ardupilot/ArduCopter/mode_stabilize.cpp

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#include "Copter.h"
/*
* Init and run calls for stabilize flight mode
*/
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// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void ModeStabilize::run()
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{
// apply simple mode transform to pilot inputs
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update_simple_mode();
// convert pilot input to lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
if (!motors->armed()) {
// Motors should be Stopped
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
} else if (copter.ap.throttle_zero
|| (copter.air_mode == AirMode::AIRMODE_ENABLED && motors->get_spool_state() == AP_Motors::SpoolState::SHUT_DOWN)) {
// throttle_zero is never true in air mode, but the motors should be allowed to go through ground idle
// in order to facilitate the spoolup block
// Attempting to Land
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
float pilot_desired_throttle = get_pilot_desired_throttle();
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switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
pilot_desired_throttle = 0.0f;
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly();
pilot_desired_throttle = 0.0f;
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing
break;
}
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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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// output pilot's throttle
attitude_control->set_throttle_out(pilot_desired_throttle, true, g.throttle_filt);
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}