ardupilot/ArduCopter/control_circle.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_circle.pde - init and run calls for circle flight mode
*/
// circle_init - initialise circle controller flight mode
bool Copter::circle_init(bool ignore_checks)
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{
if (position_ok() || ignore_checks) {
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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();
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return true;
}else{
return false;
}
}
// circle_run - runs the circle flight mode
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// should be called at 100hz or more
void Copter::circle_run()
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{
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
if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
// To-Do: add some initialisation of position controllers
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_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
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.set_alt_target_to_current_alt();
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return;
}
// process pilot inputs
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
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if (!is_zero(target_yaw_rate)) {
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circle_pilot_yaw_override = true;
}
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
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// 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();
}
}
// 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);
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}else{
attitude_control.input_euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
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}
// run altitude controller
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
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// 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);
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}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
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pos_control.update_z_controller();
}