ardupilot/ArduCopter/heli_control_acro.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#if FRAME_CONFIG == HELI_FRAME
/*
* heli_control_acro.pde - init and run calls for acro flight mode for trad heli
*/
// heli_acro_init - initialise acro controller
static bool heli_acro_init(bool ignore_checks)
{
// if heli is equipped with a flybar, then tell the attitude controller to pass through controls directly to servos
attitude_control.use_flybar_passthrough(motors.has_flybar());
// always successfully enter acro
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return true;
}
// heli_acro_run - runs the acro controller
// should be called at 100hz or more
static void heli_acro_run()
{
float target_roll, target_pitch, target_yaw;
// Tradheli should not reset roll, pitch, yaw targets when motors are not runup, because
// we may be in autorotation flight. These should be reset only when transitioning from disarmed
// to armed, because the pilot will have placed the helicopter down on the landing pad. This is so
// that the servos move in a realistic fashion while disarmed for operational checks.
// Also, unlike multicopters we do not set throttle (i.e. collective pitch) to zero so the swash servos move
if(!motors.armed()) {
heli_flags.init_targets_on_arming=true;
attitude_control.set_yaw_target_to_current_heading();
}
if(motors.armed() && heli_flags.init_targets_on_arming) {
heli_flags.init_targets_on_arming=false;
attitude_control.relax_bf_rate_controller();
}
if (!motors.has_flybar()){
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
}else{
// flybar helis only need yaw rate control
get_pilot_desired_yaw_rate(g.rc_4.control_in, target_yaw);
// run attitude controller
attitude_control.passthrough_bf_roll_pitch_rate_yaw(g.rc_1.control_in, g.rc_2.control_in, target_yaw);
}
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// output pilot's throttle without angle boost
attitude_control.set_throttle_out(g.rc_3.control_in, false);
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}
// get_pilot_desired_yaw_rate - transform pilot's yaw input into a desired yaw angle rate
// returns desired yaw rate in centi-degrees-per-second
static void get_pilot_desired_yaw_rate(int16_t yaw_in, float &yaw_out)
{
// calculate rate request
float rate_bf_yaw_request = yaw_in * g.acro_yaw_p;
// hand back rate request
yaw_out = rate_bf_yaw_request;
}
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#endif //HELI_FRAME