter.circle_nav->get_roll(),
copter.circle_nav->get_pitch(),
copter.circle_nav->get_yaw(), true);
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}
// adjust climb rate using rangefinder
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
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// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control->update_z_controller();
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}
uint32_t Copter::ModeCircle::wp_distance() const
{
return copter.circle_nav->get_distance_to_target();
}
int32_t Copter::ModeCircle::wp_bearing() const
{
return copter.circle_nav->get_bearing_to_target();
}
#endif