ardupilot/ArduCopter/Attitude.cpp

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#include "Copter.h"
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// transform pilot's yaw input into a desired yaw rate
// returns desired yaw rate in centi-degrees per second
float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
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{
// throttle failsafe check
if (failsafe.radio || !ap.rc_receiver_present) {
return 0.0f;
}
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float yaw_request;
// calculate yaw rate request
if (g2.acro_y_expo <= 0) {
yaw_request = stick_angle * g.acro_yaw_p;
} else {
// expo variables
float y_in, y_in3, y_out;
// range check expo
if (g2.acro_y_expo > 1.0f || g2.acro_y_expo < 0.5f) {
g2.acro_y_expo = 1.0f;
}
// yaw expo
y_in = float(stick_angle)/ROLL_PITCH_YAW_INPUT_MAX;
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y_in3 = y_in*y_in*y_in;
y_out = (g2.acro_y_expo * y_in3) + ((1.0f - g2.acro_y_expo) * y_in);
yaw_request = ROLL_PITCH_YAW_INPUT_MAX * y_out * g.acro_yaw_p;
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}
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// convert pilot input to the desired yaw rate
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return yaw_request;
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}
/*************************************************************
* throttle control
****************************************************************/
// update estimated throttle required to hover (if necessary)
// called at 100hz
void Copter::update_throttle_hover()
{
#if FRAME_CONFIG != HELI_FRAME
// if not armed or landed exit
if (!motors->armed() || ap.land_complete) {
return;
}
// do not update in manual throttle modes or Drift
if (flightmode->has_manual_throttle() || (control_mode == Mode::Number::DRIFT)) {
return;
}
// do not update while climbing or descending
if (!is_zero(pos_control->get_desired_velocity().z)) {
return;
}
// get throttle output
float throttle = motors->get_throttle();
// calc average throttle if we are in a level hover
if (throttle > 0.0f && fabsf(inertial_nav.get_velocity_z()) < 60 &&
labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
// Can we set the time constant automatically
motors->update_throttle_hover(0.01f);
}
#endif
}
// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
void Copter::set_throttle_takeoff()
{
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// tell position controller to reset alt target and reset I terms
pos_control->init_takeoff();
}
// get_pilot_desired_climb_rate - transform pilot's throttle input to climb rate in cm/s
// without any deadzone at the bottom
float Copter::get_pilot_desired_climb_rate(float throttle_control)
{
// throttle failsafe check
if (failsafe.radio || !ap.rc_receiver_present) {
return 0.0f;
}
#if TOY_MODE_ENABLED == ENABLED
if (g2.toy_mode.enabled()) {
// allow throttle to be reduced after throttle arming and for
// slower descent close to the ground
g2.toy_mode.throttle_adjust(throttle_control);
}
#endif
float desired_rate = 0.0f;
float mid_stick = get_throttle_mid();
float deadband_top = mid_stick + g.throttle_deadzone;
float deadband_bottom = mid_stick - g.throttle_deadzone;
// ensure a reasonable throttle value
throttle_control = constrain_float(throttle_control,0.0f,1000.0f);
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// ensure a reasonable deadzone
g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
// check throttle is above, below or in the deadband
if (throttle_control < deadband_bottom) {
// below the deadband
desired_rate = get_pilot_speed_dn() * (throttle_control-deadband_bottom) / deadband_bottom;
} else if (throttle_control > deadband_top) {
// above the deadband
desired_rate = g.pilot_speed_up * (throttle_control-deadband_top) / (1000.0f-deadband_top);
} else {
// must be in the deadband
desired_rate = 0.0f;
}
return desired_rate;
}
// get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
float Copter::get_non_takeoff_throttle()
{
return MAX(0,motors->get_throttle_hover()/2.0f);
}
// get target climb rate reduced to avoid obstacles and altitude fence
float Copter::get_avoidance_adjusted_climbrate(float target_rate)
{
#if AC_AVOID_ENABLED == ENABLED
avoid.adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), target_rate, G_Dt);
return target_rate;
#else
return target_rate;
#endif
}
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// set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
void Copter::set_accel_throttle_I_from_pilot_throttle()
{
// get last throttle input sent to attitude controller
float pilot_throttle = constrain_float(attitude_control->get_throttle_in(), 0.0f, 1.0f);
// shift difference between pilot's throttle and hover throttle into accelerometer I
pos_control->get_accel_z_pid().set_integrator((pilot_throttle-motors->get_throttle_hover()) * 1000.0f);
}
// rotate vector from vehicle's perspective to North-East frame
void Copter::rotate_body_frame_to_NE(float &x, float &y)
{
float ne_x = x*ahrs.cos_yaw() - y*ahrs.sin_yaw();
float ne_y = x*ahrs.sin_yaw() + y*ahrs.cos_yaw();
x = ne_x;
y = ne_y;
}
// It will return the PILOT_SPEED_DN value if non zero, otherwise if zero it returns the PILOT_SPEED_UP value.
uint16_t Copter::get_pilot_speed_dn()
{
if (g2.pilot_speed_dn == 0) {
return abs(g.pilot_speed_up);
} else {
return abs(g2.pilot_speed_dn);
}
}