ardupilot/ArduCopter/mode_stabilize.cpp

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#include "Copter.h"
/*
* Init and run calls for stabilize flight mode
*/
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// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void ModeStabilize::run()
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{
// apply simple mode transform to pilot inputs
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update_simple_mode();
// convert pilot input to lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
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// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!motors->armed()) {
// Motors should be Stopped
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
} else if (copter.ap.throttle_zero) {
// Attempting to Land
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
// clear landing flag above zero throttle
if (!motors->limit.throttle_lower) {
set_land_complete(false);
}
break;
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// do nothing
break;
}
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// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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// output pilot's throttle
attitude_control->set_throttle_out(get_pilot_desired_throttle(),
true,
g.throttle_filt);
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}