ardupilot/ArduSub/control_circle.cpp

97 lines
3.6 KiB
C++
Raw Normal View History

2016-01-14 15:30:56 -04:00
#include "Sub.h"
/*
* control_circle.pde - init and run calls for circle flight mode
*/
// circle_init - initialise circle controller flight mode
2016-01-14 15:30:56 -04:00
bool Sub::circle_init(bool ignore_checks)
{
return false; // Not implemented
// if (position_ok() || ignore_checks) {
// circle_pilot_yaw_override = false;
//
// // initialize speeds and accelerations
// pos_control.set_speed_xy(wp_nav.get_speed_xy());
// pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
// pos_control.set_jerk_xy_to_default();
// pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// pos_control.set_accel_z(g.pilot_accel_z);
//
// // initialise circle controller including setting the circle center based on vehicle speed
// circle_nav.init();
//
// return true;
// }else{
// return false;
// }
}
// circle_run - runs the circle flight mode
// should be called at 100hz or more
2016-01-14 15:30:56 -04:00
void Sub::circle_run()
{
float target_yaw_rate = 0;
float target_climb_rate = 0;
// initialize speeds and accelerations
pos_control.set_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
pos_control.set_accel_z(g.pilot_accel_z);
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
2016-11-30 12:46:08 -04:00
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
// To-Do: add some initialisation of position controllers
2016-04-05 00:17:39 -03:00
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
2017-02-10 13:46:54 -04:00
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
2016-02-23 02:15:15 -04:00
pos_control.set_alt_target_to_current_alt();
return;
}
// process pilot inputs
2017-01-30 13:49:39 -04:00
if (!failsafe.manual_control) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
circle_pilot_yaw_override = true;
}
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
// // 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();
// }
}
2016-04-05 00:17:39 -03:00
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run circle controller
circle_nav.update();
// call attitude controller
if (circle_pilot_yaw_override) {
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
} else {
attitude_control.input_euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true, get_smoothing_gain());
}
// adjust climb rate using rangefinder
if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// 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();
}