2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2019-05-09 23:18:49 -03:00
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Mode::_TakeOff Mode::takeoff;
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2017-12-12 06:34:49 -04:00
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2019-11-28 09:19:17 -04:00
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bool Mode::auto_takeoff_no_nav_active = false;
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2019-11-15 16:28:08 -04:00
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float Mode::auto_takeoff_no_nav_alt_cm = 0;
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2015-04-29 23:52:19 -03:00
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// This file contains the high-level takeoff logic for Loiter, PosHold, AltHold, Sport modes.
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// The take-off can be initiated from a GCS NAV_TAKEOFF command which includes a takeoff altitude
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// A safe takeoff speed is calculated and used to calculate a time_ms
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// the pos_control target is then slowly increased until time_ms expires
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2015-04-30 03:06:55 -03:00
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2019-05-09 23:18:49 -03:00
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bool Mode::do_user_takeoff_start(float takeoff_alt_cm)
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2017-12-12 06:09:48 -04:00
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{
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2018-03-16 03:22:14 -03:00
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copter.flightmode->takeoff.start(takeoff_alt_cm);
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2017-12-12 06:09:48 -04:00
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return true;
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}
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2015-04-29 23:52:19 -03:00
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// initiate user takeoff - called when MAVLink TAKEOFF command is received
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2019-05-09 23:18:49 -03:00
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bool Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
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2015-04-30 03:06:55 -03:00
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{
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2017-12-12 06:09:48 -04:00
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if (!copter.motors->armed()) {
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return false;
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}
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2019-05-09 23:18:49 -03:00
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if (!copter.ap.land_complete) {
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2017-12-12 06:09:48 -04:00
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// can't takeoff again!
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return false;
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}
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if (!has_user_takeoff(must_navigate)) {
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// this mode doesn't support user takeoff
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return false;
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}
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if (takeoff_alt_cm <= copter.current_loc.alt) {
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// can't takeoff downwards...
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return false;
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}
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2015-07-01 09:32:40 -03:00
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2020-10-13 20:19:42 -03:00
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// Vehicles using motor interlock should return false if motor interlock is disabled.
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// Interlock must be enabled to allow the controller to spool up the motor(s) for takeoff.
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if (!motors->get_interlock() && copter.ap.using_interlock) {
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2017-12-12 06:09:48 -04:00
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return false;
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}
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2015-07-01 09:32:40 -03:00
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2017-12-12 06:09:48 -04:00
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if (!do_user_takeoff_start(takeoff_alt_cm)) {
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return false;
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2015-04-30 03:06:55 -03:00
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}
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2017-12-12 06:09:48 -04:00
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copter.set_auto_armed(true);
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return true;
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2015-04-30 03:06:55 -03:00
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}
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2021-05-19 11:07:38 -03:00
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// start takeoff to specified altitude above home in centimeters
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2019-05-09 23:18:49 -03:00
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void Mode::_TakeOff::start(float alt_cm)
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2015-04-30 03:06:55 -03:00
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{
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2019-04-08 03:37:41 -03:00
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// indicate we are taking off
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copter.set_land_complete(false);
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// tell position controller to reset alt target and reset I terms
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2020-06-16 03:38:36 -03:00
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copter.flightmode->set_throttle_takeoff();
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2019-04-08 03:37:41 -03:00
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2015-04-29 23:52:19 -03:00
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// initialise takeoff state
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2018-03-16 03:22:14 -03:00
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_running = true;
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2021-05-13 02:40:05 -03:00
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take_off_start_alt = copter.pos_control->get_pos_target_z_cm();
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2021-05-19 11:07:38 -03:00
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take_off_complete_alt = take_off_start_alt + alt_cm;
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2015-04-30 03:06:55 -03:00
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}
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2015-04-30 03:52:32 -03:00
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// stop takeoff
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2019-05-09 23:18:49 -03:00
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void Mode::_TakeOff::stop()
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2015-04-30 03:52:32 -03:00
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{
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2018-03-16 03:22:14 -03:00
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_running = false;
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2015-04-30 03:52:32 -03:00
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}
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2021-05-19 11:07:38 -03:00
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// do_pilot_takeoff - controls the vertical position controller during the process of taking off
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// take off is complete when the vertical target reaches the take off altitude.
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2021-05-13 02:40:05 -03:00
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// climb is cancelled if pilot_climb_rate_cm becomes negative
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// sets take off to complete when target altitude is within 1% of the take off altitude
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void Mode::_TakeOff::do_pilot_takeoff(float& pilot_climb_rate_cm)
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2015-04-30 03:06:55 -03:00
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{
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2015-04-30 04:40:38 -03:00
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// return pilot_climb_rate if take-off inactive
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2018-03-16 03:22:14 -03:00
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if (!_running) {
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2015-04-30 04:40:38 -03:00
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return;
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2015-04-30 03:06:55 -03:00
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}
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2021-06-21 04:22:48 -03:00
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float pos_z = take_off_complete_alt;
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float vel_z = pilot_climb_rate_cm;
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2015-04-30 03:06:55 -03:00
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2021-05-13 02:40:05 -03:00
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// command the aircraft to the take off altitude and current pilot climb rate
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2021-06-21 04:22:48 -03:00
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copter.pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0);
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2015-04-30 04:40:38 -03:00
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2021-05-13 02:40:05 -03:00
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// stop take off early and return if negative climb rate is commanded or we are within 0.1% of our take off altitude
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if (is_negative(pilot_climb_rate_cm) ||
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2021-05-19 11:07:38 -03:00
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(take_off_complete_alt - take_off_start_alt) * 0.999f < copter.pos_control->get_pos_target_z_cm() - take_off_start_alt) {
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2021-05-13 02:40:05 -03:00
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stop();
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2015-04-30 04:40:38 -03:00
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}
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2015-04-30 03:06:55 -03:00
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}
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2016-06-04 23:37:55 -03:00
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2019-11-15 16:28:08 -04:00
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void Mode::auto_takeoff_run()
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{
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// if not armed set throttle to zero and exit immediately
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if (!motors->armed() || !copter.ap.auto_armed) {
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2020-10-13 20:19:42 -03:00
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// do not spool down tradheli when on the ground with motor interlock enabled
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make_safe_ground_handling(copter.is_tradheli() && motors->get_interlock());
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2021-04-28 23:16:52 -03:00
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wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
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2019-11-15 16:28:08 -04:00
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return;
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}
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2019-11-28 09:19:17 -04:00
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// set motors to full range
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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2019-11-15 16:28:08 -04:00
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// process pilot's yaw input
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float target_yaw_rate = 0;
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2021-09-03 03:24:34 -03:00
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if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) {
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2019-11-15 16:28:08 -04:00
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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}
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// aircraft stays in landed state until rotor speed runup has finished
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if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
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set_land_complete(false);
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} else {
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2020-09-30 08:05:37 -03:00
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// motors have not completed spool up yet so relax navigation and position controllers
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2021-04-28 23:16:52 -03:00
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wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
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2021-05-19 11:07:38 -03:00
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pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
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2020-09-30 08:05:37 -03:00
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pos_control->update_z_controller();
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2021-05-24 10:42:19 -03:00
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attitude_control->reset_yaw_target_and_rate();
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2020-09-30 08:05:37 -03:00
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attitude_control->reset_rate_controller_I_terms();
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
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return;
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2019-11-15 16:28:08 -04:00
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}
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2019-11-28 09:19:17 -04:00
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// check if we are not navigating because of low altitude
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if (auto_takeoff_no_nav_active) {
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// check if vehicle has reached no_nav_alt threshold
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if (inertial_nav.get_altitude() >= auto_takeoff_no_nav_alt_cm) {
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auto_takeoff_no_nav_active = false;
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wp_nav->shift_wp_origin_and_destination_to_stopping_point_xy();
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} else {
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// shift the navigation target horizontally to our current position
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wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
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}
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// tell the position controller that we have limited roll/pitch demand to prevent integrator buildup
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2021-05-19 11:07:38 -03:00
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pos_control->set_externally_limited_xy();
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2019-11-28 09:19:17 -04:00
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}
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2019-11-15 16:28:08 -04:00
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// run waypoint controller
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copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
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2021-04-13 02:39:53 -03:00
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Vector3f thrustvector{0, 0, -GRAVITY_MSS * 100.0f};
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2019-11-28 09:19:17 -04:00
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if (!auto_takeoff_no_nav_active) {
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2021-04-13 02:39:53 -03:00
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thrustvector = wp_nav->get_thrust_vector();
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2019-11-28 09:19:17 -04:00
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}
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2021-05-19 11:07:38 -03:00
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// WP_Nav has set the vertical position control targets
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// run the vertical position controller and set output throttle
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2019-11-15 16:28:08 -04:00
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copter.pos_control->update_z_controller();
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2019-11-28 09:19:17 -04:00
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// roll & pitch from waypoint controller, yaw rate from pilot
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2021-04-13 02:39:53 -03:00
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attitude_control->input_thrust_vector_rate_heading(thrustvector, target_yaw_rate);
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2019-11-15 16:28:08 -04:00
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}
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2019-05-09 23:18:49 -03:00
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void Mode::auto_takeoff_set_start_alt(void)
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2016-06-04 23:37:55 -03:00
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{
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2019-11-28 09:19:17 -04:00
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if ((g2.wp_navalt_min > 0) && (is_disarmed_or_landed() || !motors->get_interlock())) {
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// we are not flying, climb with no navigation to current alt-above-ekf-origin + wp_navalt_min
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auto_takeoff_no_nav_alt_cm = inertial_nav.get_altitude() + g2.wp_navalt_min * 100;
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auto_takeoff_no_nav_active = true;
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2016-06-04 23:37:55 -03:00
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} else {
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2019-11-28 09:19:17 -04:00
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auto_takeoff_no_nav_active = false;
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2016-06-04 23:37:55 -03:00
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}
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}
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2018-04-30 06:50:04 -03:00
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2019-05-09 23:18:49 -03:00
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bool Mode::is_taking_off() const
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2018-04-30 06:50:04 -03:00
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{
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if (!has_user_takeoff(false)) {
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return false;
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}
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2019-05-09 23:18:49 -03:00
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if (copter.ap.land_complete) {
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2018-04-30 06:50:04 -03:00
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return false;
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}
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2021-02-03 10:04:38 -04:00
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return takeoff.running();
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2018-04-30 06:50:04 -03:00
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}
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