ardupilot/ArduCopter/control_loiter.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
/*
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* control_loiter.pde - init and run calls for loiter flight mode
*/
// loiter_init - initialise loiter controller
bool Copter::loiter_init(bool ignore_checks)
{
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
// as this will force the helicopter to descend.
if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
return false;
}
#endif
if (position_ok() || ignore_checks) {
// set target to current position
wp_nav.init_loiter_target();
// initialize vertical speed and accelerationj
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 position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
return true;
}else{
return false;
}
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
void Copter::loiter_run()
{
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LoiterModeState loiter_state;
float target_yaw_rate = 0.0f;
float target_climb_rate = 0.0f;
float takeoff_climb_rate = 0.0f;
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// process pilot inputs unless we are in radio failsafe
if (!failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(channel_roll->control_in, channel_pitch->control_in);
// 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);
} else {
// clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
wp_nav.clear_pilot_desired_acceleration();
}
// relax loiter target if we might be landed
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if (ap.land_complete_maybe) {
wp_nav.loiter_soften_for_landing();
}
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// Loiter State Machine Determination
if(!ap.auto_armed) {
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loiter_state = Loiter_Disarmed;
} else if (!motors.get_interlock()){
loiter_state = Loiter_MotorStop;
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} else if (takeoff_state.running || (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()))){
loiter_state = Loiter_Takeoff;
} else if (ap.land_complete){
loiter_state = Loiter_Landed;
} else {
loiter_state = Loiter_Flying;
}
// Loiter State Machine
switch (loiter_state) {
case Loiter_Disarmed:
wp_nav.init_loiter_target();
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case Loiter_MotorStop:
#if FRAME_CONFIG == HELI_FRAME
// helicopters are capable of flying even with the motor stopped, therefore we will attempt to keep flying
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// force descent rate and call position controller
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller();
#else
wp_nav.init_loiter_target();
// multicopters do not stabilize roll/pitch/yaw when motors are stopped
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);
#endif // HELI_FRAME
break;
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case Loiter_Takeoff:
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();
}
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
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// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control.add_takeoff_climb_rate(takeoff_climb_rate, G_Dt);
pos_control.update_z_controller();
break;
case Loiter_Landed:
wp_nav.init_loiter_target();
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
// move throttle to between minimum and non-takeoff-throttle to keep us on the ground
attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt);
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#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
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break;
case Loiter_Flying:
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// run altitude controller
if (sonar_enabled && (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);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();
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break;
}
}