ardupilot/ArduCopter/control_althold.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/*
 * control_althold.pde - init and run calls for althold, flight mode
 */

// althold_init - initialise althold controller
static bool althold_init(bool ignore_checks)
{
    // initialize vertical speeds and leash lengths
    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 altitude target to stopping point
    pos_control.set_target_to_stopping_point_z();

    return true;
}

// althold_run - runs the althold controller
// should be called at 100hz or more
static void althold_run()
{
    float target_roll, target_pitch;
    float target_yaw_rate;
    float target_climb_rate;
    float takeoff_climb_rate = 0.0f;

    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
    if(!ap.auto_armed || !motors.get_interlock()) {
        attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
        return;
    }

    // apply SIMPLE mode transform to pilot inputs
    update_simple_mode();

    // get pilot desired lean angles
    // To-Do: convert get_pilot_desired_lean_angles to return angles as floats
    get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch);

    // get pilot's desired yaw rate
    target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);

    // get pilot desired climb rate
    target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
    target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);

    // get takeoff adjusted pilot and takeoff climb rates
    takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);

    // check for take-off
    if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
        if (!takeoff_state.running) {
            takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
        }

        // indicate we are taking off
        set_land_complete(false);
        // clear i term when we're taking off
        set_throttle_takeoff();
    }

    // reset target lean angles and heading while landed
    if (ap.land_complete) {
        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
        pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
    }else{
        // call attitude controller
        attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
        // body-frame rate controller is run directly from 100hz loop

        // call throttle controller
        if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
            // if sonar is ok, use surface tracking
            target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
        }

        // call position controller
        pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
        pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
        pos_control.update_z_controller();
    }
}